diff --git a/.flake8 b/.flake8
new file mode 100644
index 0000000000000000000000000000000000000000..6bade2bcd6371f78dc9cf06dc346503d712bf5c7
--- /dev/null
+++ b/.flake8
@@ -0,0 +1,4 @@
+[flake8]
+exclude = .git,__pycache__,.venv
+max-line-length = 88
+extend-ignore = E203
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..4347a9fbc01b4308ae4df07f7350d1074968319e
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,155 @@
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+# Usually these files are written by a python script from a template
+# before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+# For a library or package, you might want to ignore these files since the code is
+# intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+# However, in case of collaboration, if having platform-specific dependencies or dependencies
+# having no cross-platform support, pipenv may install dependencies that don't work, or not
+# install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+# This is especially recommended for binary packages to ensure reproducibility, and is more
+# commonly ignored for libraries.
+# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+# JetBrains specific template is maintainted in a separate JetBrains.gitignore that can
+# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+# and can be added to the global gitignore or merged into this file. For a more nuclear
+# option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+.vim/coc-settings.json
+.vscode/settings.json
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..ded34fb60f493e689b2ad5d020607795c2a920ac
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,50 @@
+# Global --------------------------
+# https://github.com/python-poetry/poetry/issues/366#issuecomment-559796011
+
+variables:
+ PIP_CACHE_DIR: "${CI_PROJECT_DIR}/.cache/pip"
+ PRE_COMMIT_HOME: "${CI_PROJECT_DIR}/.cache/pre-commit"
+
+cache:
+ key: "${CI_JOB_NAME}"
+ paths:
+ - ${PIP_CACHE_DIR}
+ - "${CI_PROJECT_DIR}/.venv"
+ - ${PRE_COMMIT_HOME}
+
+stages:
+ - quality
+ - tests
+
+# Jobs templates ------------------
+
+.install-deps-template: &install-deps
+ before_script:
+ - pip install poetry
+ - poetry --version
+ - poetry config virtualenvs.in-project true
+ - poetry install -vv
+
+.quality-template: &quality
+ <<: *install-deps
+ image: python:3.9
+ stage: quality
+ allow_failure: true
+
+.test-template: &test
+ <<: *install-deps
+ stage: tests
+ script: make test
+
+# Quality jobs ----------------------
+
+run-pre-commit:
+ <<: *quality
+ script: make check
+
+
+# Tests jobs ------------------------
+
+python3.9:
+ <<: *test
+ image: python:3.9
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9a3b459c4a93c90a487463244a3de8ab57627067
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,26 @@
+repos:
+ - repo: https://github.com/pre-commit/pre-commit-hooks
+ rev: v2.3.0
+ hooks:
+ - id: check-yaml
+ - id: end-of-file-fixer
+ - id: trailing-whitespace
+ - id: check-merge-conflict
+ - id: mixed-line-ending
+
+ - repo: https://github.com/psf/black
+ rev: 21.12b0
+ hooks:
+ - id: black
+ language_version: python3.9
+
+ - repo: https://github.com/pycqa/flake8
+ rev: 4.0.1
+ hooks:
+ - id: flake8
+
+ - repo: https://github.com/pycqa/isort
+ rev: 5.10.1
+ hooks:
+ - id: isort
+ name: isort (python)
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..e91084e5f3c752ee7cdc0a3efacd3364fd6bf54a
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,14 @@
+PHONY: clean lint format test
+
+clean:
+ @rm -rf \
+ ur_py_ctl/__pycache__ \
+ tests/__pycache__
+
+check:
+ @poetry run pre-commit run --all-files
+
+test:
+ @poetry run pytest
+
+validate: lint format test
diff --git a/README.md b/README.md
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..b6a9dac54837307dda0e7889c40e78f35e169f5c 100644
--- a/README.md
+++ b/README.md
@@ -0,0 +1,6 @@
+# ur-py-ctl
+
+## Installera
+
+1. Installera poetry `curl -sSL https://install.python-poetry.org | python -`
+1. Installera paket och deps: `poetry install`
diff --git a/poetry.lock b/poetry.lock
new file mode 100644
index 0000000000000000000000000000000000000000..d88563701a26c55fb72b84e7908517dc702983f1
--- /dev/null
+++ b/poetry.lock
@@ -0,0 +1,547 @@
+[[package]]
+name = "atomicwrites"
+version = "1.4.0"
+description = "Atomic file writes."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "attrs"
+version = "21.4.0"
+description = "Classes Without Boilerplate"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[package.extras]
+dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
+docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
+tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
+tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
+
+[[package]]
+name = "black"
+version = "21.12b0"
+description = "The uncompromising code formatter."
