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Add an I/O connector overview to the documentation - #619
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## master #619 +/- ##
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- Coverage 83.98% 83.89% -0.10%
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Files 127 127
Lines 8417 8425 +8
Branches 3829 3829
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- Hits 7069 7068 -1
- Misses 945 951 +6
- Partials 403 406 +3
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🟡 Changes recommended
The documentation omits UNKNOWN and hardware-detection availability conditions, potentially causing users on supported RTDE protocol 1/2 connections to mistake normal results for connection failures.
1 open issue
What changed in this PR
Adds an I/O connector reference that maps robot hardware connections to the library functions used to control them.
Changes:
- Documents tool connectors, CB5 and CB7 control-box I/O, and relevant compatibility limits.
- Adds the overview to the documentation navigation.
- Links the script-command documentation to the connector reference.
| File | Description |
|---|---|
doc/io_connectors.rst |
Adds connector details and associated library APIs. |
doc/index.rst |
Includes the overview in the documentation navigation. |
doc/architecture/script_command_interface.rst |
Adds a cross-reference explaining tool connectors T0 and T2. |
Review effort: Balanced
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🟡 Changes recommended
Two headings in doc/io_connectors.rst have underlines that are too short, causing Sphinx warnings that fail documentation CI because warnings are treated as errors.
2 open issues
1 resolved since last review
Review effort: Balanced
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
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🔵 Needs a closer look
A hardware-domain reviewer must validate the connector pin labels and Safe freedrive capabilities against the robot manuals, since repository code confirms only the API mappings.
No open issues 🎉
2 resolved since last review
Review effort: Balanced
urfeex
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urfeex
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I think, this is a good start.
One small improvement could be to mention that all I/Os are readable through the client library's RTDEClient if subscribed to them.
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This pull request does not currently match the merge queue conditions, so it cannot be queued from here. The box comes back if it matches again. |
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🟡 Changes recommended
The documentation incorrectly implies that RTDEWriter can control tool power outputs T0_V and T2_V; the RTDE statement should be limited to digital/analog I/O and explicitly exclude tool power.
1 open issue
Review effort: Balanced
| - The library reports the connected hardware as ``ControlBoxType`` (``CB5`` or ``CB7``) and | ||
| ``ToolFlangeType`` (``V1`` or ``V2``), available from the ``PrimaryClient`` and the | ||
| ``RTDEWriter``. | ||
| - All inputs and outputs can be read, and outputs can be written, through the :ref:`rtde_client`. |
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