ur-sock 0.3.3 → 1.0.3

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -2,6 +2,11 @@
 
 Universal robot interface implementation in ruby. This library provides functions using different interfaces of the universal robot. Primary this was designed for the new e-series.
 
+## Requirements
+
+This software requires URControl version newer than 5.1.
+Latest supported URControl vresion: 5.5
+
 ## Getting Started
 
 This library uses 3 interfaces of the universal robot:
@@ -79,7 +84,7 @@ Please read [CONTRIBUTING.md](https://gist.github.com/PurpleBooth/b24679402957c6
 * **Florian Pauker**
 * **Jürgen Mangler**
 
-See also the list of [contributors](https://intra.acdp.at/gogs/fpauker/ua4ur/contributors) who participated in this project.
+See also the list of [contributors](https://github.com/fpauker/ua4ur/contributors) who participated in this project.
 
 ## License
 

data/lib/dashboard.rb

@@ -6,6 +6,8 @@ require 'uri'
 module UR
 
   class Dash
+    class Reconnect < Exception; end
+
     module ConnectionState
       DISCONNECTED = 'DISCONNECTED'
       CONNECTED = 'CONNECTED'
@@ -79,15 +81,14 @@ module UR
     def load_program (programname)
       @logger.debug "loadprogram"
       send = "load " + programname + ".urp\n"
-      puts send
-      @sock.write (send)
+      @sock.write send
       line = @sock.gets.strip
-      if line.match(/^./) == 'L'
+      if line.match(/^L/)
         @logger.debug line
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -99,7 +100,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -111,7 +112,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -123,7 +124,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -135,7 +136,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -147,7 +148,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -159,14 +160,19 @@ module UR
     end
 
     def get_loaded_program
-      @sock.write ("get loaded program\n")
-      line = @sock.gets.strip
+      begin
+        @sock.write ("get loaded program\n")
+        line = @sock.gets.strip
+      rescue
+        raise UR::Dash::Reconnect.new('Loaded program can not be got. Dashboard server down or not in Remote Mode')
+      end
+      @logger.debug line
       if line.match(/^Loaded program:\s(.+)/)
-        @logger.debug line
-        path = $1.strip
-      else
-        @logger.error line
+        $1.strip
+      elsif line.match(/^No program loaded/)
         nil
+      else
+        raise UR::Dash::Reconnect.new('Loaded program can not be got. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -187,6 +193,7 @@ module UR
         @logger.debug line
       else
         @logger.error line
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -198,7 +205,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Cant determine if program is saved. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -223,6 +230,7 @@ module UR
         @logger.debug line
       else
         @logger.error line
+        raise UR::Dash::Reconnect.new('Cant set operation mode manual. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -233,6 +241,7 @@ module UR
         @logger.debug line
       else
         @logger.error line
+        raise UR::Dash::Reconnect.new('Cant set operation mode automatic. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -244,6 +253,7 @@ module UR
         true
       else
         @logger.error line
+        raise UR::Dash::Reconnect.new('Cant clear operation mode. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -255,7 +265,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Cant power on. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -267,7 +277,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Cant power off. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -279,7 +289,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Cant release breaks. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -298,7 +308,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Cant unlock protective stop. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -310,7 +320,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Cant close safety popup. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -322,7 +332,7 @@ module UR
         true
       else
         @logger.error line
-        nil
+        raise UR::Dash::Reconnect.new('Cant load installation. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -332,11 +342,76 @@ module UR
       if line.match(/^Brake/)
         @logger.debug line
         true
+      elsif line.match(/^could not understand/)
+        @logger.warn'Could not execute restart_safety: Please upgrade to current version'
+        nil
       else
         @logger.error line
+        raise UR::Dash::Reconnect.new('Cant restart safety. Dashboard server down or not in Remote Mode')
+      end
+    end
+
+    def get_operational_mode
+      @sock.write("get operational mode\n")
+      line = @sock.gets.strip
+      if line == "MANUAL" || line == "AUTOMATIC"
+        @logger.debug line
+        line
+      elsif line == "NONE"
+        @logger.warn'No password set, so no modes variable is available'
         nil
+      elsif line.match(/^could not understand/)
+        @logger.warn'Could not execute get_operational_mode: Please upgrade to current version'
+        nil
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant get operational mode. Dashboard server down or not in Remote Mode')
+      end
+    end
+
+    def is_in_remote_control
+      @sock.write("is in remote control\n")
+      line = @sock.gets.strip
+      if line.match(/^could not understand/)
+        @logger.warn'Could not execute is_in_remote_control: Please upgrade to current version'
+        nil
+      elsif line == 'true' || line == 'false'
+        @logger.debug line
+        line
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant determine if robot is in remote control mode. Dashboard server down maybe down')
+      end
+    end
+
+    def get_serial_number
+      @sock.write("get serial number\n")
+      line = @sock.gets.strip
+      if line.match(/^could not understand/)
+        @logger.warn'Could not execute get_serial_number: Please upgrade to current version'
+        nil
+      elsif line.match(/^\d+$/)
+        @logger.debug line
+        line
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant get serial number. Dashboard server down maybe down or not in Remote Mode')
       end
     end
 
