add method for csys from points and read all digital ios at once

setup.py

@@ -3,7 +3,7 @@ from distutils.command.install_data import install_data
 
 
 setup (name = "urx", 
-        version = "0.9.3",
+        version = "0.9.4",
         description = "Python library to control an UR robot",
         author = "Olivier Roulet-Dubonnet",
         author_email = "olivier.roulet@gmail.com",

urx/robot.py

@@ -209,13 +209,13 @@ class Robot(URRobot):
             vector = vector.list
         return URRobot.set_gravity(self, vector)
 
-    def new_csys_from_pxy(self):
+    def new_csys_from_xpy(self):
         """
-        Return new coordinate system from three points: Origin, X, Y
+        Return new coordinate system from three points: X, Origin, Y
         based on math3d: Transform.new_from_xyp
         """
         print("A new coordinate system will be defined from the next three points")
-        print("Firs point is origin, second X, third Y")
+        print("Firs point is X, second Origin, third Y")
         print("Set it as a new reference by calling myrobot.set_csys(new_csys)")
         input("Move to first point and click Enter")
         # we do not use get_pose so we avoid rounding values

urx/urrobot.py

@@ -171,6 +171,12 @@ class URRobot(object):
         """
         return self.secmon.get_digital_out(val, wait=wait)
 
+    def get_digital_out_bits(self, wait=False):
+        """
+        get digital output as a byte
+        """
+        return self.secmon.get_digital_out_bits(wait=wait)
+
     def set_analog_out(self, output, val):
         """
         set analog output, val is a float

urx/ursecmon.py

@@ -364,6 +364,12 @@ class SecondaryMonitor(Thread):
         else:
             return 0
 
+    def get_digital_out_bits(self, wait=False):
+        if wait:
+            self.wait()
+        with self._dictLock:
+            return self._dict["MasterBoardData"]["digitalOutputBits"]
+
     def get_digital_in(self, nb, wait=False):
         if wait:
             self.wait()
@@ -375,18 +381,18 @@ class SecondaryMonitor(Thread):
         else:
             return 0
 
-    def get_analog_in(self, nb, wait=False):
-        if wait:
-            self.wait()
-        with self._dictLock:
-            return self._dict["MasterBoardData"]["analogInput" + str(nb)]
-
     def get_digital_in_bits(self, wait=False):
         if wait:
             self.wait()
         with self._dictLock:
             return self._dict["MasterBoardData"]["digitalInputBits"]
 
+    def get_analog_in(self, nb, wait=False):
+        if wait:
+            self.wait()
+        with self._dictLock:
+            return self._dict["MasterBoardData"]["analogInput" + str(nb)]
+
     def get_analog_inputs(self, wait=False):
         if wait:
             self.wait()