Tool I/O functions are added.

.gitignore

@@ -3,3 +3,9 @@ build
 .idea/
 .history/
 *.pyc
+dist/*.egg
+urx.egg-info/dependency_links.txt
+urx.egg-info/PKG-INFO
+urx.egg-info/requires.txt
+urx.egg-info/SOURCES.txt
+urx.egg-info/top_level.txt

urx/robot.py

@@ -208,7 +208,10 @@ def getl(self, wait=False, _log=True):
         return current transformation from tcp to current csys
         """
         t = self.get_pose(wait, _log)
-        return t.pose_vector.tolist()
+        try:
+            return t.pose_vector.array.tolist()
+        except:
+            return t.pose_vector.tolist()
 
     def set_gravity(self, vector):
         if isinstance(vector, m3d.Vector):

urx/urrobot.py

@@ -251,9 +251,25 @@ def set_tool_voltage(self, val):
         """
         set voltage to be delivered to the tool, val is 0, 12 or 24
         """
+        assert(val in [0, 12, 24])
         prog = "set_tool_voltage(%s)" % (val)
         self.send_program(prog)
 
+    def set_tool_digital_out(self, input_id, signal_level):
+        """
+        set tool digital output
+        """
+        assert(input_id in [0, 1])
+        prog = "set_tool_digital_out(%s, %s)" % (input_id, signal_level)
+        self.send_program(prog)
+
+    def set_tool_communication(self, enabled=True, baud_rate=9600, parity=0, stop_bits=1, rx_idle_chars=1.0, tx_idle_chars=3.5):
+        """
+        set tool RS485 communication protocol.
+        """
+        prog = "set_tool_communication(%s, %s, %s, %s, %s, %s)" % (enabled, baud_rate, parity, stop_bits, rx_idle_chars, tx_idle_chars)
+        self.send_program(prog)
+
     def _wait_for_move(self, target, threshold=None, timeout=5, joints=False):
         """
         wait for a move to complete. Unfortunately there is no good way to know when a move has finished
@@ -338,18 +354,30 @@ def movel(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False, threshold=
         """
         Send a movel command to the robot. See URScript documentation.
         """
+        try:
+            tpose = tpose.array
+        except:
+            pass
         return self.movex("movel", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold)
 
     def movep(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False, threshold=None):
         """
         Send a movep command to the robot. See URScript documentation.
         """
+        try:
+            tpose = tpose.array
+        except:
+            pass
         return self.movex("movep", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold)
 
     def servoc(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False, threshold=None):
         """
         Send a servoc command to the robot. See URScript documentation.
         """
+        try:
+            tpose = tpose.array
+        except:
+            pass
         return self.movex("servoc", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold)
 
     def servoj(self, tjoints, acc=0.01, vel=0.01, t=0.1, lookahead_time=0.2, gain=100, wait=True, relative=False, threshold=None):
@@ -375,6 +403,10 @@ def _format_servo(self, command, tjoints, acc=0.01, vel=0.01, t=0.1, lookahead_t
         return "{}({}[{},{},{},{},{},{}], a={}, v={}, t={}, lookahead_time={}, gain={})".format(command, prefix, *tjoints)
 
     def _format_move(self, command, tpose, acc, vel, radius=0, prefix=""):
+        try:
+            tpose = tpose.array
+        except:
+            pass
         tpose = [round(i, self.max_float_length) for i in tpose]
         tpose.append(acc)
         tpose.append(vel)
@@ -386,6 +418,10 @@ def movex(self, command, tpose, acc=0.01, vel=0.01, wait=True, relative=False, t
         Send a move command to the robot. since UR robotene have several methods this one
         sends whatever is defined in 'command' string
         """
+        try:
+            tpose = tpose.array
+        except:
+            pass
         if relative:
             l = self.getl()
             tpose = [v + l[i] for i, v in enumerate(tpose)]

urx/urscript.py

@@ -150,6 +150,30 @@ def _socket_send_byte(self, byte, socket_name):
         msg = "socket_send_byte(\"{}\",\"{}\")".format(str(byte), socket_name)  # noqa
         self.add_line_to_program(msg)
         self._sync()
+
+    def _get_tool_digital_in(self, input_id):
+        assert(input_id in [0, 1])
+        msg = "get_standard_digital_in({})".format(input_id)
+        self.add_line_to_program(msg)
+
+    def _set_tool_digital_out(self, input_id, signal_level):
+        assert(input_id in [0, 1])
+        assert(signal_level in [True, False])        
+        msg = "set_standard_digital_out({}, {})".format(input_id, signal_level)
+        self.add_line_to_program(msg)
+
+    def _set_tool_communication(self, enabled=True, baud_rate=9600, parity=0, stop_bits=1, rx_idle_chars=1.5, tx_idle_chars=3.5):
+        # stop_bits:Thenumberofstopbits(int).Validvalues:1,2. 
+        # rx_idle_chars:AmountofcharstheRXunitinthetoolshouldwaitbeforemarkingamessage asover/sendingittothePC(float).Validvalues:min=1.0max=40.0. 
+        # tx_idle_chars:
+        # set_tool_communication(True,115200,1,2,1.0,3.5)
+        # :9600,19200,38400,57600,115200, 1000000,2000000,5000000
+        assert(baud_rate in [9600,19200,38400,57600,115200, 1000000,2000000,5000000])
+        assert(parity in [0, 1, 2])
+        assert(stop_bits in [1, 2])
+        assert(enabled in [True, False])      
+        msg = "set_tool_communication({}, {}, {}, {}, {}, {})".format(enabled, baud_rate, parity, stop_bits, rx_idle_chars, tx_idle_chars)
+        self.add_line_to_program(msg)
 
     def _sync(self):
         msg = "sync()"