Merge pull request #3 from Mesh-ch/pulse_digital

pulse digital IO

Author: mattiskoh

src/abb_robot_client/rws.py

@@ -432,7 +432,19 @@ def set_digital_io(self, signal: str, value: Union[bool, int], network: str = "L
         lvalue = "1" if bool(value) else "0"
         payload = {"lvalue": lvalue}
         _res = self._do_post("rw/iosystem/signals/" + network + "/" + unit + "/" + signal + "?action=set", payload)
+        
+    def pulse_digital_io(self, signal: str, duration: int, network: str = "", unit: str = ""):
+        """
+        Pulse a digital IO signal for a specified duration. The signal will be set to ON for the duration and then set back to OFF.
 
+        :param signal: The name of the signal
+        :param duration: Duration of the pulse in milliseconds
+        :param network: The network the signal is on. The default `Local` will work for most signals.
+        :param unit: The drive unit of the signal. The default `DRV_1` will work for most signals.
+        """
+        payload = {"lvalue": "1", "mode": "pulse", "Pulses": "1", "ActivePulse": duration}
+        _res = self._do_post("rw/iosystem/signals/" + network + "/" + unit + "/" + signal + "?action=set", payload)
+        
     def get_analog_io(self, signal: str, network: str = "Local", unit: str = "DRV_1") -> float:
         """
         Get the value of an analog IO signal.

src/abb_robot_client/rws2.py

@@ -367,6 +367,22 @@ def set_digital_io(self, signal: str, value: bool | int, network: str = "", unit
         else:
             url = f"rw/iosystem/signals/{signal}/set-value?mastership=implicit"
         _res = self._do_post(url, payload)
+        
+    def pulse_digital_io(self, signal: str, duration: int, network: str = "", unit: str = ""):
+        """
+        Pulse a digital IO signal for a specified duration. The signal will be set to ON for the duration and then set back to OFF.
+
+        :param signal: The name of the signal
+        :param duration: Duration of the pulse in milliseconds
+        :param network: The network the signal is on. The default `Local` will work for most signals.
+        :param unit: The drive unit of the signal. The default `DRV_1` will work for most signals.
+        """
+        payload = {"lvalue": "1", "mode": "pulse", "Pulses": "1", "ActivePulse": duration}
+        if network and unit:
+            url = f"rw/iosystem/signals/{network}/{unit}/{signal}/set-value?mastership=implicit"
+        else:
+            url = f"rw/iosystem/signals/{signal}/set-value?mastership=implicit"
+        _res = self._do_post(url, payload)
 
     def get_analog_io(self, signal: str, network: str = "", unit: str = "") -> float:
         """

src/abb_robot_client/rws_mock.py

@@ -154,6 +154,11 @@ def get_digital_io(self, signal: str, network: str = "", unit: str = "") -> int:
     def set_digital_io(self, signal: str, value: bool | int, network: str = "", unit: str = "") -> None:
         self._dio[signal] = 1 if bool(value) else 0
 
+    def pulse_digital_io(self, signal: str, duration: int, network: str = "", unit: str = ""):
+        self._dio[signal] = 1
+        # In a real implementation you'd wait `duration` ms, but for a mock we just reset immediately
+        self._dio[signal] = 0
+        
     def get_analog_io(self, signal: str, network: str = "", unit: str = "") -> float:
         return float(self._aio.get(signal, 0.0))