Java socket communication

[jbm]

Did you check out these two samples?

URCap Sample: getRobotData Real Time Client reader URCap

getRobotData Real Time Client reader URCap Description of functionality: This URCap implements a new custom class, getRobotRealtimeData.class, that connects to the Real Time Client interface, and reads the message. The data from the Real Time Client is broken into the information it represents, and implements get-methods to read actual TCP pose, actual joint positions, joint temperatures, joint operation modes and the safety limited speed scaling percentage. You can add your own get-methods a…

URCap Sample: Send Script with button push URCap

sendScriptWithButton URCap Description of functionality: This URCap enables sending a movej() or popup() command to the secondary client interface, by pushing a button in the GUI. It implements the class clientSendScript.java which handles connection, transmission of script, and termination of the necessary socket. According to the URScript manual, two pre-defined functions has been implemented, namely movej() and popup(). For demonstration, this has been put into use in a program node with b…

They both implement TCP Sockets in Java to communicate with in this case the client interfaces.