power on, break release with waitings to be done

Author: hganchev

ToDo.md

@@ -7,10 +7,17 @@
     - ~~movej, movel~~
     - ~~pose add, pose trans, pose inverse~~
     - ~~set tcp, set payload~~
-    - digital io control
+    - ~~digital outputs~~
     - servoing movement
     - other?
 * [] RTDE?
+* [] Control
+    - ~~joint move control~~
+    - ~~pose move control~~
+    - ~~set/get digital outputs~~
+    - servo control
+    - force control
+    - other?
 * [] Examples
     - ~~pick and place~~
     - more examples?

build/lib/pyUR/dashboard/dashboard.py

@@ -41,9 +41,30 @@ def is_connected() -> bool:
 def send_receive_socket(dashboard_command:str) -> str:
     global _dashboard_socket
     try:
-        print(dashboard_command)
+        send_socket(dashboard_command)
+        return receive_socket()
+    except:
+        return None
+    
+'''
+function for send to socket
+:param dashboard_command: command to send to the robot
+'''
+def send_socket(dashboard_command:str) -> None:
+    global _dashboard_socket
+    try:
         _dashboard_socket.send(dashboard_command.encode('utf-8'))
+    except:
+        pass
+
+'''
+function for receive from socket
+'''
+def receive_socket() -> str:
+    global _dashboard_socket
+    try:
         return str(_dashboard_socket.recv(1024).decode('utf-8'))
     except:
         return None
+    
 

build/lib/pyUR/dashboard/dashboard_statuses.py

@@ -1,2 +1,2 @@
 def get_powering_on():
-    
+    pass

build/lib/pyURControl/ur_control.py

@@ -30,15 +30,39 @@ def init(host_ip: str='127.0.0.1'):
 def power_on():
     responce = dashboard.send_receive_socket(dashboard_commands.power_on())
     print(responce)
+    if 'Powering on' in responce:
+        _wait_robot_powered_on()
+
+
+'''
+wait for robot to be powered on
+'''
+def _wait_robot_powered_on():
+    while True:
+        responce = dashboard.send_receive_socket(dashboard_commands.robotmode())
+        if 'Robotmode: IDLE' in responce:
+            break
+        sleep(0.001)
 
 '''
 send brake release command
 '''
 def break_release():
     responce = dashboard.send_receive_socket(dashboard_commands.brake_release())
     print(responce)
+    if 'Brake releasing' in responce:
+        _wait_robot_break_released()
 
 '''
+wait for robot break realeased
+'''
+def _wait_robot_break_released():
+    while True:
+        responce = dashboard.send_receive_socket(dashboard_commands.robotmode())
+        if 'Robotmode: RUNNING' in responce:
+            break
+        sleep(0.001)
+'''
 set tcp
 :param tcp_offset: tcp offset
 :param delay: delay for command to be executed 0.3s by default

dist/pyURControl-0.0.1-py3-none-any.whl

@@ -0,0 +1 @@
+# Pick and place example

dist/pyURControl-0.0.1.tar.gz

@@ -41,9 +41,30 @@ def is_connected() -> bool:
 def send_receive_socket(dashboard_command:str) -> str:
     global _dashboard_socket
     try:
-        print(dashboard_command)
+        send_socket(dashboard_command)
+        return receive_socket()
+    except:
+        return None
+    
+'''
+function for send to socket
+:param dashboard_command: command to send to the robot
+'''
+def send_socket(dashboard_command:str) -> None:
+    global _dashboard_socket
+    try:
         _dashboard_socket.send(dashboard_command.encode('utf-8'))
+    except:
+        pass
+
+'''
+function for receive from socket
+'''
+def receive_socket() -> str:
+    global _dashboard_socket
+    try:
         return str(_dashboard_socket.recv(1024).decode('utf-8'))
     except:
         return None
+    
 

examples/pick_and_place/ReadMe.md

@@ -1,2 +1,2 @@
 def get_powering_on():
-    
+    pass