SFTP (SSH File Transfer Protocol) gives access to the files of a Universal Robots controller: download, upload, list, rename and delete programs, installations and any other file. This page shows how to connect and use the SFTP client of the SDK. The controller runs Linux: the same connection can also run commands, see [SSH](/universal-robots/documentation/ssh-commands). ## Prerequisites - Secure Shell is enabled on the robot. On PolyScope, open `Settings`, `Security`, `Secure Shell`. - The Linux user and its password. The SDK uses `ur` and `easybot` by default. | Target | User | Password | Folder of the programs | | --------- | ------ | --------- | -------------------------------- | | Robot | `root` | `easybot` | `/programs` | | URSim | `ur` | `easybot` | `/home/ur/ursim-current/programs` | Change the default password of the robot: anyone on the network who knows it can change its files. ## Example SFTP is disabled by default: set `Ssh.EnableSftp` in `ConnectParameters`. **C# : Sftp** ```csharp using UnderAutomation.UniversalRobots; using UnderAutomation.UniversalRobots.Ssh.Tools.Sftp; class Sftp { static void Main(string[] args) { /**/ var robot = new UR(); var parameters = new ConnectParameters("192.168.0.1"); // SFTP is disabled by default parameters.Ssh.EnableSftp = true; // "ur" and "easybot" by default parameters.Ssh.Username = "root"; parameters.Ssh.Password = "easybot"; robot.Connect(parameters); // Download a program from the robot robot.Sftp.DownloadFile("/programs/my_program.urp", @"C:\temp\my_program.urp"); // Send a program to the robot robot.Sftp.UploadFile(@"C:\temp\my_program.urp", "/programs/my_program.urp"); // Rename, check, delete robot.Sftp.RenameFile("/programs/my_program.urp", "/programs/old_program.urp"); bool exists = robot.Sftp.Exists("/programs/old_program.urp"); robot.Sftp.DeleteFile("/programs/old_program.urp"); // List a folder foreach (SftpFile item in robot.Sftp.ListDirectory("/programs/")) Console.WriteLine(item.Name + " " + item.IsDirectory + " " + item.Length + " " + item.LastWriteTimeUtc); // Read and write text files robot.Sftp.WriteAllText("/programs/note.txt", "Hello"); string text = robot.Sftp.ReadAllText("/programs/note.txt"); /**/ } } ``` **Python : Sftp** ```python from underautomation.universal_robots.ur import UR from underautomation.universal_robots.connect_parameters import ConnectParameters ## robot = UR() parameters = ConnectParameters("192.168.0.1") # SFTP is disabled by default parameters.ssh.enable_sftp = True # "ur" and "easybot" by default parameters.ssh.username = "root" parameters.ssh.password = "easybot" robot.connect(parameters) # Download a program from the robot robot.sftp.download_file("/programs/my_program.urp", "C:\\temp\\my_program.urp") # Send a program to the robot, with the number of bytes sent robot.sftp.upload_file("C:\\temp\\my_program.urp", "/programs/my_program.urp", lambda sent: print(f"{sent} bytes sent")) # Rename, check, delete robot.sftp.rename_file("/programs/my_program.urp", "/programs/old_program.urp") exists = robot.sftp.exists("/programs/old_program.urp") robot.sftp.delete_file("/programs/old_program.urp") # List a folder for item in robot.sftp.list_directory("/programs/"): print(item.name, item.is_directory, item.length, item.last_write_time_utc) # Read and write text files robot.sftp.write_all_text("/programs/note.txt", "Hello") text = robot.sftp.read_all_text("/programs/note.txt") ## ``` The progress callbacks of `DownloadFile`, `UploadFile` and `ListDirectory` are optional. In Python, pass a function that takes the number of bytes or of entries. ## List the programs `EnumeratePrograms` and `EnumerateInstallations` return the relative paths of the `.urp` and `.installation` files of the programs folder and of its subfolders. They look in `/programs`, or in the folder of URSim when `/programs` does not exist. The client also works without `UR`: **C# : SftpDirect** ```csharp using UnderAutomation.UniversalRobots.Ssh; class SftpDirect { static void Main(string[] args) { /**/ // An SFTP client, without a UR instance var client = new SftpClient(); client.Connect("192.168.0.1", "root", "easybot"); // Relative paths of the .urp files of the programs folder, and of its subfolders string[] programs = client.EnumeratePrograms(); string[] installations = client.EnumerateInstallations(); client.Disconnect(); /**/ } } ``` **Python : SftpDirect** ```python from underautomation.universal_robots.ssh.sftp_client import SftpClient ## # An