+category = "dev"
+optional = false
+python-versions = ">=3.6.2"
+
+[package.dependencies]
+click = ">=7.1.2"
+mypy-extensions = ">=0.4.3"
+pathspec = ">=0.9.0,<1"
+platformdirs = ">=2"
+tomli = ">=0.2.6,<2.0.0"
+typing-extensions = ">=3.10.0.0"
+
+[package.extras]
+colorama = ["colorama (>=0.4.3)"]
+d = ["aiohttp (>=3.7.4)"]
+jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
+python2 = ["typed-ast (>=1.4.3)"]
+uvloop = ["uvloop (>=0.15.2)"]
+
+[[package]]
+name = "cfgv"
+version = "3.3.1"
+description = "Validate configuration and produce human readable error messages."
+category = "dev"
+optional = false
+python-versions = ">=3.6.1"
+
+[[package]]
+name = "click"
+version = "8.0.3"
+description = "Composable command line interface toolkit"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[[package]]
+name = "colorama"
+version = "0.4.4"
+description = "Cross-platform colored terminal text."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
+name = "distlib"
+version = "0.3.4"
+description = "Distribution utilities"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "filelock"
+version = "3.4.2"
+description = "A platform independent file lock."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["furo (>=2021.8.17b43)", "sphinx (>=4.1)", "sphinx-autodoc-typehints (>=1.12)"]
+testing = ["covdefaults (>=1.2.0)", "coverage (>=4)", "pytest (>=4)", "pytest-cov", "pytest-timeout (>=1.4.2)"]
+
+[[package]]
+name = "flake8"
+version = "4.0.1"
+description = "the modular source code checker: pep8 pyflakes and co"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+mccabe = ">=0.6.0,<0.7.0"
+pycodestyle = ">=2.8.0,<2.9.0"
+pyflakes = ">=2.4.0,<2.5.0"
+
+[[package]]
+name = "identify"
+version = "2.4.8"
+description = "File identification library for Python"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+license = ["ukkonen"]
+
+[[package]]
+name = "isort"
+version = "5.10.1"
+description = "A Python utility / library to sort Python imports."
+category = "dev"
+optional = false
+python-versions = ">=3.6.1,<4.0"
+
+[package.extras]
+pipfile_deprecated_finder = ["pipreqs", "requirementslib"]
+requirements_deprecated_finder = ["pipreqs", "pip-api"]
+colors = ["colorama (>=0.4.3,<0.5.0)"]
+plugins = ["setuptools"]
+
+[[package]]
+name = "mccabe"
+version = "0.6.1"
+description = "McCabe checker, plugin for flake8"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "more-itertools"
+version = "8.12.0"
+description = "More routines for operating on iterables, beyond itertools"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[[package]]
+name = "mypy"
+version = "0.931"
+description = "Optional static typing for Python"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+mypy-extensions = ">=0.4.3"
+tomli = ">=1.1.0"
+typing-extensions = ">=3.10"
+
+[package.extras]
+dmypy = ["psutil (>=4.0)"]
+python2 = ["typed-ast (>=1.4.0,<2)"]
+
+[[package]]
+name = "mypy-extensions"
+version = "0.4.3"
+description = "Experimental type system extensions for programs checked with the mypy typechecker."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "nodeenv"
+version = "1.6.0"
+description = "Node.js virtual environment builder"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "packaging"
+version = "21.3"
+description = "Core utilities for Python packages"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
+
+[[package]]
+name = "pathspec"
+version = "0.9.0"
+description = "Utility library for gitignore style pattern matching of file paths."
