Script proxy functionality added

README.md

@@ -3,6 +3,7 @@
 This sample implements a Java class to: 
  - Send URScript commands for immediate execution by URControl
  - Extract a variable from URScript to Java
+ - Proxy URScript functions to Java
 
 Check out the package ["com.jbm.urcap.sample.scriptCommunicator.communicator"](https://github.com/BomMadsen/URCap-ScriptCommunicator/tree/master/com.jbm.urcap.sample.scriptCommunicator/src/main/java/com/jbm/urcap/sample/scriptCommunicator/communicator).
 You can run "InterfaceTester.java" to try out the features. 

com.jbm.urcap.sample.scriptCommunicator/pom.xml

@@ -7,8 +7,8 @@
 
 	<groupId>com.jbm.urcap.sample</groupId>
 	<artifactId>scriptCommunicator</artifactId>
-	<version>1.0-SNAPSHOT</version>
-	<name>scriptCommunicator</name>
+	<version>${git.commit.id.describe}</version>
+	<name>scriptCommunicator</name>  
 	<packaging>bundle</packaging>
 
 	<properties>
@@ -43,6 +43,24 @@
 
 	<build>
 		<plugins>
+			<plugin>
+			    <groupId>pl.project13.maven</groupId>
+			    <artifactId>git-commit-id-plugin</artifactId>
+			    <version>3.0.0</version>
+			    <executions>
+				<execution>
+				    <id>get-the-git-infos</id>
+				    <goals>
+					<goal>revision</goal>
+				    </goals>
+				    <phase>validate</phase>
+				</execution>
+			    </executions>
+			    <configuration>
+				<dotGitDirectory>${project.basedir}/.git</dotGitDirectory>
+			    </configuration>
+			</plugin>
+
 			<plugin>
 				<groupId>org.apache.maven.plugins</groupId>
 				<artifactId>maven-compiler-plugin</artifactId>

com.jbm.urcap.sample.scriptCommunicator/src/main/java/com/jbm/urcap/sample/scriptCommunicator/communicator/InterfaceTester.java

@@ -1,27 +1,138 @@
 package com.jbm.urcap.sample.scriptCommunicator.communicator;
 
+import com.ur.urcap.api.domain.value.Pose;
+import com.ur.urcap.api.domain.value.PoseFactory;
+import com.ur.urcap.api.domain.value.Position;
+import com.ur.urcap.api.domain.value.Rotation;
+import com.ur.urcap.api.domain.value.simple.Angle;
+import com.ur.urcap.api.domain.value.simple.Length;
+import com.ur.urcap.api.domain.value.simple.Length.Unit;
+
+
 public class InterfaceTester {
 
 	/**
 	 * This class can be used to test the Exporter and Sender
 	 * Hit the Play button in your IDE, to execute this
 	 * 
 	 */
+	private static class TestPose implements Pose{
+		private double x;
+		private double y;
+		private double z;
+		private double rx;
+		private double ry;
+		private double rz;
+		private Length.Unit lengthUnit;
+		private Angle.Unit angleUnit;
+
+		TestPose(double x, double y, double z, double rx, double ry, double rz, Length.Unit lengthUnit,
+				Angle.Unit angleUnit) {
+			this.x = x;
+			this.y = y;
+			this.z = z;
+			this.rx = rx;
+			this.ry = ry;
+			this.rz = rz;
+			this.lengthUnit = lengthUnit;
+			this.angleUnit = angleUnit;			
+		}
+
+		@Override
+		public Position getPosition() {
+			// TODO Auto-generated method stub
+			return null;
+		}
+
+		@Override
+		public Rotation getRotation() {
+			// TODO Auto-generated method stub
+			return null;
+		}
+
+		@Override
+		public double[] toArray() {
+			// TODO Auto-generated method stub
+			return null;
+		}
+
+		@Override
+		public double[] toArray(Unit lengthUnit, Angle.Unit angleUnit) {
+			// TODO Auto-generated method stub
+			return null;
+		}
+
+		@Override
+		public boolean epsilonEquals(Pose other, double epsilon) {
+			// TODO Auto-generated method stub
+			return false;
+		}
+
+		@Override
+		public boolean epsilonEquals(Pose other, double lengthEpsilon, Unit lengthUnit, double angleEpsilon,Angle.Unit angleUnit) {
+			// TODO Auto-generated method stub
+			return false;
+		}
+
+		@Override
+		public String toString() {
+			return new String("p["+x+","+y+","+z+","+rx+","+ry+","+rz+"]");
+
+		}
+
+	}
+	private static class TestPoseFactory implements PoseFactory{
+
+		@Override
+		public Pose createPose(double x, double y, double z, double rx, double ry, double rz, Length.Unit lengthUnit,
+				Angle.Unit angleUnit) {
+			return new TestPose( x,  y,  z,  rx,  ry,  rz, lengthUnit, angleUnit);
+		}
+
+	}
 
