ur-kotlin/com.wolfscowl.ur_client.core/URDashBoard/play

play

abstract suspend fun play(): Result<String>

Runs the current program (*.urp) in Polyscope via the dashboard server.

IMPORTANT: Does not work with stopped or paused URScripts.

Return

Result containing the response string on success, or an Exception on failure. Response messages may include:

"Starting program"
"Failed to execute: play"

Samples

import com.wolfscowl.ur_client.UR
import com.wolfscowl.ur_client.examples.Examples.ur
import com.wolfscowl.ur_client.interfaces.state.await
import com.wolfscowl.ur_client.interfaces.state.awaitBlocking
import com.wolfscowl.ur_client.interfaces.state.awaitBlockingUntil
import com.wolfscowl.ur_client.interfaces.state.awaitUntil
import com.wolfscowl.ur_client.model.element.JointPosition
import com.wolfscowl.ur_client.model.element.Pose
import com.wolfscowl.ur_client.model.element.RunningState
import com.wolfscowl.ur_client.model.element.Vec3
import com.wolfscowl.ur_client.model.robot_state.mode.RobotMode
import kotlinx.coroutines.CompletableDeferred
import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.first
import kotlinx.coroutines.runBlocking
import kotlin.system.exitProcess

fun main() { 
   //sampleStart 
   val ur = UR("192.168.2.1")

runBlocking {
    val result = ur.play().getOrElse { it.message }
    println(result)
} 
   //sampleEnd
}