SFTP client, without a UR instance client = SftpClient() client.connect("192.168.0.1", "root", "easybot") # Relative paths of the .urp files of the programs folder, and of its subfolders programs = client.enumerate_programs() installations = client.enumerate_installations() client.disconnect() ## ``` ## Operations | Task | Methods | | ------------------------- | --------------------------------------------------------------- | | Transfer a file | `DownloadFile`, `UploadFile`, with a local path or a `Stream` | | Read and write a file | `ReadAllText`, `ReadAllLines`, `ReadAllBytes`, `WriteAllText`, `WriteAllLines`, `WriteAllBytes`, `AppendAllText`, `OpenRead`, `OpenWrite` | | Browse | `ListDirectory`, `Exists`, `Get`, `GetAttributes`, `ChangeDirectory`, `WorkingDirectory` | | Change | `CreateDirectory`, `RenameFile`, `DeleteFile`, `DeleteDirectory`, `Delete`, `ChangePermissions` | | Dates | `GetLastWriteTime`, `GetLastAccessTime`, and their UTC versions | A program sent with SFTP is loaded with the Dashboard Server (`LoadProgram`) or the REST API. See [Transfer files and backups](/universal-robots/documentation/how-to-transfer-files). ## Try it in the demo application Everything on this page can be tried without writing code, in the **File handling (SFTP)** page of the [demo application](/universal-robots/documentation/demo-app). ![File handling (SFTP) page of the Universal Robots SDK demo application](/universal-robots/WinformsScreenshots/Sftp.jpg) Its C# source is [SftpControl.cs](https://github.com/underautomation/UniversalRobots.NET/blob/main/UnderAutomation.UniversalRobots.Showcase.Forms/Components/SftpControl.cs). ## Reference **Members of Ssh.SftpClient** ```csharp public class SftpClient : SftpClientBase { public SftpClient() // Connects to the robot public void Connect(string ip, string username, string password, int port = 22) } ``` **Members of Ssh.Internal.SftpClientBase** ```csharp public abstract class SftpClientBase : URServiceBase { protected SftpClientBase() // Appends lines to a file, creating the file if it does not already exist. public void AppendAllLines(string path, string[] contents) // Appends lines to a file by using a specified encoding, creating the file if it does not already exist. public void AppendAllLines(string path, string[] contents, Encoding encoding) // Appends the specified string to the file, creating the file if it does not already exist. public void AppendAllText(string path, string contents) // Appends the specified string to the file, creating the file if it does not already exist. public void AppendAllText(string path, string contents, Encoding encoding) // Creates a that appends UTF-8 encoded text to the specified file, // creating the file if it does not already exist. public StreamWriter AppendText(string path) // Creates a that appends text to a file using the specified // encoding, creating the file if it does not already exist. public StreamWriter AppendText(string path, Encoding encoding) // Begins an asynchronous file downloading into the stream. public IAsyncResult BeginDownloadFile(string path, Stream output) // Begins an asynchronous file downloading into the stream. public IAsyncResult BeginDownloadFile(string path, Stream output, AsyncCallback asyncCallback) // Begins an asynchronous file downloading into the stream. public IAsyncResult BeginDownloadFile(string path, Stream output, AsyncCallback asyncCallback, object state, Action downloadCallback = null) // Begins an asynchronous operation of retrieving list of files in remote directory. public IAsyncResult BeginListDirectory(string path, AsyncCallback asyncCallback, object state, Action listCallback = null) // Begins the synchronize directories. public IAsyncResult BeginSynchronizeDirectories(string sourcePath, string destinationPath, string searchPattern, AsyncCallback asyncCallback, object state) // Begins an asynchronous uploading the stream into remote file. public IAsyncResult BeginUploadFile(Stream input, string path) // Begins an asynchronous uploading the stream into remote file. public IAsyncResult BeginUploadFile(Stream input, string path, AsyncCallback asyncCallback) // Begins an asynchronous uploading the stream into remote file. public IAsyncResult BeginUploadFile(Stream input, string path, AsyncCallback asyncCallback, object state, Action uploadCallback = null) // Begins an asynchronous uploading the stream into remote file. public IAsyncResult BeginUploadFile(Stream input, string