Python 15. Others

15.1. Get SSH public key

Prototype	GetSSHKeygen()
description	Get SSH public key
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode keygen: public key

15.2. Issue the SCP command

New in version python: SDK-v2.1.3

Prototype	SetSSHScpCmd(mode, sshname, sship, usr_file_url, robot_file_url)
Description	Issue the SCP command
Mandatory parameters	mode: 0- Upload (Host Computer -> Controller), 1- Download (Controller -> Host Computer sshname: User name of the upper computer sship: The ip address of the upper computer usr_file_url: File path of the upper computer robot_file_url: Robot controller file path
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

15.3. Calculate the MD5 value of a file in a specified path

Prototype	ComputeFileMD5(file_path)
Description	Calculates the MD5 value of a file in the specified path.
Mandatory parameter	file_path: file path including filename, default Traj folder path is :/fruser/traj/, e.g. /fruser/traj/trajHelix_aima_1.txt
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode md5: the MD5 value of the file.

15.4. Robot SSH, MD5 instruction code example

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
file_path = "/fruser/airlab.lua"
md5 = ""
emerg_state = 0
si0_state = 0
si1_state = 0
sdk_com_state = 0
ssh_keygen = ""
retval,ssh_keygen = robot.GetSSHKeygen()
print(f"GetSSHKeygen retval is: {retval}")
print(f"ssh key is: {ssh_keygen}")
ssh_name = "fr"
ssh_ip = "192.168.58.45"
ssh_route = "/home/fr"
ssh_robot_url = "/root/robot/dhpara.config"
retval = robot.SetSSHScpCmd(1, ssh_name, ssh_ip, ssh_route, ssh_robot_url)
print(f"SetSSHScpCmd retval is: {retval}")
print(f"robot url is: {ssh_robot_url}")
error, md5 = robot.ComputeFileMD5(file_path)
print(f"md5 is: {md5}")
robot.CloseRPC()

15.5. Setting the Robot 20004 Port Feedback Cycle

New in version python: SDK-v2.0.5

Prototype	SetRobotRealtimeStateSamplePeriod(period)
Description	Setting the robot 20004 port feedback cycle
Mandatory parameter	period: robot 20004 port feedback period (ms)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

15.6. Get robot 20004 port feedback cycle

New in version python: SDK-v2.0.5

Prototype	GetRobotRealtimeStateSamplePeriod()
Description	Get robot 20004 port feedback cycle
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode period: robot 20004 port feedback period (ms)

15.7. Robot 20004 port state feedback cycle configuration code example

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
robot.SetRobotRealtimeStateSamplePeriod(10)
error,getPeriod = robot.GetRobotRealtimeStateSamplePeriod()
print(f"period is {getPeriod}")
time.sleep(1)
robot.CloseRPC()

15.8. Robot software upgrade

New in version python: SDK-v2.0.5

Prototype	SoftwareUpgrade(filePath, block)
Description	Robot Software Upgrade
Required parameters	filePath: full path of the software upgrade package block: whether to block until the upgrade is complete true:blocking; false:non-blocking
Default parameters	NULL
Return Value	errcode Success-0 Failure- errcode

15.9. Get robot software upgrade status

New in version python: SDK-v2.0.5

Prototype	GetSoftwareUpgradeState()
Description	Get robot software upgrade status
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode state: robot package upgrade status, 0: idle in progress or uploading upgrade package in progress, 1~100: percentage of upgrade completed, -1: upgrade software failure, -2: checksum failure, -3: version checksum failure, -4: unpacking failure, -5: user configuration upgrade failure, -6: peripheral configuration upgrade failure, -7: extended axis configuration upgrade failure, -8: robot configuration upgrade failure, -9: DH parameter configuration upgrade failure

15.10. Robot software upgrade code example

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
error = robot.SoftwareUpgrade("D://zUP/QNX382/software.tar.gz", False)
print(f"SoftwareUpgrade error is {error}")
while True:
    curState = robot.GetSoftwareUpgradeState()
    print(f"upgrade state is {curState}")
    time.sleep(3)
robot.CloseRPC()

15.11. Download Point Table Database

New in version python: SDK-v2.0.1

Prototype	PointTableDownLoad(point_table_name, save_file_path)
Description	Download Points Table Database
Required Parameters	point_table_name: name of the point table to be downloaded pointTable1.db; save_file_path: storage path to download the point table C://test/;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

15.12. Upload point table database

New in version python: SDK-v2.0.1

Prototype	PointTableUpLoad(point_table_file_path)
Description	Upload point table database
Required Parameters	point_table_file_path: full pathname of uploaded point table C://test/pointTable1.db
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

15.13. Point table update lua file

New in version python: SDK-v2.0.1

prototype	PointTableUpdateLua(point_table_name, lua_file_name)
Description	Point table update lua file
Required Parameters	point_table_name: the name of the point table to be switched, pointTable1.db, when the point table is empty, i.e. “, it means updating the lua program to the initial program with no point table applied lua_file_name: name of the lua file to update testPointTable.lua
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

15.14. Robot point table operation code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
save_path = "D://zDOWN/"
point_table_name = "point_table_FR5.db"
rtn = robot.PointTableDownLoad(point_table_name, save_path)
print(f"download : {point_table_name} fail: {rtn}")
upload_path = "D://zDOWN/point_table_FR5.db"
rtn = robot.PointTableUpLoad(upload_path)
print(f"retval is: {rtn}")
point_tablename = "point_table_FR5.db"
lua_name = "test0610.lua"
rtn,error = robot.PointTableUpdateLua(point_tablename, lua_name)
print(f"retval is: {rtn}")
robot.CloseRPC()

15.15. Controller log download

New in version python: SDK-v2.1.1

Prototype	RbLogDownload(savePath)
Description	Controller log download
Mandatory parameters	savePath: Save the file path D://zDown/
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

15.16. Download all data sources

New in version python: SDK-v2.1.1

Prototype	AllDataSourceDownload(savePath)
Description	Download all data sources
Mandatory parameters	savePath: Save the file path D://zDown/
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

15.17. Data backup package download

New in version python: SDK-v2.1.1

Prototype	DataPackageDownload(savePath)
Description	Data backup package download
Mandatory parameters	savePath: Save the file path D://zDown/
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode