REST API (PolyScope X)

static void Main(string[] args)
{
var robot = new UR();

var parameters = new ConnectParameters("192.168.0.1");

// The REST API is disabled by default
parameters.Rest.Enable = true;

// The Dashboard Server does not exist on PolyScope X
parameters.Dashboard.Enable = false;

robot.Connect(parameters);

robot.Rest.PowerOn();
robot.Rest.BrakeRelease();
robot.Rest.LoadProgram("my_program");
robot.Rest.Play();

// Playing, Paused, Stopped or Unknown
var state = robot.Rest.GetProgramState();
Console.WriteLine(state.Value.State);
robot.Disconnect();
}

static void Main(string[] args)
{
// A REST client, without a UR instance
var client = new RestClient();

// Address of the robot. Optional: port, API version, timeout
client.Enable("192.168.0.1");

client.PowerOn();
client.LoadProgram("my_program");
client.Play();

client.Disable();
}
}

{
var robot = new UR();
var parameters = new ConnectParameters("192.168.0.1");

parameters.Rest.Enable = true;
parameters.Rest.Port = 80;                        // HTTP port, 80 by default
parameters.Rest.Version = RestApiVersion.V1;      // Latest by default
parameters.Rest.TimeoutMs = 10000;                // 5000 ms by default

robot.Connect(parameters);

// The client is ready
if (robot.Rest.Initialized)
  Console.WriteLine(robot.Rest.IP + ":" + robot.Rest.Port);
}
}

var robot = new UR();
robot.Connect(new ConnectParameters("192.168.0.1") { Rest = { Enable = true } });
// Power on, then release the brakes
robot.Rest.PowerOn();
robot.Rest.BrakeRelease();

// After a protective stop or a safety fault
robot.Rest.UnlockProtectiveStop();
robot.Rest.RestartSafety();

robot.Rest.PowerOff();

// The same actions, with one generic method
robot.Rest.ChangeRobotState(RobotStateAction.POWER_ON);
robot.Rest.ChangeRobotState(RobotStateAction.BRAKE_RELEASE);
}
}

var robot = new UR();
robot.Connect(new ConnectParameters("192.168.0.1") { Rest = { Enable = true } });
// The name of the program, with or without .urp
robot.Rest.LoadProgram("my_program");

// Name of the loaded program
RestApiResponse<string> loaded = robot.Rest.GetLoadedProgram();

robot.Rest.Play();
robot.Rest.Pause();
robot.Rest.Resume();
robot.Rest.Stop();

// The same actions, with one generic method
robot.Rest.ChangeProgramState(ProgramStateAction.play);

RestApiResponse<ProgramStateResponse> response = robot.Rest.GetProgramState();
if (response.Succeed)
{
  RestProgramState state = response.Value.State; // Playing, Paused, Stopped, Unknown
}
}
}

param.Rest.Enable = true;
robot.Connect(param);
// Unknown if the robot answers a mode that the SDK does not know
RestApiResponse<RobotModes> robotMode = robot.Rest.GetRobotMode();
RestApiResponse<SafetyModes> safetyMode = robot.Rest.GetSafetyMode();

RestApiResponse<OperationalModes> operationalMode = robot.Rest.GetOperationalMode();
RestApiResponse<bool> remote = robot.Rest.IsInRemoteControl();

RestApiResponse<PolyscopeVersion> polyscope = robot.Rest.GetPolyscopeVersion();
RestApiResponse<Version> api = robot.Rest.GetRobotApiVersion();

Console.WriteLine($"Robot mode: {robotMode.Value}, safety mode: {safetyMode.Value}");
Console.WriteLine($"Operational mode: {operationalMode.Value}, remote control: {remote.Value}");
Console.WriteLine($"PolyScope X {polyscope.Value?.Description}, robot API {api.Value}");
robot.Disconnect();
}

param.Rest.Enable = true;
robot.Connect(param);
// Popup with an empty title
robot.Rest.ShowPopup("Load the parts");

// Popup with a title
robot.Rest.ShowPopupWithTitle("Cell 3", "Load the parts");

robot.Rest.ClosePopup();
robot.Rest.CloseSafetyPopup();
robot.Disconnect();
}

param.Rest.Enable = true;
robot.Connect(param);
// List the programs of the robot
RestApiResponse<RestProgramInfo[]> programs = robot.Rest.GetPrograms();
foreach (RestProgramInfo program in programs.Value)
{
  // Dates are in milliseconds since 1970-01-01 UTC
  var modified = DateTimeOffset.FromUnixTimeMilliseconds(program.LastModifiedDate);
  Console.WriteLine($"{program.Name}, modified on {modified:yyyy-MM-dd}");
}

// Add a new program. The robot refuses a program that already exists.
RestApiResponse<string> uploaded = robot.Rest.UploadProgramFile(@"C:\programs\pick_and_place.urpx");
Console.WriteLine($"Name on the robot: {uploaded.Value}");

// Replace an existing program
robot.Rest.UpdateProgramFile(@"C:\programs\pick_and_place.urpx");

// Same from a text content
string content = File.ReadAllText(@"C:\programs\pick_and_place.urpx");
robot.Rest.UpdateProgramContent("pick_and_place.urpx", content);

// Read a program as text, or save it in a file
RestApiResponse<string> downloaded = robot.Rest.DownloadProgram("pick_and_place");
robot.Rest.DownloadProgramToFile("pick_and_place", @"C:\backup\pick_and_place.urpx");
robot.Disconnect();
}

var robot = new UR();
robot.Connect(new ConnectParameters("192.168.0.1") { Rest = { Enable = true } });
RestApiResponse response = robot.Rest.PowerOn();

if (!response.Succeed)
{
  // HTTP status, message and body of the answer of the robot
  Console.WriteLine(response.StatusCode);
  Console.WriteLine(response.Message);
  Console.WriteLine(response.RawResponse);
}

// Errors of the SDK, for example a timeout
robot.Rest.InternalErrorOccured += (sender, e) =>
{
  Console.WriteLine(e.Message);
  Console.WriteLine(e.Exception);
};
}
}

{
var robot = new UR();
// PolyScope 5 and CB-Series: Dashboard Server
robot.Connect(new ConnectParameters("192.168.0.1") { Dashboard = { Enable = true } });
robot.Dashboard.PowerOn();
robot.Dashboard.LoadProgram("/programs/my_program.urp");
robot.Dashboard.Play();

// PolyScope X: REST API
robot.Connect(new ConnectParameters("192.168.0.1") { Rest = { Enable = true } });
robot.Rest.PowerOn();
robot.Rest.LoadProgram("my_program");
robot.Rest.Play();
}
}