Source code for ur_cb2.receive.cb2_receive_example

"""A basic script to demonstrate usage of the cb2_receive module.

There are a few lines which are commented out. Uncomment these lines to see a
demonstration of the parallel nature of the cb2_receive module."""

# The MIT License (MIT)
#
# Copyright (c) 2016 GTRC.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.


import socket
import time
from contextlib import closing
import cb2_receive
import argparse


def main():
    # Parse in arguments
    parser = argparse.ArgumentParser(
        description='Save Points',
        epilog="This software is designed to show the status of a UR CB2 Robot."
               " Simply run the program with appropriate arguments and it will"
               " print useful information about the robot to the terminal."
               " If information is not printed nicely, make your terminal "
               "larger")

    parser.add_argument("--ip", metavar="ip", type=str,
                        help='IP address of the robot', default="192.168.1.100")

    parser.add_argument("--port", metavar="port", type=int,
                        help='IP port on the robot', default=30003)

    args = parser.parse_args()
    host = args.ip    # The remote host
    port = args.port  # The same port as used by the server

    with closing(socket.socket(socket.AF_INET, socket.SOCK_STREAM))\
            as robot_socket:
        robot_socket.connect((host, port))
        with cb2_receive.URReceiver(robot_socket, True) as my_ur_receiver:
            my_ur_receiver.start()
            # some_num = 0
            while True:
                # print "\n\n" + str(some_num) + "\n\n"
                # some_num += 1
                time.sleep(.25)

if __name__ == "__main__":
    main()