Using unity to run a program for the robots

Technical Questions Robot Communication
1

I am trying to create a script in unity that will load and run the robots program. My issue is that when I am executing a stop then play command, the dashboard response always comes back RUNNING, when it is stopped in the real world. Excuse the messy code as I have been trying many different things to fix this issue (delays to the functions).

public class UR_Control_Dashboard : MonoBehaviour
{
    // TCP/IP Communication for Dashboard Server
    private TcpClient dashboard_client = new TcpClient();
    private NetworkStream dashboard_stream = null;

    private bool exit_thread = false;
    public string programName;

    

    // Method to send a command to the Dashboard Server
    public void SendDashboardCommand(string command)
    {
        try
        {
            if (dashboard_client.Connected == false)
            {
                // Connect to the robot's Dashboard Server on port 29999
                dashboard_client.Connect(ur_data_processing.UR_Control_Data.ip_address, 29999);
            }

            // Send the command
            dashboard_stream = dashboard_client.GetStream();
            byte[] command_bytes = System.Text.Encoding.ASCII.GetBytes(command + "\n");
            dashboard_stream.Write(command_bytes, 0, command_bytes.Length);

            // Read the response (optional, can be omitted if you don't need the response)
            byte[] response = new byte[256];
            dashboard_stream.Read(response, 0, response.Length);
            string response_str = System.Text.Encoding.ASCII.GetString(response);
            Debug.Log("Dashboard Response: " + response_str);
        }
        catch (SocketException e)
        {
            Debug.LogException(e);
        }
    }

    // Method to load and run a program
    public void RunProgram(string programName)
    {
        // Load the program
        SendDashboardCommand("load " + programName + ".urp");
        //Debug.LogWarning("Loaded Program");
        // Start the program
        SendDashboardCommand("robotmode");
        StartCoroutine(PlayProgramAfterDelay());
    }
    public void CheckRobotStatus()
    {
        SendDashboardCommand("robotmode");
        // You should get a response from the robot that indicates if it's ready
        // Adjust the logic based on the response to ensure it's ready to run the next program
    }

    private IEnumerator PlayProgramAfterDelay()
    {
        yield return new WaitForSeconds(10);
        SendDashboardCommand("robotmode"); // Adjust delay if necessary
        SendDashboardCommand("play");
        
    }

    public void OnRunRobot1()
    {
        SendDashboardCommand("stop");
        StartCoroutine(PlayProgramAfterDelay());
        //RunProgram("test");
        //SendDashboardCommand("play");
        //Debug.LogWarning("Loaded RunProgram");
    }

    public void OnRunRobot2()
    {
        SendDashboardCommand("stop");
        SendDashboardCommand("robotmode");
        RunProgram("robottestnew");
    }

    public void Start()
    {
        // Start thread or any other control logic
        exit_thread = false;

        // Example to run a program from Unity
        //RunProgram("robotblocktestnew");
    }

    public void Destroy()
    {
        if (dashboard_client.Connected == true)
        {
            // Disconnect communication
            dashboard_stream.Dispose();
            dashboard_client.Close();
        }
        Thread.Sleep(100);
    }
}

The base for this code was taken from rparak (Roman Parak) · GitHub.

2

UPDATE: the issue was that the robot was not moved to it’s initial position, thats what cause the play program to fail