ur-sock 0.3 → 1.0

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

@@ -6,23 +6,43 @@ require 'uri'
 module UR
 
   class Dash
+    class Reconnect < Exception; end
+
     module ConnectionState
-      DISCONNECTED = 0
-      CONNECTED = 1
-      STARTED = 2
-      PAUSED = 3
+      DISCONNECTED = 'DISCONNECTED'
+      CONNECTED = 'CONNECTED'
+      STARTED = 'STARTED'
+      PAUSED = 'PAUSED'
+    end
+
+    module ProgramState
+      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"
+      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 +78,330 @@ module UR
       end
     end
 
+    def load_program (programname)
+      @logger.debug "loadprogram"
+      send = "load " + programname + ".urp\n"
+      @sock.write send
+      line = @sock.gets.strip
+      if line.match(/^L/)
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
+      end
+    end
+
     def start_program
       @sock.write("play\n")
       line = @sock.gets.strip
       if line == "Starting program"
-        @logger.info line
+        @logger.debug line
+        true
       else
         @logger.error line
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
       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.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
+      end
     end
 
-    def power_on
-      @sock.write("power on\n")
-      @logger.info @sock.gets.strip
+    def pause_program
+      @sock.write("pause\n")
+      line = @sock.gets.strip
+      if line == "Pausing program"
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
+      end
     end
 
-    def break_release
-      @sock.write("brake release\n")
-      @logger.info @sock.gets.strip
+    def shutdown
+      @sock.write("shutdown\n")
+      line = @sock.gets.strip
+      if line == "Shutting down"
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
+      end
+    end
+
+    def running?
+      @sock.write("running\n")
+      line = @sock.gets.strip
+      if line == "Program running: True"
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
+      end
+    end
+
+    def get_robotmode
+      @sock.write("robotmode\n")
+      line = @sock.gets.strip
+      @logger.debug line
+      result = $1.strip if line.match(/^Robotmode:\s(.+)/)
+    end
+
+    def get_loaded_program
+      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(.+)/)
+        $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
+
+    def open_popupmessage(message)
+      @sock.write ("popup " + message.to_s + "\n")
+      @logger.debug @sock.gets.strip
+    end
+
+    def close_popupmessage
+      @sock.write ("close popup\n")
+      @logger.debug @sock.gets.strip
+    end
+
+    def add_to_log(message)
+      @sock.write ("addToLog " + message.to_s + "\n")
+      line = @sock.gets.strip
+      if line.match(/^Added log message/)
+        @logger.debug line
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Dashboard server down or not in Remote Mode')
+      end
+    end
+
+    def is_program_saved?
+      @sock.write("isProgramSaved\n")
+      line = @sock.gets.strip
+      if line == "True"
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant determine if program is saved. Dashboard server down or not in Remote Mode')
+      end
+    end
+
+    def get_program_state
+      @sock.write("programState\n")
+      line = @sock.gets.strip
+      @logger.debug line
+      line
+    end
+
+    def get_polyscope_version
+      @sock.write("PolyscopeVersion\n")
+      line = @sock.gets.strip
+      @logger.debug line
+      line
+    end
+
+    def set_operation_mode_manual
+      @sock.write("set operational mode manual\n")
+      line = @sock.gets.strip
+      if line.match(/^S/)
+        @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
 
     def set_operation_mode_auto
-      @sock.write("set operational mode automatic\n") #, where manual is
-      @logger.info @sock.gets.strip
+      @sock.write("set operational mode automatic\n")
+      line = @sock.gets.strip
+      if line.match(/^S/)
+        @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
 
     def clear_operation_mode
+      @sock.write("clear operational mode\n")
+      line = @sock.gets.strip
+      if line.match(/^operational/)
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant clear operation mode. Dashboard server down or not in Remote Mode')
+      end
+    end
 
