Read variables
Read robot variables
In this chapter, we call "variable" a global variable to the UR controller, it can be a program variable or an installation variable.
In the library, whatever the protocol used to manipulate variables, a variable is represented by the GlobalVariable class which contains the name and value of the variable.
This class inherits from GlobalVariableValue which contains only the value.
Read variables with Dashboard
The Dashboard server protocol allows the robot to be asked for the value of a variable.
The function that implements this command is GetVariable. A GlobalVariableValue object is returned which contains the name and value of the variable. The type is estimated from the value.
// Read variable called "myVar"var request = robot.Dashboard.GetVariable("myVar");if (request.Succeed){GlobalVariable variable = request.Value;// variable.Name// variable.Type// variable.Value// variable.ToMatrix();// variable.ToFloat();// variable.To...();}
Read variables with Primary Interface
Primary Interface raises an event when the list of variables or the value of a variable changes. The library maintains the last received value of each variable. This means you can access the name, type and value of variables at any time.
Warning: if your application connects while a program is running, you will only be notified of the list of variables when there is a change. It is therefore possible that the list is empty because Primary Interface only reacts to changes.
Note: the library adapts to the controller's firmware version. Indeed, from version 3.2, then 5.9 the way to decode the variables is different, but it is seemless for the developer.
2 events allow you to be notified when the list of variables changes (ListUpdated) or when one of the variables changes value (ValuesUpdated).
Primary interface has a GlobalVariables property that allows access to the list of variables and associated events.
// Be notified when the list of variables changesrobot.PrimaryInterface.GlobalVariables.ListUpdated += GlobalVariables_ListUpdated;// Be notified when at least one variable changes valuerobot.PrimaryInterface.GlobalVariables.ValuesUpdated += GlobalVariables_ValuesUpdated;// Get the list of all variablesGlobalVariable[] variables = robot.PrimaryInterface.GlobalVariables.GetAll();if (variables.Length == 0) return;// Get first variablevar variable = variables[0];// Get variable namestring name = variable.Name;// Get variable generic valueobject value = variable.Value;// Get its value according to its typeswitch (variable.Type){case GlobalVariableTypes.None:// Variable is empty or doesn't existbreak;case GlobalVariableTypes.String:string stringValue = variable.ToString();break;case GlobalVariableTypes.List:GlobalVariableValue[] listValue = variable.ToList();break;case GlobalVariableTypes.Pose:Pose poseValue = variable.ToPose();break;case GlobalVariableTypes.Bool:bool boolValue = variable.ToBool();break;case GlobalVariableTypes.Int:int intValue = variable.ToInt();break;case GlobalVariableTypes.Float:float floatValue = variable.ToFloat();break;case GlobalVariableTypes.Matrix:System.Array matrixValue = variable.ToMatrix();break;}
Try it with the Windows example
Classes
Members of Common.GlobalVariable :public class GlobalVariable : GlobalVariableValue {// Variable namepublic string Name { get; }// Last time the variable was sampledpublic TimeSpan Time { get; }}
public class GlobalVariableValue {// Estimate variable value from its string representationpublic static GlobalVariableValue Parse(string message)// Returns variable value if type is Bool. Il type is Float or Int, it returns True if value is not 0. Else, it returns falsepublic bool ToBool()// Returns variable value if type is Float. Il type is int, it casts it to float. If Type is bool, it returns 1 or 0. Else it returns NaNpublic float ToFloat()// Returns variable value if type is Int. Il type is Float, it tries to cast it to int. If Type is bool, it returns 1 or 0. Else it returns 0public int ToInt()// Returns an array of GlobalVariableValue if Type is List. Else, null is returnedpublic GlobalVariableValue[] ToList()// Return variable value GlobalVariable[,] if variable is a matrix. First dimension is row index and second dimension is column index.// Use GetLength(0) to get row number and GetLength(1) to get column countpublic Array ToMatrix()// Returns a Pose if Type is Pose. Else, null is returnedpublic Pose ToPose()// Returns a string that describes the variable, regardless of its typepublic override string ToString()// Type of a variablepublic GlobalVariableTypes Type { get; }// Value of the variablepublic object Value { get; }}
public enum GlobalVariableTypes {// Variable value is boolBool = 4// Variable value is floatFloat = 6// Variable value is intInt = 5// Variable value is an array : GlobalVariableValue[]List = 2// Variable value is a matrixMatrix = 7// Variable value is null, the value has not been assigned yetNone = 0// Variable value is a UnderAutomation.UniversalRobots.PosePose = 3// Variable value is a System.StringString = 1}
public class GlobalVariables {// Indicates which decoder is used used to read variables according to firmware versionpublic GlobalVariablesFirmwareVersion FirmwareVersion { get; }// Returns a list of all variables declared in the robotpublic GlobalVariable[] GetAll()// Get a variable by its name. Null is returned if the variable doesn't existpublic GlobalVariable GetByName(string name)// Event raised whan the variable list changed. For example, after a program startspublic event EventHandler<GlobalVariablesEventArgs> ListUpdated// Return a string where each line contains type, name and variable valuepublic override string ToString()// Event raised at 10Hz when variable values are updatedpublic event EventHandler<GlobalVariablesEventArgs> ValuesUpdated}
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