16. Others

16.1. 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

16.2. 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

16.3. 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.

16.4. 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()

16.5. 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

16.6. 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)

16.7. 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()

16.8. 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

16.9. 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

16.10. 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()

16.11. 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

16.12. 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

16.13. 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

16.14. 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()

16.15. 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

16.16. 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

16.17. 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