-      @sock.write("clear operational mode\n") #, where manual is
-      @logger.info @sock.gets.strip
+    def power_on
+      @sock.write("power on\n")
+      line = @sock.gets.strip
+      if line.match(/^Powering/)
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant power on. Dashboard server down or not in Remote Mode')
+      end
     end
 
-    def popupmessage(message)
-      @sock.write ("popup " + message.to_s + "\n")
-      @logger.info @sock.gets.strip
+    def power_off
+      @sock.write("power off\n")
+      line = @sock.gets.strip
+      if line.match(/^Powering/)
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant power off. Dashboard server down or not in Remote Mode')
+      end
     end
-    def pause_program
-      @sock.write("pause\n")
-      @logger.info "paused program"
-      @logger.info @sock.gets.strip
+
+    def break_release
+      @sock.write("brake release\n")
+      line = @sock.gets.strip
+      if line.match(/^Brake/)
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant release breaks. Dashboard server down or not in Remote Mode')
+      end
     end
 
-    def stop_program
-      @sock.write("stop\n")
-      @logger.info "stopped program"
-      @logger.info @sock.gets.strip
+    def get_safety_mode
+      @sock.write("safetymode\n")
+      line = @sock.gets.strip
+      @logger.debug line
+      result = $1.strip if line.match(/^Safetymode:\s(.+)/)
     end
 
-    def get_robotmode
-      @sock.write("robotmode\n")
+    def unlock_protective_stop
+      @sock.write("unlock protective stop\n")
       line = @sock.gets.strip
-      @logger.info line
-      result = $1.strip if line.match(/^Robotmode:\s(.+)/)
+      if line.match(/^Protective/)
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant unlock protective stop. Dashboard server down or not in Remote Mode')
+      end
     end
 
-    def get_loaded_program
-      @sock.write ("get loaded program\n")
+    def close_safety_popup
+      @sock.write("close safety popup\n")
       line = @sock.gets.strip
-      @logger.info line
-      path = $1.strip if line.match(/^Loaded program:\s(.+)/)
+      if line.match(/^closing/)
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant close safety popup. Dashboard server down or not in Remote Mode')
+      end
     end
 
-    def load_program (programname)
-      @logger.info "loadprogram"
-      send = "load " + programname + ".urp\n"
-      puts send
-      @sock.write (send)
+    def load_installation
+      @sock.write("load installation\n")
       line = @sock.gets.strip
-      @logger.info line
+      if line.match(/^Loading/)
+        @logger.debug line
+        true
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant load installation. Dashboard server down or not in Remote Mode')
+      end
     end
 
-    def get_program_state
+    def restart_safety
+      @sock.write("restart safety\n")
+      line = @sock.gets.strip
+      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'
+        line
+      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'
+      elsif line.match(/^could not understand/)
+        @logger.warn'Could not execute get_operational_mode: Please upgrade to current version'
+        line
+      else
+        @logger.error line
+        raise UR::Dash::Reconnect.new('Cant restart safety. 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'
+        line
+      else
+        @logger.debug line
+        line
+      end
     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'
+        line
+      else
+        @logger.debug line
+        line
+      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'
+        line
+      else
+        @logger.debug line
+        line
+      end
+    end
+  end
 end