path, bool canOverride, AsyncCallback asyncCallback, object state, Action uploadCallback = null) // Gets or sets the maximum size of the buffer in bytes. public uint BufferSize { get; set; } // Changes remote directory to path. public void ChangeDirectory(string path) // Changes permissions of file(s) to specified mode. public void ChangePermissions(string path, short mode) // Connects to the robot's SFTP server. protected void ConnectInternal(string ip, int port, string username, string password) // Gets a value indicating if this client is connected to the robot public bool Connected { get; } // Creates or overwrites a file in the specified path. public SftpFileStream Create(string path) // Creates or overwrites the specified file. public SftpFileStream Create(string path, int bufferSize) // Creates remote directory specified by path. public void CreateDirectory(string path) // Creates or opens a file for writing UTF-8 encoded text. public StreamWriter CreateText(string path) // Creates or opens a file for writing text using the specified encoding. public StreamWriter CreateText(string path, Encoding encoding) // Deletes the specified file or directory. public void Delete(string path) // Deletes remote directory specified by path. public void DeleteDirectory(string path) // Deletes remote file specified by path. public void DeleteFile(string path) // Disconnects this client from the SFTP server. public void Disconnect() // Downloads remote file specified by the path into the stream. public void DownloadFile(string path, Stream output, Action downloadCallback = null) // Downloads remote file specified by the path into the stream. public void DownloadFile(string path, string localPath, Action downloadCallback = null) // Ends an asynchronous file downloading into the stream. public void EndDownloadFile(IAsyncResult asyncResult) // Ends an asynchronous operation of retrieving list of files in remote directory. public SftpFile[] EndListDirectory(IAsyncResult asyncResult) // Ends the synchronize directories. public FileInfo[] EndSynchronizeDirectories(IAsyncResult asyncResult) // Ends an asynchronous uploading the stream into remote file. public void EndUploadFile(IAsyncResult asyncResult) // Enumerates installations with .installation extension. It searches recursively installations in "/programs" if it exists, or "/home/ur/ursim-current/programs" for simulator public string[] EnumerateInstallations() // Enumerates programs with .urp extension. It searches recursively programs in "/programs" if it exists, or "/home/ur/ursim-current/programs" for simulator public string[] EnumeratePrograms() // Checks whether file or directory exists; public bool Exists(string path) // Gets reference to remote file or directory. public SftpFile Get(string path) // Gets the of the file on the path. public SftpFileAttributes GetAttributes(string path) // Returns the date and time the specified file or directory was last accessed. public DateTime GetLastAccessTime(string path) // Returns the date and time, in coordinated universal time (UTC), that the specified file or directory was last accessed. public DateTime GetLastAccessTimeUtc(string path) // Returns the date and time the specified file or directory was last written to. public DateTime GetLastWriteTime(string path) // Returns the date and time, in coordinated universal time (UTC), that the specified file or directory was last written to. public DateTime GetLastWriteTimeUtc(string path) // Gets status using statvfs@openssh.com request. public SftpFileSytemInformation GetStatus(string path) // Retrieves list of files in remote directory. public SftpFile[] ListDirectory(string path, Action listCallback = null) // Opens a on the specified path with read/write access. public SftpFileStream Open(string path, FileMode mode) // Opens a on the specified path, with the specified mode and access. public SftpFileStream Open(string path, FileMode mode, FileAccess access) // Opens an existing file for reading. public SftpFileStream OpenRead(string path) // Opens an existing UTF-8 encoded text file for reading. public StreamReader OpenText(string path) // Opens a file for writing. public SftpFileStream OpenWrite(string path) // Gets or sets the operation timeout. public TimeSpan OperationTimeout { get; set; } // Gets sftp protocol version. public int ProtocolVersion { get; } // Opens a binary file, reads the contents of the file into a byte array, and closes the file. public