ur-sock 0.4444 → 1.0.4

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:

data/lib/dashboard.rb

@@ -165,12 +165,13 @@ module UR
         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  
+      end
+      @logger.debug line
       if line.match(/^Loaded program:\s(.+)/)
-        @logger.debug line
-        path = $1.strip
+        $1.strip
+      elsif line.match(/^No program loaded/)
+        nil
       else
-        @logger.error line
         raise UR::Dash::Reconnect.new('Loaded program can not be got. Dashboard server down or not in Remote Mode')
       end
     end
@@ -229,7 +230,7 @@ module UR
         @logger.debug line
       else
         @logger.error line
-        raise UR::Dash::Reconnect.new('Cant set operation mode manual. DDashboard server down or not in Remote Mode')
+        raise UR::Dash::Reconnect.new('Cant set operation mode manual. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -341,11 +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 == 'true'
+      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/ur-sock.gemspec

@@ -1,6 +1,6 @@
 Gem::Specification.new do |s|
   s.name             = "ur-sock"
-  s.version          = "0.4444"
+  s.version          = "1.0.4"
   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: '0.4444'
+  version: 1.0.4
 platform: ruby
 authors:
 - Florian Pauker
@@ -9,28 +9,28 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2019-09-26 00:00:00.000000000 Z
+date: 2020-09-09 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.