Merge pull request #2 from hganchev/addGetDigitalInputsFunc

add: get digital inputs to rt statuses and ur_control

Author: hganchev

ToDo.md

@@ -20,4 +20,5 @@
     - other?
 * [] Examples
     - ~~pick and place~~
+    - path following (generated from G-code) with force control
     - more examples?

src/pyUR/realtime/realtime_statuses.py

@@ -6,6 +6,7 @@
 _program_state : float = None
 _robot_mode : float = None
 _digital_outputs: list = None
+_digital_inputs : list = None
 
 _q_act_base:float = None
 _q_act_shoulder:float = None
@@ -33,7 +34,7 @@ def __init__():
 :param status: status to unpack
 '''
 def unpack(data:bytes):
-    global _program_state, _robot_mode,_digital_outputs,\
+    global _program_state, _robot_mode,_digital_outputs,_digital_inputs,\
     _q_act_base,_q_act_shoulder,_q_act_elbow,_q_act_wrist1,_q_act_wrist2,_q_act_wrist3,\
     _tool_act_x,_tool_act_y,_tool_act_z,_tool_act_rx,_tool_act_ry,_tool_act_rz
 
@@ -47,6 +48,9 @@ def unpack(data:bytes):
         # robot mode
         _robot_mode = (struct.unpack('!d', data[94*8:95*8]))[0]
 
+        # digital inputs
+        _digital_inputs = _double_to_8bit_list(struct.unpack('!d', data[85*8:86*8])[0])
+
         # digital outputs
         _digital_outputs = _double_to_8bit_list((struct.unpack('!d', data[130*8:131*8]))[0])
 
@@ -67,6 +71,9 @@ def unpack(data:bytes):
         # robot mode
         _robot_mode = (struct.unpack('!d', data[94*8:95*8]))[0]
 
+        # digital inputs
+        _digital_inputs = _double_to_8bit_list(struct.unpack('!d', data[85*8:86*8])[0])
+
         # digital outputs
         _digital_outputs = _double_to_8bit_list(struct.unpack('!d', data[130*8:131*8])[0])
 
@@ -103,6 +110,10 @@ def get_digital_outputs():
     global _digital_outputs
     return _digital_outputs
 
+def get_digital_inputs():
+    global _digital_inputs
+    return _digital_inputs
+
 def get_robot_act_pose():
     global _tool_act_x, _tool_act_y, _tool_act_z, _tool_act_rx, _tool_act_ry, _tool_act_rz
     return list[_tool_act_x, _tool_act_y, _tool_act_z, _tool_act_rx, _tool_act_ry, _tool_act_rz]

src/pyURControl/ur_control.py

@@ -180,4 +180,32 @@ def _wait_digital_output_is_set(output: int=0, value: bool=False):
         digital_outputs = get_digital_outputs()
         if digital_outputs[output] == value:
             break
-        sleep(0.001)
+        sleep(0.001)
+
+'''
+get digital inputs
+'''
+def get_digital_inputs() -> list:
+    # Receive responce
+    responce = realtime.receive_status()
+
+    # Unpack responce
+    realtime_statuses.unpack(responce)
+
+    # Get program state
+    digital_inputs = realtime_statuses.get_digital_inputs()
+    return digital_inputs
+
+'''
+get digital input
+:param input: input number 0-7
+'''
+def get_digital_input(input: int=0) -> bool:
+    # Receive responce
+    responce = realtime.receive_status()
+
+    # Unpack responce
+    realtime_statuses.unpack(responce)
+    
+    digital_inputs = get_digital_inputs()
+    return digital_inputs[input]