+category = "dev"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+
+[[package]]
+name = "platformdirs"
+version = "2.4.1"
+description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["Sphinx (>=4)", "furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx-autodoc-typehints (>=1.12)"]
+test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
+
+[[package]]
+name = "pluggy"
+version = "0.13.1"
+description = "plugin and hook calling mechanisms for python"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[package.extras]
+dev = ["pre-commit", "tox"]
+
+[[package]]
+name = "pre-commit"
+version = "2.17.0"
+description = "A framework for managing and maintaining multi-language pre-commit hooks."
+category = "dev"
+optional = false
+python-versions = ">=3.6.1"
+
+[package.dependencies]
+cfgv = ">=2.0.0"
+identify = ">=1.0.0"
+nodeenv = ">=0.11.1"
+pyyaml = ">=5.1"
+toml = "*"
+virtualenv = ">=20.0.8"
+
+[[package]]
+name = "py"
+version = "1.11.0"
+description = "library with cross-python path, ini-parsing, io, code, log facilities"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
+name = "pycodestyle"
+version = "2.8.0"
+description = "Python style guide checker"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
+name = "pyflakes"
+version = "2.4.0"
+description = "passive checker of Python programs"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "pyparsing"
+version = "3.0.7"
+description = "Python parsing module"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.extras]
+diagrams = ["jinja2", "railroad-diagrams"]
+
+[[package]]
+name = "pytest"
+version = "5.4.3"
+description = "pytest: simple powerful testing with Python"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.dependencies]
+atomicwrites = {version = ">=1.0", markers = "sys_platform == \"win32\""}
+attrs = ">=17.4.0"
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
+more-itertools = ">=4.0.0"
+packaging = "*"
+pluggy = ">=0.12,<1.0"
+py = ">=1.5.0"
+wcwidth = "*"
+
+[package.extras]
+checkqa-mypy = ["mypy (==v0.761)"]
+testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "requests", "xmlschema"]
+
+[[package]]
+name = "pyyaml"
+version = "6.0"
+description = "YAML parser and emitter for Python"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "six"
+version = "1.16.0"
+description = "Python 2 and 3 compatibility utilities"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
+
+[[package]]
+name = "toml"
+version = "0.10.2"
+description = "Python Library for Tom's Obvious, Minimal Language"
+category = "dev"
+optional = false
+python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+
+[[package]]
+name = "tomli"
+version = "1.2.3"
+description = "A lil' TOML parser"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "typing-extensions"
+version = "4.0.1"
+description = "Backported and Experimental Type Hints for Python 3.6+"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "virtualenv"
+version = "20.13.1"
+description = "Virtual Python Environment builder"