+    def get_robot_model
+      @sock.write("get robot model\n")
+      line = @sock.gets.strip
+      if line.match(/^could not understand/)
+        @logger.warn'Could not execute get_robot_model: Please upgrade to current version'
+        nil
+      elsif line.match(/^UR/)
+        @logger.debug line
+        line
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant get robot model. Dashboard server down maybe down or not in Remote Mode')
+      end
+    end
   end
 end

data/lib/psi.rb

@@ -6,6 +6,8 @@ require 'uri'
 module UR
 
   class Psi
+    class Reconnect < Exception; end
+
     module ConnectionState
       DISCONNECTED = 0
       CONNECTED = 1
@@ -41,18 +43,35 @@ module UR
         @sock.close
         @sock = nil
         @conn_state = ConnectionState::DISCONNECTED
-        @logger.info "Connection closed " + @hostname + ":" + @port.to_s
+        @logger.info 'Connection closed ' + @hostname + ':' + @port.to_s
       end
     end
 
-    def transfer(filename)
-      File.open(filename) do |file|
-        while not file.eof?
-          @sock.write(file.read(1024))
+    def execute_ur_script_file(filename)
+      @logger.info 'Executing UR Script File: ' + filename
+      begin
+        File.open(filename) do |file|
+          while not file.eof?
+            @sock.write(file.readline)
+            line = @sock.gets.strip
+            @logger.debug line
+          end
         end
+      rescue => e
+        raise UR::Psi::Reconnect.new('UR Script can not be got. PSI server down or not in Remote Mode')
       end
     end
 
+    def execute_ur_script(str)
+      @logger.info 'Executing UR Script ...'
+      begin
+        @sock.write(str)
+        line = @sock.gets.strip
+        @logger.debug line
+      rescue => e
+        raise UR::Psi::Reconnect.new('UR Script can not be got. PSI server down or not in Remote Mode')
+      end
+    end
   end
 
 end

data/lib/rtde.rb

@@ -101,7 +101,7 @@ module UR
     def connect #{{{
       return if @sock
 
-      @buf = '' # buffer data in binary format
+      @buf = ''.b # buffer data in binary format
       begin
         @sock = Socket.new Socket::AF_INET, Socket::SOCK_STREAM
         @sock.setsockopt Socket::SOL_SOCKET, Socket::SO_REUSEADDR, 1
@@ -159,18 +159,18 @@ module UR
         @logger.error 'Cannot send when RTDE synchroinization is inactive'
         return
       end
-      if not @input_config.key?(input_data.recipe_id)
+      if not @input_config.include? input_data.recipe_id
         @logger.error 'Input configuration id not found: ' + @input_data.recipe_id
         return
       end
       config = @input_config[input_data.recipe_id]
       send_all Command::RTDE_DATA_PACKAGE, config.pack(input_data)
     end #}}}
-    def send_and_receive(cmd, payload = '') #{{{
+    def send_and_receive(cmd, payload = ''.b) #{{{
       @logger.debug 'Start send_and_receive'
       send_all(cmd, payload) ? recv(cmd) : nil
     end #}}}
-    def send_all(command, payload = '') #{{{
+    def send_all(command, payload = ''.b) #{{{
       fmt = 'S>C'
       size = ([0,0].pack fmt).length + payload.length
       buf = [size, command].pack(fmt) + payload
@@ -261,16 +261,16 @@ module UR
       return true
     end #}}}
 
