Update example file name and use same setup as other examples

Author: URJala

examples/CMakeLists.txt

@@ -11,9 +11,9 @@ add_executable(primary_pipeline_example
   primary_pipeline.cpp)
 target_link_libraries(primary_pipeline_example ur_client_library::urcl)
 
-add_executable(primary_client
-  primary_client.cpp)
-target_link_libraries(primary_client ur_client_library::urcl)
+add_executable(send_script_blocking
+  send_script_blocking.cpp)
+target_link_libraries(send_script_blocking ur_client_library::urcl)
 
 add_executable(primary_pipeline_calibration_example
   primary_pipeline_calibration.cpp)

examples/primary_client.cpp

@@ -0,0 +1,66 @@
+#include <ur_client_library/primary/primary_client.h>
+#include <thread>
+#include <chrono>
+
+std::string DEFAULT_ROBOT_IP = "192.168.56.101";
+
+int main(int argc, char* argv[])
+{
+  // Set the loglevel to info to print info logs
+  urcl::setLogLevel(urcl::LogLevel::INFO);
+
+  // Parse the ip arguments if given
+  std::string robot_ip = DEFAULT_ROBOT_IP;
+  if (argc > 1)
+  {
+    robot_ip = std::string(argv[1]);
+  }
+  auto notif = urcl::comm::INotifier();
+  auto client = urcl::primary_interface::PrimaryClient(robot_ip, notif);
+  client.start(10);
+  std::cout << "Client connected" << std::endl;
+
+  // --------------- INITIALIZATION END -------------------
+
+  // Make sure the robot is running
+  client.commandBrakeRelease();
+
+  if (!client.safetyModeAllowsExecution())
+  {
+    std::cout << "Robot is not in a safety state where script execution is possible. Exiting." << std::endl;
+    return 0;
+  }
+
+  // The sendScriptBlocking accepts script code, and will return true or false,
+  // depending on whether the script is successfully executed
+  const std::string fully_defined_script = R"""(
+# This is a fully defined script, function definition and all
+# All comments in this script will be stripped before sending the script to the robot
+
+# Any whitespace-only lines will also be removed
+def example_fun():
+  movej([0,-0.75,0,0,0,0])
+  sleep(0.1)
+  movel([0,0,-1.5,0,0,0], t=5)
+end)""";
+
+  if (client.sendScriptBlocking(fully_defined_script))
+  {
+    // The function definition can also be omitted
+    // A function name will then be auto generated
+    client.sendScriptBlocking(R"(textmsg("Successful program execution"))");
+  }
+  // A script-function name can also be passed to the method
+  // A timeout can also be given to limit the wait for the passed function to start. If timeout = 0, it will
+  // wait indefinitely.
+  client.sendScriptBlocking(R"(textmsg("hello"))", "cool_function_name", std::chrono::milliseconds(0));
+  // There is no feedback on secondary programs, so it will return successful as soon as the script is sent to the
+  // robot (Behavior is the same the sendScript function)
+  // Note that secondary scripts have to be "fully defined" by the user.
+  std::string secondary_script = R"(
+sec sec_script():
+  textmsg("Named secondary program"
+end
+)";
+  client.sendScriptBlocking(secondary_script);
+}