ur-sock 1.0 → 1.0.5

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA256:
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-  data.tar.gz: d96c731d006689f1dd80f3052e84084d3219964e8670a9f40afaac97f38710bb
+  metadata.gz: e42a30b3ef1a76030ccc48fb1e798e36257b8895ada222ae2a26f642fcd56982
+  data.tar.gz: 704231d423421a281694495e6f12f87a7356e800ec7b6da2ef674ede8d449595
 SHA512:
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-  data.tar.gz: c770cbc905113eac5fa35ec8f658ee215f24ea5076e85aa4520a12e2aa88eb893ff79d4f53a84380d769abf98859009de462f932a10466a00e4d9ad70f59e22c
+  metadata.gz: fe512a2e363cbd4f4ded1a7c2b3a3242240fced5bb1ad16e377495f0a984bf20abb4929de1fffcc7c49380e7c2dc9fccdae745080c4bb3b2b9407e0ea23f0b7d
+  data.tar.gz: 8dbbe957f7f0d4a441f4aba8651648886961f5b521beda8817ed01a9da1b43a4d4602b5d4627282349b139cb06b47d4ee13e3980d621f42022a9133f51cd1d33

data/lib/dashboard.rb

@@ -344,7 +344,7 @@ module UR
         true
       elsif line.match(/^could not understand/)
         @logger.warn'Could not execute restart_safety: Please upgrade to current version'
-        line
+        nil
       else
         @logger.error line
         raise UR::Dash::Reconnect.new('Cant restart safety. Dashboard server down or not in Remote Mode')
@@ -359,12 +359,13 @@ module UR
         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'
-        line
+        nil
       else
         @logger.error line
-        raise UR::Dash::Reconnect.new('Cant restart safety. Dashboard server down or not in Remote Mode')
+        raise UR::Dash::Reconnect.new('Cant get operational mode. Dashboard server down or not in Remote Mode')
       end
     end
 
@@ -373,10 +374,13 @@ module UR
       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
+        nil
+      elsif line == 'true' || line == 'false'
         @logger.debug line
-        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
 
@@ -385,10 +389,13 @@ module UR
       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
+        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
 
@@ -397,10 +404,13 @@ module UR
       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
+        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

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/serialize.rb

@@ -120,8 +120,8 @@ module UR
         l = []
         l.append @recipe_id if @recipe_id
         names.each do |i|
-          raise RuntimeError.new('Uninitialized parameter: ' + i) unless @values[i]
-          l.push *@values[i]
+          raise RuntimeError.new('Uninitialized parameter: ' + i) if @values[i].nil?
+          l.push *(!!@values[i] == @values[i] ? (@values[i] == true ? 1 : 0) : @values[i])
         end
         l
       end
@@ -153,11 +153,11 @@ module UR
           elsif i == 'UINT8'
             rmd.fmt += 'C'
           elsif i == 'BOOL'
-            rmd.fmt += '?'
+            rmd.fmt += 'c'
           elsif i == 'IN_USE'
-            #raise TypeError 'An input parameter is already in use.'
+            raise  'An input parameter is already in use.'
           else
-            #raise TypeError 'Unknown data type: ' + i
+            raise '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          = "1.0"
+  s.version          = "1.0.5"
   s.platform         = Gem::Platform::RUBY
   s.license          = "LGPL-3.0"
   s.summary          = "Preliminary release of Universal Robot (UR) Socket Communication."

metadata

@@ -1,15 +1,15 @@
 --- !ruby/object:Gem::Specification
 name: ur-sock
 version: !ruby/object:Gem::Version
-  version: '1.0'
+  version: 1.0.5
 platform: ruby
 authors:
 - Florian Pauker
 - Juergen eTM Mangler
-autorequire: 
+autorequire:
 bindir: bin
 cert_chain: []
-date: 2020-06-05 00:00:00.000000000 Z
+date: 2021-01-26 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: xml-smart
@@ -52,7 +52,7 @@ homepage: https://github.com/fpauker/ur-sock
 licenses:
 - LGPL-3.0
 metadata: {}
-post_install_message: 
+post_install_message:
 rdoc_options: []
 require_paths:
 - lib
@@ -67,8 +67,8 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubygems_version: 3.1.2
-signing_key: 
+rubygems_version: 3.1.4
+signing_key:
 specification_version: 4
 summary: Preliminary release of Universal Robot (UR) Socket Communication.
 test_files: []