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SSH Linux commands

Remote execute Linux command lines on the robot controller.

Remote execute Linux commands
Default credentials
Enable SSH access
Remote start a shell
Try it with the Windows example
API reference

SSH is a protocol that allows you to remotly execute Linux command lines robot controller.

This feature is made possible because an embedded Linux is running in the robot.

You can also use this library to remote manipulate files over SSH, see the SFTP documentation.

Remote execute Linux commands

SSH features are not enabled by default when connecting to the robot. You must enable it and specify the Linux user name and password. If these credentials are not specified, the user is "ur" and the password "easybot".

To do this set the Ssh.EnableSSh property in ConnectParameters class.

Please then refer to the API reference below which lists all the available file and folder handling features.

If you wish to manipulate files outside of any instance of the UR object, you can create an instance of class Ssh.SshClient which has the same functions.

The RunCommand method allows you to synchronously execute a command and wait for its response.

Default credentials

Default user on a real robot : root
Default user on the simulator : ur
Default password : easybot

Enable SSH access

You may need to enable access on the robot. In Polyscope, navigate to Settings > Security > Secure Shell and ensure that SSH access is enabled.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Ssh.Tools;

class SshRunCommand
{
  static void Main(string[] args)
  {
    
    // Create a new robot instance
    var robot = new UR();

    // Setup connection to th robot
    var param = new ConnectParameters();
    param.IP = "192.168.0.1";

    // Enable SSH
    param.Ssh.EnableSftp = true;

    // If not specified, credentials are "ur" with password "easybot"
    param.Ssh.Username = "John";
    param.Ssh.Password = "!!PASS!!";

    // Connect to the robot
    robot.Connect(param);

    // Create a execute the command
    SshCommand command = robot.Ssh.RunCommand("echo Hello > /home/ur/Desktop/NewFile.txt");

    // Get result
    string result = command.Result; // console output
    int exitStatus = command.ExitStatus; // exit status
    

  }
}

Remote start a shell

The creation of a shell allows to maintain a session and to have a working directory, like in a terminal. The method CreateShellStream allows to create a shell. It takes as parameter a window size. An event DataReceived is raised when the console outputs text.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Ssh.Tools;
using UnderAutomation.UniversalRobots.Ssh.Tools.Common;

class SshCreateShell
{
  static void Main(string[] args)
  {
    
    // Create a new robot instance
    var robot = new UR();

    // Setup connection to th robot
    var param = new ConnectParameters();
    param.IP = "192.168.0.1";

    // Enable SSH
    param.Ssh.EnableSsh = true;

    // If not specified, credentials are "ur" with password "easybot"
    param.Ssh.Username = "John";
    param.Ssh.Password = "!!PASS!!";

    // Connect to the robot
    robot.Connect(param);

    // Create a shell and specify its size
    ShellStream shell = robot.Ssh.CreateShellStream("My super app", 40, 100, 40, 100, 1000);

    shell.DataReceived += Shell_DataReceived;

    shell.WriteLine("ping 192.168.0.10");
    
  }

  
  private static void Shell_DataReceived(object sender, ShellDataEventArgs e)
  {
    // New shell line from the robot
    string dataReceived = e.Line;
  }
  
}

Try it with the Windows example

SSH

API reference

Class

SshClientinherits SshClientBase

C#Python

Provides a client connection to SSH server

Member	Type	Description
SshClient() Constructor
Connect(string, string, string, int) Method	void	Connects to the robot ip : Robot IP address username : Robot linux username (default username is ur for simulator and root for real robot) password : Associated user password (default is easybot) port : SSH port

Class

ShellStreaminherits Stream

C#Python

Contains operation for working with SSH Shell.

