Implemented functions "load_program(name)", "play_program", and "stop_program".

robot_live_tests/robot_connection_live_tests.py

@@ -13,6 +13,14 @@ class RobotLiveTests(unittest.TestCase):
         ur5e.start_recording(filename=f'randomMotion.csv')
         ur5e.stop_recording()
 
+    def test_program_load_start_stop(self):
+        ur5e = RobotConnection("192.168.56.101")  # VirtualBox
+        print(f"load succeeded? {ur5e.load_program('Simple_Motion.urp')}")
+        time.sleep(1.0)
+        print(f"play succeeded? {ur5e.play_program()}")
+        time.sleep(5.0)
+        print(f"stop succeeded? {ur5e.stop_program()}")
+
     def test_movej(self):
         # ur5e = RobotConnection("192.168.56.101") # VirtualBox
         ur5e = RobotConnection("192.168.12.245")  # Robot @ DeepTech

src/urinterface/robot_connection.py

@@ -90,9 +90,20 @@ class RobotConnection:
         self._send_ascii_bytes(program, self.controller_socket)
         self._ensure_ready()
 
-    def stop_motion(self):
+    def load_program(self, program_name):
+        self._send_ascii_bytes(f"load {program_name}\n", self.dashboard_socket)
+        return self.dashboard_socket.recv(1024).decode().startswith("Loading program: ")
+
+    def play_program(self):
+        self._send_ascii_bytes("play\n", self.dashboard_socket)
+        msg = self.dashboard_socket.recv(1024).decode()
+        if not msg.startswith("Starting program"):
+            print(f"{msg}Make sure that the robot is positioned in the starting position of the program or auto-initialize as described in: https://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/auto-load-program/")
+        return msg.startswith("Starting program")
+
+    def stop_program(self):
         self._send_ascii_bytes("stop\n", self.dashboard_socket)
-        return self.dashboard_socket.recv(1024).decode() == "Stopped"
+        return self.dashboard_socket.recv(1024).decode().startswith("Stopped")
 
     def record_samples(self, config_file='resources/record_configuration.xml', filename='robotdata.csv', overwrite=False,
                        frequency=500, samples=10, rtde_port=30004, RtdeConstructor=rtde.RTDE):