-    def receive #{{{
+    def receive(binary=false) #{{{
       @logger.debug 'Start receive'
       if !@output_config
         @logger.error 'Output configuration not initialized'
         nil
       end
       return nil if @conn_state != ConnectionState::STARTED
-      recv Command::RTDE_DATA_PACKAGE
+      recv Command::RTDE_DATA_PACKAGE, binary
     end #}}}
-    def recv(command) #{{{
+    def recv(command, binary=false) #{{{
       @logger.debug 'Start recv' + @buf.to_s
       while connected?
         readable, _, xlist = IO.select([@sock], [], [@sock])
@@ -311,7 +311,7 @@ module UR
             end
             if packet_header.command == command
               @logger.debug 'returning becuase of packet_header.command == command'
-              return data
+              return  binary ? packet[1..-1] : data
             else
               @logger.info 'skipping package(2)'
             end

data/lib/serialize.rb

@@ -64,6 +64,8 @@ module UR
         data[offset...offset+size].map(&:to_i)
       elsif data_type == 'INT32' or data_type == 'UINT8'
         data[offset].to_i
+      elsif data_type == 'BOOL'
+        data[offset].to_i > 0 ? true : false
       else
         raise TypeError.new('unpack_field: unknown data type: ' + data_type)
       end
@@ -131,7 +133,6 @@ module UR
         rmd.id = buf.unpack('C')[0]
         rmd.types = buf[1..-1].split(',')
         rmd.fmt = 'C'
-        #p rmd.types
         rmd.types.each do |i|
           if i == 'INT32'
             rmd.fmt += 'i>'
@@ -151,10 +152,12 @@ module UR
             rmd.fmt += 'Q>'
           elsif i == 'UINT8'
             rmd.fmt += 'C'
+          elsif i == 'BOOL'
+            rmd.fmt += '?'
           elsif i == 'IN_USE'
-            raise TypeError 'An input parameter is already in use.'
+            #raise TypeError 'An input parameter is already in use.'
           else
-            raise TypeError 'Unknown data type: ' + i
+            #raise TypeError 'Unknown data type: ' + i
           end
         end
         rmd

data/ur-sock.gemspec

@@ -1,6 +1,6 @@
 Gem::Specification.new do |s|
   s.name             = "ur-sock"
-  s.version          = "0.3.3"
+  s.version          = "1.0.3"
   s.platform         = Gem::Platform::RUBY
   s.license          = "LGPL-3.0"
   s.summary          = "Preliminary release of Universal Robot (UR) Socket Communication."

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: ur-sock
 version: !ruby/object:Gem::Version
-  version: 0.3.3
+  version: 1.0.3
 platform: ruby
 authors:
 - Florian Pauker
@@ -9,28 +9,28 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2019-06-04 00:00:00.000000000 Z
+date: 2020-09-01 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: xml-smart
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - "~>"
-      - !ruby/object:Gem::Version
-        version: '0'
     - - ">="
       - !ruby/object:Gem::Version
         version: 0.3.6
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0'
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - "~>"
-      - !ruby/object:Gem::Version
-        version: '0'
     - - ">="
       - !ruby/object:Gem::Version
         version: 0.3.6
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0'
 description: see https://github.com/fpauker/ur-sock
 email: florian.pauker@gmail.com
 executables: []
@@ -67,7 +67,7 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubygems_version: 3.0.3
+rubygems_version: 3.1.2
 signing_key: 
 specification_version: 4
 summary: Preliminary release of Universal Robot (UR) Socket Communication.