Class Reference

Class Details

class keapi.CommandServer[source]

Holds the connection to the RcWebApi’s command socket. Provides a low level API to execute or start commands on the KEBA PLC

Raises: HttpError – When the connection to the socket was unsuccessful.

disconnect()[source]: Disconnects from the socket.

exec(cmd: str, **kwargs) → Any[source]

Sends the given command and it’s parameters to the PLC and waits till it’s finished. This method is blocking. Returns the result of the executed command.

Parameters: cmd (str) – PLC command
Returns: Command result
Return type: Any

is_connected() → bool[source]

Returns whether the socket is connected or not.

Returns: Is connection open
Return type: bool

start(cmd: str, **kwargs) → Ticket[source]

Sends the given command and it’s parameters to the PLC returns a ticket

Parameters: cmd (str) – PLC command
Returns: Ticket of given command
Return type: Ticket

class keapi.SubscribeServer[source]

Holds the connection to the RcWebApi’s subscribe socket. Provides a low level API to subscribe and unsubscribe to topics predefined by KEBA.

Raises: SocketError – When there is a problem while receiving the answer from the socket

disconnect()[source]: Unsubscribes from all active subscriptions and closes the connection to the socket.

is_connected() → bool[source]

Returns whether the socket ist connected or not.

Returns: Is connection open
Return type: bool

subscribe(topic: str, func=None, cycle_time=0.0)[source]

Subscribes to a topic. The topic can be a cyclic or event based type. The passed function is called when the topic sends an answer. Leave the cycle_time to 0.0 if subscribing to an event based topic. A topic can be subscribed to multiple times with different functions. If it is a cyclic topic the cycle_time from the first call will be used.

Parameters

topic (str) – RcWebApi Topic Name
func (function) – Function that will be called when topic returns an answer.
cycle_time (float, optional) – Time in seconds how often a topic should return an answer, defaults to 0.0. If left to 0.0 it is assumed that an event based topic is subscribed

unsubscribe(topic: str, func=None)[source]

Unsubscribe from a previously subscribed topic. Can be used to unsubscribe all functions from a topic by leaving func=None. If only a specific function should be unsubscribed pass the function in parameter func.

Parameters

topic (str) – RcWebApi Topic Name
func (function, optional) – Function that should be unsubscribed, defaults to None

class keapi.Ticket(server, id)[source]

A Ticket represents one command sent to the socket. While the ticket is in state BUSY it has not yet been completed. If a ticket completes with an error the corresponding exception is raised. If a ticket completes normaly the result is returned.

Raises

TimeoutError – When wait timeout is reached
HttpError – When the request has an error on the users side (e.g. wrong usage of command)
KebaError – When the error is on the PLC

class State(value)[source]: An enumeration.

requestid() → int[source]

Unique request id for this ticket. This is used to associate a ticket to a command.

Returns: request id
Return type: int

property state: State

Current state of the Ticket

Returns: State
Return type: State

wait(timeout=None) → Any[source]

Waits and blocks until the ticket is completed or the timeout is reached.

Parameters: timeout (float, optional) – Timeout in seconds. If left to None it waits forever. Defaults to None
Returns: Result of the sent command. can be none if there is no result for the command
Return type: Any

keapi.connect_commands(url: str)[source]

Establishes a connection to the RcWebApi Commands Socket and returns CommandServer object which can be used to interact with the socket.

Parameters: url (str) – Full URL to socket (e.g. ws://IP:PORT/Robot/websocket-command)
Returns: CommandServer object
Return type: CommandServer

keapi.connect_subscriber(url: str)[source]

Establishes a connection to the RcWebApi Subscribe Socket and returns SubscribeServer object which can be used to interact with the socket.

Parameters: url (str) – Full URL to socket (e.g. ws://IP:PORT/Robot/websocket-subscribe)
Returns: SubscribeServer object
Return type: SubscribeServer

keapi.create_variable_getter(cmd_server: CommandServer, prefix: str)[source]

Creates a function to get variable values with a fixed prefix and server.