+category = "dev"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+
+[package.dependencies]
+distlib = ">=0.3.1,<1"
+filelock = ">=3.2,<4"
+platformdirs = ">=2,<3"
+six = ">=1.9.0,<2"
+
+[package.extras]
+docs = ["proselint (>=0.10.2)", "sphinx (>=3)", "sphinx-argparse (>=0.2.5)", "sphinx-rtd-theme (>=0.4.3)", "towncrier (>=21.3)"]
+testing = ["coverage (>=4)", "coverage-enable-subprocess (>=1)", "flaky (>=3)", "pytest (>=4)", "pytest-env (>=0.6.2)", "pytest-freezegun (>=0.4.1)", "pytest-mock (>=2)", "pytest-randomly (>=1)", "pytest-timeout (>=1)", "packaging (>=20.0)"]
+
+[[package]]
+name = "wcwidth"
+version = "0.2.5"
+description = "Measures the displayed width of unicode strings in a terminal"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[metadata]
+lock-version = "1.1"
+python-versions = ">=3.9,<3.10"
+content-hash = "51f8328709ce408da589a31463cd21e93f595b6987956e3dce7e876bf924adff"
+
+[metadata.files]
+atomicwrites = [
+ {file = "atomicwrites-1.4.0-py2.py3-none-any.whl", hash = "sha256:6d1784dea7c0c8d4a5172b6c620f40b6e4cbfdf96d783691f2e1302a7b88e197"},
+ {file = "atomicwrites-1.4.0.tar.gz", hash = "sha256:ae70396ad1a434f9c7046fd2dd196fc04b12f9e91ffb859164193be8b6168a7a"},
+]
+attrs = [
+ {file = "attrs-21.4.0-py2.py3-none-any.whl", hash = "sha256:2d27e3784d7a565d36ab851fe94887c5eccd6a463168875832a1be79c82828b4"},
+ {file = "attrs-21.4.0.tar.gz", hash = "sha256:626ba8234211db98e869df76230a137c4c40a12d72445c45d5f5b716f076e2fd"},
+]
+black = [
+ {file = "black-21.12b0-py3-none-any.whl", hash = "sha256:a615e69ae185e08fdd73e4715e260e2479c861b5740057fde6e8b4e3b7dd589f"},
+ {file = "black-21.12b0.tar.gz", hash = "sha256:77b80f693a569e2e527958459634f18df9b0ba2625ba4e0c2d5da5be42e6f2b3"},
+]
+cfgv = [
+ {file = "cfgv-3.3.1-py2.py3-none-any.whl", hash = "sha256:c6a0883f3917a037485059700b9e75da2464e6c27051014ad85ba6aaa5884426"},
+ {file = "cfgv-3.3.1.tar.gz", hash = "sha256:f5a830efb9ce7a445376bb66ec94c638a9787422f96264c98edc6bdeed8ab736"},
+]
+click = [
+ {file = "click-8.0.3-py3-none-any.whl", hash = "sha256:353f466495adaeb40b6b5f592f9f91cb22372351c84caeb068132442a4518ef3"},
+ {file = "click-8.0.3.tar.gz", hash = "sha256:410e932b050f5eed773c4cda94de75971c89cdb3155a72a0831139a79e5ecb5b"},
+]
+colorama = [
+ {file = "colorama-0.4.4-py2.py3-none-any.whl", hash = "sha256:9f47eda37229f68eee03b24b9748937c7dc3868f906e8ba69fbcbdd3bc5dc3e2"},
+ {file = "colorama-0.4.4.tar.gz", hash = "sha256:5941b2b48a20143d2267e95b1c2a7603ce057ee39fd88e7329b0c292aa16869b"},
+]
+distlib = [
+ {file = "distlib-0.3.4-py2.py3-none-any.whl", hash = "sha256:6564fe0a8f51e734df6333d08b8b94d4ea8ee6b99b5ed50613f731fd4089f34b"},
+ {file = "distlib-0.3.4.zip", hash = "sha256:e4b58818180336dc9c529bfb9a0b58728ffc09ad92027a3f30b7cd91e3458579"},
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+ {file = "wcwidth-0.2.5-py2.py3-none-any.whl", hash = "sha256:beb4802a9cebb9144e99086eff703a642a13d6a0052920003a230f3294bbe784"},
+ {file = "wcwidth-0.2.5.tar.gz", hash = "sha256:c4d647b99872929fdb7bdcaa4fbe7f01413ed3d98077df798530e5b04f116c83"},
+]
