ur-sock 0.3 → 0.3.1

checksums.yaml

@@ -1,7 +1,7 @@
 ---
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-  data.tar.gz: 4dea79150693e0c196975f203b6fb08f696d0477410d4ea68084a5f3d50976ad
+  metadata.gz: 654a9a6aef57b1b53b75cf076630ea770602f910357d04661a1c7bda1b3b490a
+  data.tar.gz: c9e672d97e673384666494d7c36d8530221cb59b82567c10fe4ae52a13d3cab7
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+  data.tar.gz: c2ddba9d0d5ec37d5734614ab342543d2535707c647dba906cfb973b9ce7ee7a064bff463e27453e86d18bca420f8cad2481536bb7cd9f907d73c191120f9947

data/lib/dashboard.rb

@@ -7,22 +7,40 @@ module UR
 
   class Dash
     module ConnectionState
-      DISCONNECTED = 0
-      CONNECTED = 1
-      STARTED = 2
-      PAUSED = 3
+      DISCONNECTED = 'DISCONNECTED'
+      CONNECTED = 'CONNECTED'
+      STARTED = 'STARTED'
+      PAUSED = 'PAUSED'
     end
 
     module ProgramState
-      NO_CONTROLLER =   "NO_CONTROLLER"
-      DISCONNECTED =    "DISCONNECTED"
-      CONFIRM_SAFETY =  "CONFIRM_SAFETY"
-      BOOTING =         "BOOTING"
-      POWER_OFF =       "POWER_OFF"
-      POWER_ON =        "POWER_ON"
-      IDLE =            "IDLE"
-      BACKDRIVE =       "BACKDRIVE"
-      RUNNING =         "RUNNING"
+      STOPPED = 'STOPPED'
+      PLAYING ='PLAYING'
+      PAUSED = 'PAUSED'
+    end
+
+    module SafetyMode
+      NORMAL = "NORMAL"
+      REDUCED = "REDUCED"
+      PROTECTIVE_STOP = "PROTECTIVE_STOP"
+      RECOVERY = "RECOVERY"
+      SAFEGUARD_STOP = "SAFEGUARD_STOP"
+      SYSTEM_EMERGENCY_STOP = "SYSTEM_EMERGENCY_STOP"
+      ROBOT_EMERGENCY_STOP = "ROBOT_EMERGENCY_STOP"
+      VIOLATION = "VIOLATION"
+      FAULT = "FAULT"
+    end
+
+    module ProgramState
+      NO_CONTROLLER =   'NO_CONTROLLER'
+      DISCONNECTED =    'DISCONNECTED'
+      CONFIRM_SAFETY =  'CONFIRM_SAFETY'
+      BOOTING =         'BOOTING'
+      POWER_OFF =       'POWER_OFF'
+      POWER_ON =        'POWER_ON'
+      IDLE =            'IDLE'
+      BACKDRIVE =       'BACKDRIVE'
+      RUNNING =         'RUNNING'
     end
 
     def initialize(host, logger=Logger.new(STDOUT,level: :INFO))
@@ -58,84 +76,246 @@ module UR
       end
     end
 
+    def load_program (programname)
+      @logger.info "loadprogram"
+      send = "load " + programname + ".urp\n"
+      puts send
+      @sock.write (send)
+      line = @sock.gets.strip
+      if line.match(/^./) == 'L'
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
+    end
+
     def start_program
       @sock.write("play\n")
       line = @sock.gets.strip
       if line == "Starting program"
         @logger.info line
+        true
       else
         @logger.error line
+        nil
       end
     end
 
-    def power_off
-      @sock.write("power off\n")
-      @logger.info @sock.gets.strip
+    def stop_program
+      @sock.write("stop\n")
+      line = @sock.gets.strip
+      if line == "Stopped"
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
     end
 
-    def power_on
-      @sock.write("power on\n")
-      @logger.info @sock.gets.strip
+    def pause_program
+      @sock.write("pause\n")
+      if line == "Pausing program"
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
     end
 
-    def break_release
-      @sock.write("brake release\n")
-      @logger.info @sock.gets.strip
+    def shutdown
+      @sock.write("shutdown\n")
+      if line == "Shutting down"
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
     end
 
-    def set_operation_mode_auto
-      @sock.write("set operational mode automatic\n") #, where manual is
-      @logger.info @sock.gets.strip
+    def running?
+      @sock.write("running\n")
+      if line == "Program running: True"
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
     end
 
-    def clear_operation_mode
+    def get_robotmode
+      @sock.write("robotmode\n")
+      line = @sock.gets.strip
+      @logger.info line
+      result = $1.strip if line.match(/^Robotmode:\s(.+)/)
+    end
 
-      @sock.write("clear operational mode\n") #, where manual is
-      @logger.info @sock.gets.strip
+    def get_loaded_program
+      @sock.write ("get loaded program\n")
+      line = @sock.gets.strip
+      if line.match(/^Loaded program:\s(.+)/)
+        @logger.info line
+        path = $1.strip
+      else
+        @logger.error line
+        nil
+      end
     end
 
