Skip to content

v7.1.0.0

Latest
Latest

Choose a tag to compare

View all tags
@github-actions github-actions released this 02 Oct 07:46
· 1 commit to main since this release
v7.1.0.0
310fbf1

Asynchronous FTP methods

Every blocking FTP method has an asynchronous version with an optional CancellationToken: robot.Ftp.DirectFileHandling (upload, download, listing, files and folders), FtpClient.ConnectAsync, EnumerateVariableFilesAsync, and the reading of the decoded files (GetSummaryDiagnosticAsync, GetAllVariablesAsync, KnownVariableFiles.Get...Async...), also on robot.Cgtp.Http. They are not available on .NET Framework 3.5 and 4.0. The synchronous and asynchronous methods of one client can be called from several threads: they run one at a time.

byte[] program = await robot.Ftp.DirectFileHandling.DownloadBytesFromControllerAsync("md:/MyPrg.ls");
await robot.Ftp.DirectFileHandling.UploadFileToControllerAsync(program, "md:/MyPrg.ls", cancellationToken: token);
NumregFile numreg = await robot.Ftp.KnownVariableFiles.GetNumregFileAsync();

FTP errors

When the controller refuses an FTP operation, the SDK throws an FtpException with the reply of the controller (ReplyCode, ReplyMessage) and what to do. ProgramInUse is true when the program is selected or runs ("Specified program is in use"): select another program on the teach pendant, or with robot.Cgtp.SelectProgram(...) (firmware V9.10 and later). Without an FTP user, the controller logs in at the OPERATOR level and can refuse the upload of a program ("Operation password protected"): the message says to use a user of a higher level.

try
{
    robot.Ftp.DirectFileHandling.UploadFileToController(@"C:\Programs\MyPrg.ls", "md:/MyPrg.ls");
}
catch (FtpException ex) when (ex.ProgramInUse)
{
    robot.Cgtp.SelectProgram("OTHER");
}

FtpException derives from Exception: a catch (Exception) still catches these errors.

FTP fixes

  • The FTP client was updated. It supports the asynchronous methods.
  • Paths with a device (fr:, md:job.ls): GetListing("fr:") lists fr:, and no longer the current device. FileExists and GetObjectInfo find md:job.ls, md:/job.ls and job.ls, with any case.
  • GetObjectInfo returns null for a missing file, as documented, instead of throwing a NullReferenceException.
  • GetSummaryDiagnostic, GetVariablesFromFile, KnownVariableFiles... throw an FtpException when the download of the file fails, instead of returning an empty result.
  • Setting robot.Ftp.Language changes the encoding of the connection at once. It used the previous language.
  • Disconnect releases the connection, so that a new Connect does not leave the previous one open.
  • UploadFileToController with FtpExistsBehavior.Skip or Append checks the existing file correctly on the devices of the controller.
  • robot.Cgtp.Http.DownloadAsBytes: the controller can close the connection at the end of a binary file. The data received is now returned, as documented, instead of an error.

Package information

The NuGet package links to the Fanuc page of underautomation.com, to the Fanuc.NET repository and to its release notes. Its description lists the supported protocols and controllers.

Assets 4
Loading