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Refactor RTDE Bit Typing #56

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Merged
MGross21 merged 1 commit into from
Feb 16, 2026
Merged

Refactor RTDE Bit Typing #56

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39 changes: 21 additions & 18 deletions armctl/universal_robots/protocols/rtde.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,9 @@

from rtde import RTDE as _RTDE
from rtde.rtde_config import ConfigFile
from ctypes import c_uint32

UINT32 = NewType("UINT32", int)
u32 = NewType("u32", c_uint32)


class RTDE:
Expand Down Expand Up @@ -73,25 +74,27 @@ def robot_status(self) -> dict[str, bool]:
- **`Bit 10`**: Is stopped due to safety
"""
data = self._get_data()
rsb: UINT32 = data.robot_status_bits
ssb: UINT32 = data.safety_status_bits
rsb: u32 = data.robot_status_bits
ssb: u32 = data.safety_status_bits

bit = lambda data, n: bool(data & (1 << n))

return {
# Robot status bits
"Power On": bool(rsb & 1),
"Program Running": bool(rsb & 2),
"Teach Button": bool(rsb & 4),
"Power Button": bool(rsb & 8),
"Power On": bit(rsb, 0),
"Program Running": bit(rsb, 1),
"Teach Button": bit(rsb, 2),
"Power Button": bit(rsb, 3),
# Safety status bits
"Normal Mode": bool(ssb & 1),
"Reduced Mode": bool(ssb & 2),
"Protective Stop": bool(ssb & 4),
"Recovery Mode": bool(ssb & 8),
"Safeguard Stopped": bool(ssb & 16),
"System Emergency Stopped": bool(ssb & 32),
"Robot Emergency Stopped": bool(ssb & 64),
"Emergency Stopped": bool(ssb & 128),
"Violation": bool(ssb & 256),
"Fault": bool(ssb & 512),
"Stopped Due to Safety": bool(ssb & 1024),
"Normal Mode": bit(ssb, 0),
"Reduced Mode": bit(ssb, 1),
"Protective Stop": bit(ssb, 2),
"Recovery Mode": bit(ssb, 3),
"Safeguard Stopped": bit(ssb, 4),
"System Emergency Stopped": bit(ssb, 5),
"Robot Emergency Stopped": bit(ssb, 6),
"Emergency Stopped": bit(ssb, 7),
"Violation": bit(ssb, 8),
"Fault": bit(ssb, 9),
"Stopped Due to Safety": bit(ssb, 10),
}