************
Examples
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This section contains examples of how to use owl python client to operate OWLRobot.

.. warning:: 

    Please ensure that the movements demonstrated in these examples are thoroughly verified for collision avoidance and safety before executing them on the robot.
    When uncertain, it is advisable to visually inspect the motion beforehand.

Basic Example
--------------

Simple example using the python client would be to connect to the OWLRobot and 
get the current joint angles of the robot.

First setup is to create a client object from :py:mod:`OwlClient <owl_client.client.robot>` class. 

    .. code-block:: python
       
       from owl_client import OwlClient

       owl_robot_ip = "10.42.0.54" #static IP address of robot
       client = OwlClient(owl_robot_ip)

After that, we wait until the robot is not running. Here running of the robot doesn't specify any type of command execution, 
it shows that wether the robot is in any inoperable modes *[not_available, power_off, error]* or not.

    .. code-block:: python
       
       import time

       while not client.is_running():
          time.sleep(0.2)

Finally, get the current joint angles of robot by call :py:func:`get_joint <owl_client.client.robot.OwlClient.get_joint>` method of the client.

    .. code-block:: python

       while True:
           print("Current Joints : ", client.get_joint().get_joints())
           time.sleep(0.1)


Move Example
-------------

We can call move methods of owl client in two ways which is synchronously or asynchronously.

Synchronous
~~~~~~~~~~~~

The following is very simple example using MoveJ where robot will go to a valid joint configuration then move back
zero configuration five times in a row.


    .. code-block:: python

       from owl_client import OwlClient, Joint
       import time

       client = OwlClient("10.42.0.54")
       jointSpeed = 50 #degrees/sec

       # Wait for robot to be available
       while not client.is_running():
           time.sleep(0.2)

       #create joint goals for robot 

       #zero configuration
       zero_position = Joint()
       zero_position.Base = 0.0
       zero_position.Shoulder = 0.0
       zero_position.Elbow  = 0.0
       zero_position.Wrist1 = 0.0
       zero_position.Wrist2 = 0.0
       zero_position.Wrist3 = 0.0

       #valid configuration
       valid_position = Joint()
       valid_position.Base = 0.0
       valid_position.Shoulder = 0.0
       valid_position.Elbow  = -1.57  #(-90)
       valid_position.Wrist1 = 0.0
       valid_position.Wrist2 = 0.0
       valid_position.Wrist3 = 0.0

       count = 0
       while count < 5 :
           client.move_to_joint(zero_position, jointSpeed)
           time.sleep(1)
           client.move_to_joint(valid_position, jointSpeed)
           time.sleep(1)
           count += 1

Asynchronous
~~~~~~~~~~~~

Following example will perform two asynchronous movements, first one by MoveJ, followed by a movement with MoveL. 
Both movements are stopped before reaching the targets with :py:func:`move_abort <owl_client.client.robot.OwlClient.move_abort>`.


    .. code-block:: python

       from owl_client import OwlClient, Joint , Pose
       import time

       client = OwlClient("10.42.0.54")

       jointSpeed = 50 #degrees/sec
       toolSpeed  = 100 #mm/sec

       # Wait for robot to be available
       while not client.is_running():
           time.sleep(0.2)

       #create joint goal for robot 
       joint_position = Joint()
       joint_position.Base = 0.0
       joint_position.Shoulder = 0.0
       joint_position.Elbow  = -1.57  #(-90)
       joint_position.Wrist1 = 0.0
       joint_position.Wrist2 = 0.0
       joint_position.Wrist3 = 0.0

       #create pose goal for robot 
       pose = Pose()
       pose.x = -0.176
       pose.y = -0.240204
       pose.z = 0.489203
       pose.roll = 3.1376
       pose.pitch = -0.087288
       pose.yaw = 1.56449

       #Move Joint Pose asynchronously
       client.move_to_joint(joint_position, jointSpeed,wait=False)
       time.sleep(1)
       client.move_abort()

       client.move_to_pose(pose, toolSpeed,wait=False)
       time.sleep(1)
       client.move_abort()

IO Example
-------------

This example will change the state of the digital output (DO) of PLC inside the OWLRobot 
control Box. The current PLC model used have total eight digital outputs, from which 
zero is dedicated to robot contractor.

Here is an example of blinking the DO2 of PLC :

    .. code-block:: python

       from owl_client import OwlClient
       import time

       client = OwlClient("10.42.0.54")

       digital_output_2 = 2  #DO2

       # Wait for robot to be available
       while not client.is_running():
           time.sleep(0.2)

       while True:
           client.set_digital_output(digital_output_2, True)
           time.sleep(1)
           client.set_digital_output(digital_output_2, False)
           time.sleep(1)