byte[] ReadAllBytes(string path) // Opens a text file, reads all lines of the file using UTF-8 encoding, and closes the file. public string[] ReadAllLines(string path) // Opens a file, reads all lines of the file with the specified encoding, and closes the file. public string[] ReadAllLines(string path, Encoding encoding) // Opens a text file, reads all lines of the file with the UTF-8 encoding, and closes the file. public string ReadAllText(string path) // Opens a file, reads all lines of the file with the specified encoding, and closes the file. public string ReadAllText(string path, Encoding encoding) // Reads the lines of a file with the UTF-8 encoding. public string[] ReadLines(string path) // Read the lines of a file that has a specified encoding. public string[] ReadLines(string path, Encoding encoding) // Renames remote file from old path to new path. public void RenameFile(string oldPath, string newPath) // Renames remote file from old path to new path. public void RenameFile(string oldPath, string newPath, bool isPosix) // Sets the specified of the file on the specified path. public void SetAttributes(string path, SftpFileAttributes fileAttributes) // Creates a symbolic link from old path to new path. public void SymbolicLink(string path, string linkPath) // Synchronizes the directories. public FileInfo[] SynchronizeDirectories(string sourcePath, string destinationPath, string searchPattern) // Uploads stream into remote file. public void UploadFile(Stream input, string path, Action uploadCallback = null) // Uploads stream into remote file. public void UploadFile(Stream input, string path, bool canOverride, Action uploadCallback = null) // Uploads file into remote file. public void UploadFile(string localPath, string path, Action uploadCallback = null) // Gets remote working directory. public string WorkingDirectory { get; } // Writes the specified byte array to the specified file, and closes the file. public void WriteAllBytes(string path, byte[] bytes) // Writes a collection of strings to the file using the UTF-8 encoding, and closes the file. public void WriteAllLines(string path, string[] contents) // Writes the specified string to the file using the UTF-8 encoding, and closes the file. public void WriteAllText(string path, string contents) // Writes the specified string to the file using the specified encoding, and closes the file. public void WriteAllText(string path, string contents, Encoding encoding) } ``` **Members of Ssh.Tools.Sftp.SftpFile** ```csharp public class SftpFile { // Gets the file attributes. public SftpFileAttributes Attributes { get; } // Permanently deletes a file on remote machine. public void Delete() // Gets the full path of the directory or file. public string FullName { get; } // Gets or sets a value indicating whether the group members can execute this file. public bool GroupCanExecute { get; set; } // Gets or sets a value indicating whether the group members can read from this file. public bool GroupCanRead { get; set; } // Gets or sets a value indicating whether the group members can write into this file. public bool GroupCanWrite { get; set; } // Gets or sets file group id. public int GroupId { get; set; } // Gets a value indicating whether file represents a block device. public bool IsBlockDevice { get; } // Gets a value indicating whether file represents a character device. public bool IsCharacterDevice { get; } // Gets a value indicating whether file represents a directory. public bool IsDirectory { get; } // Gets a value indicating whether file represents a named pipe. public bool IsNamedPipe { get; } // Gets a value indicating whether file represents a regular file. public bool IsRegularFile { get; } // Gets a value indicating whether file represents a socket. public bool IsSocket { get; } // Gets a value indicating whether file represents a symbolic link. public bool IsSymbolicLink { get; } // Gets or sets the time the current file or directory was last accessed. public DateTime LastAccessTime { get; set; } // Gets or sets the time, in coordinated universal time (UTC), the current file or directory was last accessed. public DateTime LastAccessTimeUtc { get; set; } // Gets or sets the time when the current file or directory was last written to. public DateTime LastWriteTime { get; set; } // Gets or sets the time, in coordinated universal time (UTC), when the current file or directory was last written to. public DateTime LastWriteTimeUtc { get; set; } // Gets or