Member	Type	Description
CanRead Property read only	bool	Gets a value indicating whether the current stream supports reading.
CanSeek Property read only	bool	Gets a value indicating whether the current stream supports seeking.
CanWrite Property read only	bool	Gets a value indicating whether the current stream supports writing.
DataAvailable Property read only	bool	Gets a value that indicates whether data is available on the `ShellStream` to be read.
Length Property read only	long	Gets the length in bytes of the stream.
Position Property	long	Gets or sets the position within the current stream.
DataReceived Event	EventHandler<ShellDataEventArgs>	Occurs when data was received.
ErrorOccurred Event	EventHandler<ExceptionEventArgs>	Occurs when an error occurred.
BeginExpect(AsyncCallback, object, params ExpectAction[]) Method	IAsyncResult	Begins the expect. callback : The callback. state : The state. expectActions : The expect actions.
BeginExpect(AsyncCallback, params ExpectAction[]) Method	IAsyncResult	Begins the expect. callback : The callback. expectActions : The expect actions.
BeginExpect(TimeSpan, AsyncCallback, object, params ExpectAction[]) Method	IAsyncResult	Begins the expect. timeout : The timeout. callback : The callback. state : The state. expectActions : The expect actions.
BeginExpect(params ExpectAction[]) Method	IAsyncResult	Begins the expect. expectActions : The expect actions.
Dispose(bool) Method	void	Releases the unmanaged resources used by the `Stream` and optionally releases the managed resources. disposing : `true` to release both managed and unmanaged resources; `false` to release only unmanaged resources.
EndExpect(IAsyncResult) Method	string	Ends the execute. asyncResult : The async result.
Expect(string) Method	string	Expects the expression specified by text. text : The text to expect.
Expect(string, TimeSpan) Method	string	Expects the expression specified by text. text : The text to expect. timeout : Time to wait for input.
Expect(Regex) Method	string	Expects the expression specified by regular expression. regex : The regular expression to expect.
Expect(Regex, TimeSpan) Method	string	Expects the expression specified by regular expression. regex : The regular expression to expect. timeout : Time to wait for input.
Expect(TimeSpan, params ExpectAction[]) Method	void	Expects the specified expression and performs action when one is found. timeout : Time to wait for input. expectActions : The expected expressions and actions to perform, if the specified time elapsed and expected condition have not met, that method will exit without executing any action.
Expect(params ExpectAction[]) Method	void	Expects the specified expression and performs action when one is found. expectActions : The expected expressions and actions to perform.
Flush() Method	void	Clears all buffers for this stream and causes any buffered data to be written to the underlying device.
Read() Method	string	Reads text available in the shell.
Read(byte[], int, int) Method	int	Reads a sequence of bytes from the current stream and advances the position within the stream by the number of bytes read. buffer : An array of bytes. When this method returns, the buffer contains the specified byte array with the values between `offset` and (`offset` + `count` - 1) replaced by the bytes read from the current source. offset : The zero-based byte offset in `buffer` at which to begin storing the data read from the current stream. count : The maximum number of bytes to be read from the current stream.
ReadLine() Method	string	Reads the line from the shell. If line is not available it will block the execution and will wait for new line.
ReadLine(TimeSpan) Method	string	Reads a line from the shell. If line is not available it will block the execution and will wait for new line. timeout : Time to wait for input.
Seek(long, SeekOrigin) Method	long	This method is not supported. offset : A byte offset relative to the `origin` parameter. origin : A value of type `SeekOrigin` indicating the reference point used to obtain the new position.
SetLength(long) Method	void	This method is not supported. value : The desired length of the current stream in bytes.
Write(byte[], int, int) Method	void	Writes a sequence of bytes to the current stream and advances the current position within this stream by the number of bytes written. buffer : An array of bytes. This method copies `count` bytes from `buffer` to the current stream. offset : The zero-based byte offset in `buffer` at which to begin copying bytes to the current stream. count : The number of bytes to be written to the current stream.
Write(string) Method	void	Writes the specified text to the shell. text : The text to be written to the shell.
WriteLine(string) Method	void	Writes the line to the shell. line : The line to be written to the shell.

Class

SshCommand

C#Python

Represents SSH command that can be executed.

Member	Type	Description
CommandText Property read only	string	Gets the command text.
CommandTimeout Property	TimeSpan	Gets or sets the command timeout.
Error Property read only	string	Gets the command execution error.
ExitStatus Property read only	int	Gets the command exit status.
ExtendedOutputStream Property read only	Stream	Gets the extended output stream.
OutputStream Property read only	Stream	Gets the output stream.
Result Property read only	string	Gets the command execution result.
BeginExecute() Method	IAsyncResult	Begins an asynchronous command execution.
BeginExecute(AsyncCallback) Method	IAsyncResult	Begins an asynchronous command execution. callback : An optional asynchronous callback, to be called when the command execution is complete.
BeginExecute(AsyncCallback, object) Method	IAsyncResult	Begins an asynchronous command execution. callback : An optional asynchronous callback, to be called when the command execution is complete. state : A user-provided object that distinguishes this particular asynchronous read request from other requests.
BeginExecute(string, AsyncCallback, object) Method	IAsyncResult	Begins an asynchronous command execution. commandText : The command text. callback : An optional asynchronous callback, to be called when the command execution is complete. state : A user-provided object that distinguishes this particular asynchronous read request from other requests.
Dispose() Method	void	Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.
Dispose(bool) Method	void	Releases unmanaged and - optionally - managed resources disposing : `true` to release both managed and unmanaged resources; `false` to release only unmanaged resources.
EndExecute(IAsyncResult) Method	string	Waits for the pending asynchronous command execution to complete. asyncResult : The reference to the pending asynchronous request to finish.
Execute() Method	string	Executes command specified by `CommandText` property.
Execute(string) Method	string	Executes the specified command text. commandText : The command text.
~SshCommand() Method	void	Releases unmanaged resources and performs other cleanup operations before the `SshCommand` is reclaimed by garbage collection.

Each method also exists in an asynchronous version, with the same name followed by Async and an optional cancellation token.

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SSH Linux commands

Remote execute Linux commands

Default credentials

Enable SSH access

Remote start a shell

Try it with the Windows example

API reference