Darp.Fairino 0.5.0

Darp.Fairino

Darp.Fairino is a modern async .NET SDK for Fairino robot controllers. It provides typed command helpers, realtime-state feedback, dependency injection registration, and a Result<..., FairinoError> failure model for controller and transport errors.

The current SDK surface is compatible with Fairino robot software v3.9.5.

Install

dotnet add package Darp.Fairino

The package currently targets net10.0.

Quick Start

using Darp.Fairino;
using Darp.Fairino.DependencyInjection;
using Darp.Results;
using Microsoft.Extensions.DependencyInjection;

var services = new ServiceCollection();
services.AddFairinoRobot();

await using ServiceProvider provider = services.BuildServiceProvider();
await using FairinoRobot robot = provider.GetRequiredService<FairinoRobot>();

Result<Success, FairinoError> connectResult = await robot.RpcAsync("192.168.58.2");
if (connectResult.TryGetError(out FairinoError? connectError))
{
    Console.WriteLine($"Connection failed: {connectError.Message}");
    return;
}

Result<SoftwareVersion, FairinoError> versionResult = await robot.GetSoftwareVersionAsync();
if (versionResult.TryGetValue(out SoftwareVersion version, out FairinoError? versionError))
{
    Console.WriteLine($"Robot model: {version.RobotModel}");
    Console.WriteLine($"Web version: {version.WebVersion}");
    Console.WriteLine($"Controller version: {version.ControllerVersion}");
}
else
{
    Console.WriteLine($"Version query failed: {versionError.Message}");
}

await robot.CloseRpcAsync();

Only connect to a reachable controller on a trusted local network.

Geometry and units

Motion and kinematics methods use JointPos and Aardvark transforms:

The SDK follows Fairino's controller coordinate definitions. It converts to the controller's millimetres and degrees when sending commands and converts responses back. GetActualJointPosAsync replaces GetActualJointPosDegreeAsync. Optional pose offsets accept null for identity.

using Aardvark.Base;

var result = await robot.GetActualTcpPoseAsync();
if (result.TryGetValue(out Euclidean3d pose, out var error))
    Console.WriteLine($"TCP in metres: {pose.Trans}");

External-axis coordinates, force/torque records, scalar motion options and raw telemetry arrays retain their documented controller units.

Configuration

FairinoRobotOptions exposes SDK-level behavior only. Transport internals such as reconnect policy are managed by the SDK.

services.AddFairinoRobot(options =>
{
    options.CommandTimeout = TimeSpan.FromSeconds(30);
});

API Shape

The Fairino C# SDK manual can be used as a reference for available controller operations. In Darp.Fairino, methods are async and use an Async suffix.

Failure Model

SDK operations return operational failures as Result<..., FairinoError>. This includes robot error codes, network failures, protocol errors, timeouts, and not-connected states.

Caller cancellation throws OperationCanceledException, and invalid arguments throw the usual .NET argument exceptions.

Build

dotnet restore Darp.Fairino.slnx
dotnet build Darp.Fairino.slnx --no-restore
dotnet pack src/Darp.Fairino/Darp.Fairino.csproj --no-build

License

This project is licensed under the Apache License 2.0. See LICENSE.