From 6ebcec976c06a27d9afabdf336673bcc2e019198 Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Wed, 28 Sep 2022 21:51:54 +0200
Subject: [PATCH] first impl
---
ur_py_ctl/client.py | 38 ++++++++++++++++++++++++++++++++++++++
1 file changed, 38 insertions(+)
create mode 100644 ur_py_ctl/client.py
diff --git a/ur_py_ctl/client.py b/ur_py_ctl/client.py
new file mode 100644
index 0000000..9199203
--- /dev/null
+++ b/ur_py_ctl/client.py
@@ -0,0 +1,38 @@
+"""Client for communication with UR robot over TCP socket."""
+import logging
+import socket
+
+
+class URClient:
+ """Client for communication with UR robot over TCP socket.
+
+ Parameters
+ ----------
+ hostname
+ hostname or ip for UR controller
+ port
+ TCP port on UR controller
+ timeout
+ Timeout for socket
+ """
+
+ def __init__(self, hostname: str, port=30003, timeout=2):
+ self.addr = (hostname, port)
+ self.send_sock = socket.socket()
+ self.send_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ self.send_sock.settimeout(timeout)
+
+ def send_script(self, script: str) -> None:
+ """Send script to UR controller.
+
+ Parameters
+ ----------
+ script
+
+ Raises
+ ------
+ :py.exc:`TimeoutError`
+ """
+ logging.debug(f"Will send script:\n{script}")
+
+ self.send_sock.sendto(script.encode(), self.addr)
--
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