 	public static void main(String[] args) {
 		/**
 		 * Testing Sender
 		 */
+
 		ScriptSender sender = new ScriptSender();
 
 		ScriptCommand senderCommand = new ScriptCommand("SenderCommand");
 		senderCommand.appendLine("textmsg(\"Add something to the logfile...\")");
-
+		senderCommand.setAsSecondaryProgram();
 		sender.sendScriptCommand(senderCommand);
 
+		/**
+		 * Testing Proxy
+		 */
+		PoseFactory poseFactory = new TestPoseFactory();
+		ScriptTypeConverter typeConverter = new ScriptTypeConverter(poseFactory);
+		ScriptProxy proxy = new ScriptProxy(typeConverter);
+		Double acos = proxy.acos(0.6);
+		//test against java
+		System.out.println("Double acos result is: "+ acos);
+
+		proxy.set_digital_out(5, true);
+		System.out.println("dig in result is: "+ proxy.get_configurable_digital_in(6));
+
+		System.out.println("force result is: "+ proxy.force());
+
+		Pose actualTCP = proxy.get_actual_tcp_pose();
+		System.out.println("actual TCP pose result is: "+ actualTCP);
+		Pose invActualTCP = proxy.pose_inv(actualTCP);
+		System.out.println("inverted actual TCP pose result is: "+ invActualTCP);
+		Pose zeroPose = proxy.pose_trans(actualTCP, invActualTCP);
+		System.out.println("zeroPose pose result is: "+ zeroPose);
+
+
+
+
+
 		/**
 		 * Testing Exporter
 		 */
+
 		ScriptExporter export = new ScriptExporter();
 
 		ScriptCommand commandString = new ScriptCommand("Command1");
@@ -36,6 +147,7 @@ public static void main(String[] args) {
 
 		int resultInt = export.exportIntegerFromURScript(commandInt, "var_1");
 		System.out.println("Integer result is: "+resultInt);
+
 	}
 
 }

com.jbm.urcap.sample.scriptCommunicator/src/main/java/com/jbm/urcap/sample/scriptCommunicator/communicator/ScriptExporter.java

@@ -89,7 +89,7 @@ public String exportStringFromURScript(ScriptCommand command, String variable_na
 		return reply;
 	}
 
-	private ScriptCommand buildScriptCommandToExport(ScriptCommand command, String variable_name) {
+	protected ScriptCommand buildScriptCommandToExport(ScriptCommand command, String variable_name) {
 		// Change to secondary program
 		command.setAsSecondaryProgram();
 
@@ -104,12 +104,11 @@ private ScriptCommand buildScriptCommandToExport(ScriptCommand command, String v
 		return command;
 	}
 
-	private String readValueFromRobot(ScriptCommand commandWithReturn) {
+	protected String readValueFromRobot(ScriptCommand commandWithReturn) {
 		String input = "";
 		try{
 			// Create return socket
 			ServerSocket server = new ServerSocket(RETURN_PORT);
-
 			ScriptSender sender = new ScriptSender(SEND_IP);
 			sender.sendScriptCommand(commandWithReturn);