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Initialize dashboard client for PolyScopeX version 10.11.0 and above #409

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Merged
merged 1 commit into from
Nov 17, 2025
+15 −4
Merged

Initialize dashboard client for PolyScopeX version 10.11.0 and above #409

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19 changes: 15 additions & 4 deletions src/example_robot_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,9 +46,13 @@ ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std:
primary_client_->start();

auto robot_version = primary_client_->getRobotVersion();
if (*robot_version < VersionInformation::fromString("10.0.0"))
if (*robot_version < VersionInformation::fromString("10.0.0") ||
*robot_version >= VersionInformation::fromString("10.11.0"))
{
dashboard_client_ = std::make_shared<DashboardClient>(robot_ip);
const DashboardClient::ClientPolicy client_policy = *robot_version < VersionInformation::fromString("10.0.0") ?
DashboardClient::ClientPolicy::G5 :
DashboardClient::ClientPolicy::POLYSCOPE_X;
dashboard_client_ = std::make_shared<DashboardClient>(robot_ip, client_policy);
// Connect the robot Dashboard
if (!dashboard_client_->connect())
{
Expand Down Expand Up @@ -107,8 +111,15 @@ bool ExampleRobotWrapper::clearProtectiveStop()
URCL_LOG_INFO("Robot is in protective stop, trying to release it");
if (dashboard_client_ != nullptr)
{
dashboard_client_->commandClosePopup();
dashboard_client_->commandCloseSafetyPopup();
try
{
dashboard_client_->commandClosePopup();
dashboard_client_->commandCloseSafetyPopup();
}
catch (const NotImplementedException&)
{
// The command is not yet implemented for the dashboardClient in PolyscopeX, so we just ignore the exception
}
}
try
{
Expand Down
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