data/lib/rtde.rb

@@ -7,6 +7,66 @@ 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'
+    }
+    PROGRAMSTATE = {
+      1 => 'Stopped',
+      2 => 'Playing',
+      4 => 'Paused'
+    }
+    JOINTMODE = {
+      235 => 'JOINT_MODE_RESET',
+      236 => 'JOINT_MODE_SHUTTING_DOWN',
+      237 => 'JOINT_PART_D_CALIBRATION_MODE (INTERNAL USE ONLY)',
+      238 => 'JOINT_MODE_BACKDRIVE',
+      239 => 'JOINT_MODE_POWER_OFF',
+      240 => 'JOINT_MODE_READY_FOR_POWER_OFF (FROM VERSION 5.1)',
+      245 => 'JOINT_MODE_NOT_RESPONDING',
+      246 => 'JOINT_MODE_MOTOR_INITIALISATION',
+      247 => 'JOINT_MODE_BOOTING',
+      248 => 'JOINT_PART_D_CALIBRATION_ERROR_MODE (INTERNAL USE ONLY)',
+      249 => 'JOINT_MODE_BOOTLOADER',
+      250 => 'JOINT_CALIBRATION_MODE (INTERNAL USE ONLY)',
+      251 => 'JOINT_MODE_VIOLATION',
+      252 => 'JOINT_MODE_FAULT',
+      253 => 'JOINT_MODE_RUNNING',
+      255 => 'JOINT_MODE_IDLE'
+    }
+    SAFETYMODE = {
+      11 => 'SAFETY_MODE_UNDEFINED_SAFETY_MODE',
+      10 => 'SAFETY_MODE_VALIDATE_JOINT_ID',
+      9 => 'SAFETY_MODE_FAULT',
+      8 => 'SAFETY_MODE_VIOLATION',
+      7 => 'SAFETY_MODE_ROBOT_EMERGENCY_STOP',
+      6 => 'SAFETY_MODE_SYSTEM_EMERGENCY_STOP',
+      5 => 'SAFETY_MODE_SAFEGUARD_STOP',
+      4 => 'SAFETY_MODE_RECOVERY',
+      3 => 'SAFETY_MODE_PROTECTIVE_STOP',
+      2 => 'SAFETY_MODE_REDUCED',
+      1 => 'SAFETY_MODE_NORMAL'
+    }
+
+    TOOLMODE = {
+      235 => 'JOINT_MODE_RESET',
+      236 => 'JOINT_MODE_SHUTTING_DOWN',
+      239 => 'JOINT_MODE_POWER_OFF',
+      245 => 'JOINT_MODE_NOT_RESPONDING',
+      247 => 'JOINT_MODE_BOOTING',
+      249 => 'JOINT_MODE_BOOTLOADER',
+      252 => 'JOINT_MODE_FAULT',
+      253 => 'JOINT_MODE_RUNNING',
+      255 => 'JOINT_MODE_IDLE'
+    }
 
     module Command #{{{
       RTDE_REQUEST_PROTOCOL_VERSION = 86        # ASCII V
@@ -18,6 +78,7 @@ module UR
       RTDE_CONTROL_PACKAGE_START = 83           # ASCII S
       RTDE_CONTROL_PACKAGE_PAUSE = 80           # ascii p
     end #}}}
+
     module ConnectionState #{{{
       DISCONNECTED = 0
       CONNECTED = 1
@@ -40,7 +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
@@ -98,18 +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
@@ -200,16 +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])
@@ -250,7 +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
@@ -95,19 +97,10 @@ module UR
         obj = DataObject.new
         offset = 0
         obj.recipe_id = data[0]
-
-        #puts "Datat:" + data.to_s
-
         names.each_with_index do |name,i|
-          #obj.values[i] = data[1..-1].unpack('x' * offset + types[i])
-          #puts unpack_field(data[1..-1], offset, types[i])
-
           obj.values[name] = Serialize.unpack_field(data[1..-1], offset, types[i])
-          #puts "obj"
-          #puts obj.values[i]
           offset += Serialize::get_item_size(types[i])
         end
-        #puts "obj:" + obj.values.to_s
         obj
       end
 
@@ -140,7 +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>'
@@ -160,20 +152,19 @@ 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
       end
 
       def pack(state)
-        p state.class
         l = state.pack(self.names, self.types)
-        p l
-        p self.fmt
         l.pack(self.fmt)
       end
 

data/ur-sock.gemspec

@@ -1,6 +1,6 @@
 Gem::Specification.new do |s|
   s.name             = "ur-sock"
-  s.version          = "0.3"
+  s.version          = "1.0"
   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: '1.0'
 platform: ruby
 authors:
 - Florian Pauker
@@ -9,28 +9,28 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2019-05-20 00:00:00.000000000 Z
+date: 2020-06-05 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.