Get list of digital inputs that trigger freedrive

Technical Questions
1

I’m working with the UR10e. I’m writing a URCap. I would like to get the list of digital inputs that are configured under “Installation/General/IO Setup” to automatically trigger freedrive mode. Is there a way to get this from the API or anywhere else?

Thanks,
Steven

2

I developed a solution to this, but keep in mind it can be broken by changes to Polyscope. I was hoping for a solution that isn’t so fragile, so I welcome any replies with better solutions. That said, here’s how you can get the list of digital inputs that will trigger freedrive:

public Vector<DigitalInputPinEnum> getFreedrivePins()
{
	Vector<DigitalInputPinEnum> freedrivePins = new Vector<DigitalInputPinEnum>();
	Iterator<IO> iterator = myAPI.getInstallationAPI().getIOModel().getIOs().iterator();
	while (iterator.hasNext())
	{
		IO io = iterator.next();
		if (io.isInput())
		{

			Object pin = executeMethod(io, "getIOPin");
			if (pin == null) continue;
			Object action = executeMethod(pin, "getIOPinAction");
			if (action == null) continue;

			Object inputPinAction = executeMethod(action, "getInputPinAction");

			if (inputPinAction == null) continue;

			if ("FREEDRIVE".equalsIgnoreCase(inputPinAction.toString()))
			{
				System.out.println("Found a freedrive pin at " + io.getDefaultName());
				freedrivePins.add(DigitalInputPinEnum.getInputPin(io));
			}

		}
 			
	}
 
	return freedrivePins;
}


private static Object executeMethod(Object object, String methodName)
{
	Class<? extends Object> c = object.getClass();
	Method[] methods = c.getMethods();

	for (Method method : methods) 
	{
		if (method.getName().contains(methodName))
		{
			try {
				Object value = method.invoke(object, null);
				return value;
			} catch(IllegalAccessException ex)
			{
				System.out.println("IllegalAccessException: " + ex.getMessage());
			} catch (InvocationTargetException ex)
			{
				System.out.println("InvocationTargetException: " + ex.getMessage());
			}
		}

	}
	return null;
}