-    def popupmessage(message)
+    def open_popupmessage(message)
       @sock.write ("popup " + message.to_s + "\n")
       @logger.info @sock.gets.strip
     end
-    def pause_program
-      @sock.write("pause\n")
-      @logger.info "paused program"
+
+    def close_popupmessage
+      @sock.write ("close popup\n")
       @logger.info @sock.gets.strip
     end
 
-    def stop_program
-      @sock.write("stop\n")
-      @logger.info "stopped program"
-      @logger.info @sock.gets.strip
+    def add_to_log(message)
+      @sock.write ("addToLog " + message.to_s + "\n")
+      line = @sock.gets.strip
+      if line.match(/^Added log message/)
+        @logger.info line
+      else
+        @logger.error line
+      end
     end
 
-    def get_robotmode
-      @sock.write("robotmode\n")
+    def is_program_saved?
+      @sock.write("isProgramSaved\n")
+      if line == "True"
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
+    end
+
+    def get_program_state
+      @sock.write("programState\n")
       line = @sock.gets.strip
       @logger.info line
-      result = $1.strip if line.match(/^Robotmode:\s(.+)/)
+      line
     end
 
-    def get_loaded_program
-      @sock.write ("get loaded program\n")
+    def get_polyscope_version
+      @sock.write("PolyscopeVersion\n")
       line = @sock.gets.strip
       @logger.info line
-      path = $1.strip if line.match(/^Loaded program:\s(.+)/)
+      line
     end
 
-    def load_program (programname)
-      @logger.info "loadprogram"
-      send = "load " + programname + ".urp\n"
-      puts send
-      @sock.write (send)
+    def set_operation_mode_auto
+      @sock.write("set operational mode automatic\n")
+      line = @sock.gets.strip
+      if line.match(/^S/)
+        @logger.info line
+      else
+        @logger.error line
+      end
+    end
+
+    def clear_operation_mode
+      @sock.write("clear operational mode\n")
+      line = @sock.gets.strip
+      if line.match(/^operational/)
+        @logger.info line
+        true
+      else
+        @logger.error line
+      end
+    end
+
+    def power_on
+      @sock.write("power on\n")
+      if line.match(/^Powering/)
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
+    end
+
+    def power_off
+      @sock.write("power off\n")
+      if line.match(/^Powering/)
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
+    end
+
+    def break_release
+      @sock.write("brake release\n")
+      if line.match(/^Brake/)
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
+    end
+
+    def get_safety_mode
+      @sock.write("safetymode\n")
       line = @sock.gets.strip
       @logger.info line
+      result = $1.strip if line.match(/^Safetymode:\s(.+)/)
     end
 
-    def get_program_state
+    def unlock_protective_stop
+      @sock.write("unlock protective stop\n")
+      if line.match(/^Protective/)
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
+    end
 
+    def close_safety_popup
+      @sock.write("close safety popup\n")
+      if line.match(/^closing/)
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
     end
-  end
 
+    def load_installation
+      @sock.write("load installation\n")
+      if line.match(/^Loading/)
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
+    end
+
+    def restart_safety
+      @sock.write("restart safety\n")
+      if line.match(/^Brake/)
+        @logger.info line
+        true
+      else
+        @logger.error line
+        nil
+      end
+    end
+
+  end
 end

data/lib/rtde.rb

@@ -7,6 +7,17 @@ module UR
 
   class Rtde
     PROTOCOL_VERSION = 2
+    @@robotmode = {-1 => 'No Controller',
+                  0 => 'Disconnected',
+                  1 => 'Confirm Safety',
+                  2 => 'Booting',
+                  3 => 'Power Off',
+                  4 => 'Power On',
+                  5 => 'Idle',
+                  6 => 'Backdrive',
+                  7 => 'Running',
+                  8 => 'Updating Firmware'
+                }
 
     module Command #{{{
       RTDE_REQUEST_PROTOCOL_VERSION = 86        # ASCII V
@@ -18,6 +29,7 @@ module UR
       RTDE_CONTROL_PACKAGE_START = 83           # ASCII S
       RTDE_CONTROL_PACKAGE_PAUSE = 80           # ascii p
     end #}}}
+
     module ConnectionState #{{{
       DISCONNECTED = 0
       CONNECTED = 1
@@ -25,6 +37,10 @@ module UR
       PAUSED = 3
     end #}}}
 
+    def get_robotmode
+      @@robotmode
+    end
+
     def initialize(host, logger=Logger.new(STDOUT,level: :INFO)) #{{{
       host = '//' + host if host !~ /\/\//
       uri = URI::parse(host)

data/ur-sock.gemspec

@@ -1,6 +1,6 @@
 Gem::Specification.new do |s|
   s.name             = "ur-sock"
-  s.version          = "0.3"
+  s.version          = "0.3.1"
   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'
+  version: 0.3.1
 platform: ruby
 authors:
 - Florian Pauker
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2019-05-20 00:00:00.000000000 Z
+date: 2019-05-22 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: xml-smart