Example:

io = create_variable_getter(cmdserver, 'APPL.Application._IoMapping')
val = io('do_0')

Parameters

cmd_server (CommandServer) – CommandServer connection
prefix (str) – Variable Prefix (e.g. APPL.Application.GVL)

Returns

Function to get variable values

keapi.create_variable_setter(cmd_server: CommandServer, prefix: str)[source]

Creates a function to set variable values with a fixed prefix and server.

Example:

io = create_variable_setter(cmdserver, 'APPL.Application._IoMapping')
io('do_0', True)

Parameters

cmd_server (CommandServer) – CommandServer connection
prefix (str) – Variable Prefix (e.g. APPL.Application.GVL)

Returns

Function to set variable values

keapi.get_variable(cmd_server: CommandServer, prefix: str, name: str) → Any[source]

Returns the value of a given variable on the PLC

Parameters

cmd_server (CommandServer) – CommandServer connection
prefix (str) – Variable Prefix (e.g. APPL.Application.GVL)
name (str) – Variable name

Returns

Variable value

Return type

Any

keapi.set_variable(cmd_server: CommandServer, prefix: str, name: str, val: Any)[source]

Sets a variable on the PLC

Parameters

cmd_server (CommandServer) – CommandServer connection
prefix (str) – Variable Prefix (e.g. APPL.Application.GVL)
name (str) – Variable name
val (Any) – Variable value

class keapi.compat.TcProg(robot: str)[source]

Holds the Auth Cookie and the logic to communicate with the TcApi

exec(project_name: str, prog_name: str)[source]

Starts a Teach Control programm and waits until it’s execution is finished. This function is blocking

Parameters

project_name (str) – Name of the Teach Control project
prog_name (str) – Name of the Teach Control program

Raises

TcError – When another program is already active
HttpError – When http status code != 200

is_prog_running() → bool[source]

Returns whether a program is running or not

Raises

TcError – When there is no program started
HttpError – When http status code != 200

Returns

Program running

Return type

bool

load_project(project_name: str) → None[source]

Loads a Teach Control Project

Parameters: project_name (str) – Name of the project
Raises: HttpError – When http status code != 200

start(project_name: str, prog_name: str)[source]

Loads and starts a Teach Control program.

Parameters

project_name (str) – Name of the Teach Control project
prog_name (str) – Name of the Teach Control program

Raises

TcError – When another program is already active
HttpError – When http status code != 200

stop()[source]

Stops the currently executing program and unloads the Teach Control project.

Raises

TcError – When there is no program to stop
HttpError – When http status code != 200

unload_project() → None[source]

Unloads the currently loaded Teach Control project

Raises

TcError – When there is not project loaded
HttpError – When http status code != 200

class keapi.compat.TcVar[source]

Holds the Auth Cookie and the logic to communicate with the TcApi

get_var(path: str) → Any[source]

Gets a Variable from the PLC via the TcApi

Parameters: path (str) – Full path to the Variable ‘.’ seperated
Raises: HttpError – When get was unsuccessful
Returns: Variable value
Return type: Any

set_var(path: str, val: Any)[source]

Sets a Variable on the PLC via the TcApi

Parameters

path (str) – Full path to the Variable ‘.’ seperated
val (Any) – Value to be set

Raises

HttpError – When set was unsuccessful

keapi.compat.connect_tc_prog(host: str, user: str, passwd: str, robot: str)[source]

Establishes a connection to the TcApi and returns a instance of TcProg which can be used to start and stop programs that are already definen in Teach Control

Parameters

host (str) – IP Address or Hostname of TcApi Server
user (str) – Username to login to TcApi
passwd (str) – Password to login to TcApi
robot (str) – Name of the robot

Returns

TcProg instance

Return type

TcProg

keapi.compat.connect_tc_var(host: str, user: str, passwd: str)[source]

Establishes a connection to the TcApi and returns a instance of TcVar which can be used to set and get variables via Teach Control

Parameters

host (str) – IP Address or Hostname of TcApi Server
user (str) – Username to login to TcApi
passwd (str) – Password to login to TcApi

Returns

TcVar instance

Return type

TcVar