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000000000000000000000000000000000000..3914d27612417b6e74be1118212e3525c7b3bc76
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,29 @@
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"
+
+[tool.poetry]
+name = "py_ur_ctl"
+version = "0.1.0"
+description = "package for script execution on UR5 for selectica project"
+authors = [
+ "Tihomir Zilic <tihomir.zilic@control.lth.se>",
+ "Anton Tetov <anton.johansson@control.lth.se>",
+ "Jacek Malek <jacek.malec@cs.lth.se>",
+ "Anders Robertsson <anders.robertsson@control.lth.se>",
+]
+repository = "https://gitlab.control.lth.se/selectica/py_ur_ctl"
+
+[tool.poetry.dependencies]
+python = ">=3.9,<3.10"
+
+[tool.poetry.dev-dependencies]
+pytest = "^5.2"
+isort = "^5.10.1"
+flake8 = "^4.0.1"
+mypy = "^0.931"
+black = "^21.12b0"
+pre-commit = "^2.17.0"
+
+[tool.isort]
+profile = "black"
diff --git a/tests/__init__.py b/tests/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/tests/test_ur_py_ctl.py b/tests/test_ur_py_ctl.py
new file mode 100644
index 0000000000000000000000000000000000000000..a1e9b9aa71f27b589c79bba8845d85dc563a3e59
--- /dev/null
+++ b/tests/test_ur_py_ctl.py
@@ -0,0 +1,5 @@
+from ur_py_ctl import __version__
+
+
+def test_version():
+ assert __version__ == "0.1.0"
diff --git a/ur_py_ctl/__init__.py b/ur_py_ctl/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..550c0592c9c8a7e429c955dfbc6a45553802c63f
--- /dev/null
+++ b/ur_py_ctl/__init__.py
@@ -0,0 +1,9 @@
+import pathlib
+
+from .send_script import send_script # noqa: F401,F402
+
+__version__ = "0.1.0"
+
+HERE = pathlib.Path(__file__).parent
+REPO_DIR = HERE.parent
+LOG_DIR = REPO_DIR / "log"
diff --git a/ur_py_ctl/__main__.py b/ur_py_ctl/__main__.py
new file mode 100644
index 0000000000000000000000000000000000000000..ae66b4b69d78f62261e228f8e81183d66a75f49a
--- /dev/null
+++ b/ur_py_ctl/__main__.py
@@ -0,0 +1,16 @@
+import argparse
+import pathlib
+
+from ur_py_ctl import send_script
+
+if __name__ == "__main__":
+
+ parser = argparse.ArgumentParser(description="Send program to UR")
+ parser.add_argument("path", type=pathlib.Path, help="script file")
+
+ args = parser.parse_args()
+
+ if not args.path.exists():
+ raise FileNotFoundError()
+
+ send_script()
diff --git a/ur_py_ctl/send_script.py b/ur_py_ctl/send_script.py
new file mode 100644
index 0000000000000000000000000000000000000000..7dc271bee5a3e3be2bcbf7a48efd71f56e06bfd2
--- /dev/null
+++ b/ur_py_ctl/send_script.py
@@ -0,0 +1,92 @@
+from __future__ import absolute_import, print_function
+
+import logging
+import socket
+
+import ur_py_ctl.urscript_commands as ur_cmd
+from ur_py_ctl import LOG_DIR
+
+SERVER_ADRESS = "192.168.10.11"
+SERVER_PORT = 30003
+UR_IP = "192.168.10.10"
+UR_SERVER_PORT = 30002
+# TOOL_ANGLE_AXIS = [-68.7916, -1.0706, 100, 3.1416, 0.0, 0.0]
+
+# New tool angle
+TOOL_ANGLE_AXIS = [-26.25, 71.64, 125.2, 3.1416, 0.0, 0.0]
+
+# UTIL
+
+LOG_FILE = LOG_DIR / "send_script.log"
+
+logging.basicConfig(filename=LOG_FILE, filemode="a", level=logging.DEBUG)
+
+
+def start_log() -> None:
+ logging.debug("Start script")
+ logging.debug("GLOBALS")
+ logging.debug("SERVER_ADRESS: {}".format(SERVER_ADRESS))
+ logging.debug("SERVER_PORT: {}".format(SERVER_PORT))
+ logging.debug("UR_IP: {}".format(UR_IP))
+ logging.debug("UR_SERVER_PORT: {}".format(UR_SERVER_PORT))
+ logging.debug("TOOL_ANGLE_AXIS: {}".format(TOOL_ANGLE_AXIS))
+
+
+def get_script() -> bytes:
+ script = ""
+ script += "def program():\n"
+ script += ur_cmd.set_tcp(0, 0, 0, 0, 0, 0)
+
+ script += ur_cmd.textmsg("Starting")
+
+ for i in range(10):
+
+ script += ur_cmd.movel(i * 0.2, 0, 0, 0, 0, 0, 50 / 1000, 5 / 1000)
+ script += ur_cmd.textmsg(f"Sending command number: {i}")
+
+ script += f'\tsocket_open("{SERVER_ADRESS}", {SERVER_PORT})\n'
+ script += ur_cmd.textmsg("End program")
+ script += '\tsocket_send_string("c")\n'
+ script += "\tsocket_close()\n"
+ script += "end\n"
+ script += "program()\n\n\n"
+
+ script = script.encode()
+
+ return script
+
+
+def send_script(script_path) -> None:
+ start_log()
+
+ send_socket = socket.create_connection((UR_IP, UR_SERVER_PORT), timeout=2)
+ send_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+
+ logging.debug("Sockets setup")
+
+ script = get_script()
+ print("Sending commands")
+
+ # send file
+ send_socket.send(script)
+ logging.debug("File sent")
+
+ # make server
+ recv_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ recv_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+
+ # Bind the socket to the port
+ recv_socket.bind((SERVER_ADRESS, SERVER_PORT))
+
+ # Listen for incoming connections
+ recv_socket.listen(1)
+ while True:
+ logging.debug("Waiting for accept")
+ _, client_address = recv_socket.accept()
+ logging.debug(f"Recieved accept from: {client_address}")
+ break
+
+ recv_socket.close()
+
+ send_socket.close()
+ print("Program done ...")
diff --git a/ur_py_ctl/urscript_commands.py b/ur_py_ctl/urscript_commands.py
new file mode 100644
index 0000000000000000000000000000000000000000..3f07af389034255baccdc94272e0ee215a7a5b18
--- /dev/null
+++ b/ur_py_ctl/urscript_commands.py
@@ -0,0 +1,35 @@
+def _add_whitespace(string: str) -> str:
+ return "\t" + string + "\n"
+
+
+def set_tcp(x, y, z, ax, ay, az) -> str:
+ cmd = "set_tcp(p[{:.5f}, {:.5f}, {:.5f}, {:.5f}, {:.5f}, {:.5f}])".format(
+ x / 1000.0, y / 1000.0, z / 1000.0, ax, ay, az
+ )
+ return _add_whitespace(cmd)
+
+
+def movel(x, y, z, ax, ay, az, speed, radius) -> str:
+ cmd = f"movel(p[{x:.5f}, {y:.5f}, {z:.5f}, {ax:.5f}, {ay:.5f}, {z:.5f}], v={speed:.3f}, r={radius:.3f})" # noqa: E501
+ return _add_whitespace(cmd)
+
+
+def textmsg(string: str) -> str:
+ cmd = f'textmsg("{string}")'
+ return _add_whitespace(cmd)
+
+
+def set_DO(pin: int, state: bool) -> str:
+ cmd = f"set_digital_out({pin:d}, {state})"
+ return _add_whitespace(cmd)
+
+
+def sleep(seconds: int) -> str:
+ cmd = "sleep({})".format(seconds)
+ return _add_whitespace(cmd)
+
+
+def popup(string: str) -> str:
+ # Popup title not implemented, neither is error or warning flags
+ cmd = 'popup("{}")'.format(string)
+ return _add_whitespace(cmd)