sets the size, in bytes, of the current file. public long Length { get; } // Moves a specified file to a new location on remote machine, providing the option to specify a new file name. public void MoveTo(string destFileName) // For files, gets the name of the file. For directories, gets the name of the last directory in the hierarchy if a hierarchy exists. // Otherwise, the Name property gets the name of the directory. public string Name { get; } // Gets or sets a value indicating whether the others can execute this file. public bool OthersCanExecute { get; set; } // Gets or sets a value indicating whether the others can read from this file. public bool OthersCanRead { get; set; } // Gets or sets a value indicating whether the others can write into this file. public bool OthersCanWrite { get; set; } // Gets or sets a value indicating whether the owner can execute this file. public bool OwnerCanExecute { get; set; } // Gets or sets a value indicating whether the owner can read from this file. public bool OwnerCanRead { get; set; } // Gets or sets a value indicating whether the owner can write into this file. public bool OwnerCanWrite { get; set; } // Sets file permissions. public void SetPermissions(short mode) // Returns a that represents this instance. public override string ToString() // Updates file status on the server. public void UpdateStatus() // Gets or sets file user id. public int UserId { get; set; } } ``` **Members of Ssh.Tools.Sftp.SftpFileAttributes** ```csharp public class SftpFileAttributes { // Gets or sets the extensions. public IDictionary Extensions { get; } // Returns a byte array representing the current . public byte[] GetBytes() // Gets a value indicating whether the group members can execute this file. public bool GroupCanExecute { get; set; } // Gets a value indicating whether the group members can read from this file. public bool GroupCanRead { get; set; } // Gets a value indicating whether the group members can write into this file. public bool GroupCanWrite { get; set; } // Gets or sets file group id. public int GroupId { get; set; } // Gets a value indicating whether file represents a block device. public bool IsBlockDevice { get; } // Gets a value indicating whether file represents a character device. public bool IsCharacterDevice { get; } // Gets a value indicating whether file represents a directory. public bool IsDirectory { get; } // Gets a value indicating whether file represents a named pipe. public bool IsNamedPipe { get; } // Gets a value indicating whether file represents a regular file. public bool IsRegularFile { get; } // Gets a value indicating whether file represents a socket. public bool IsSocket { get; } // Gets a value indicating whether file represents a symbolic link. public bool IsSymbolicLink { get; } // Gets or sets the local time the current file or directory was last accessed. public DateTime LastAccessTime { get; set; } // Gets or sets the UTC time the current file or directory was last accessed. public DateTime LastAccessTimeUtc { get; set; } // Gets or sets the local time when the current file or directory was last written to. public DateTime LastWriteTime { get; set; } // Gets or sets the UTC time when the current file or directory was last written to. public DateTime LastWriteTimeUtc { get; set; } // Gets a value indicating whether the others can execute this file. public bool OthersCanExecute { get; set; } // Gets a value indicating whether the others can read from this file. public bool OthersCanRead { get; set; } // Gets a value indicating whether the others can write into this file. public bool OthersCanWrite { get; set; } // Gets a value indicating whether the owner can execute this file. public bool OwnerCanExecute { get; set; } // Gets a value indicating whether the owner can read from this file. public bool OwnerCanRead { get; set; } // Gets a value indicating whether the owner can write into this file. public bool OwnerCanWrite { get; set; } // Sets the permissions. public void SetPermissions(short mode) // Gets or sets the size, in bytes, of the current file. public long Size { get; set; } // Gets or sets file user id. public int UserId { get; set; } } ``` ## What to read next - [Transfer files and backups](/universal-robots/documentation/how-to-transfer-files): a backup of the programs and the upload of a program. - [Program and installation files](/universal-robots/documentation/archive-file): open and change a `.urp` file on the PC.