CAO_RC8PRovider_Python_RobotArm_Variable.py

gistfile1.txt

# -*- coding:utf-8 -*-

# Send "Move" command to RC8

#b-cap Lib URL 
# https://github.com/DENSORobot/orin_bcap

import pybcapclient.bcapclient as bcapclient

### set IP Address , Port number and Timeout of connected RC8
host = "127.0.0.1"
port = 5007
timeout = 2000

### Connection processing of tcp communication
m_bcapclient = bcapclient.BCAPClient(host,port,timeout)
print("Open Connection")

### start b_cap Service
m_bcapclient.service_start("")
print("Send SERVICE_START packet")

### set Parameter
Name = ""
Provider="CaoProv.DENSO.VRC"
Machine = ("localhost")
Option = ("")

### Connect to RC8 (RC8(VRC)provider)
hCtrl = m_bcapclient.controller_connect(Name,Provider,Machine,Option)
print("Connect RC8")
### get Robot Object Handl
HRobot = m_bcapclient.controller_getrobot(hCtrl,"Arm","")
print("AddRobot")

# get CurPos Object Handl
CurPosHandl = 0
CurPosHandl = m_bcapclient.robot_getvariable(HRobot, "@CURRENT_POSITION", "")

# read value of CurPos
readCurPos = m_bcapclient.variable_getvalue(CurPosHandl)
print("Current Robot Position = ", readCurPos)

# Disconnect
if(CurPosHandl != 0):
    m_bcapclient.variable_release(PHandl)
    print("Release @CURRENT_POSITION Handler")
#End If

if(HRobot != 0):
    m_bcapclient.robot_release(HRobot)
    print("Release Robot Object")
#End If

if(hCtrl != 0):
    m_bcapclient.controller_disconnect(hCtrl)
    print("Release Controller")
#End If

m_bcapclient.service_stop()
print("B-CAP service Stop")