ur-sock 0.1 → 0.2

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA256:
-  metadata.gz: 4d864734b08ba388db84746d04f4fec4357f280011f064b22ffba985b4d7b799
-  data.tar.gz: 7fe3132f97b38b9cdf422856cebb172dcbe2a5b26c65c98abfb767d5de6ff046
+  metadata.gz: 6e73ba1728ec6f9dbe31b47e258eecae23f768436d334563f31c6396c408296d
+  data.tar.gz: e32570a81a62e2a8eca025438d0f814352e4f0327782ae0495ae5edc1223481d
 SHA512:
-  metadata.gz: b5c2273bc22a68ae3e15b5a2eb57dde5a510529b1992b10c706dd9a732d20b45e99cff04ceef3bb5c3b29b8b4019ed5d1ee21d430450e15da921f4bb7295f4a8
-  data.tar.gz: 85a81702f09a06e978a38a79853f5f621b283e82d9903f30d523f2f51fc5bd5cceef4a24a7da38f7771bcf20f74a35e75093757cf51ab594492d63bfac77817d
+  metadata.gz: f3057def5171a85e2d5ce6a4fa77cfe6c036afd0ee71005e07aeead532c6cb4197480981bbb4e6ca67e2c3d10046bd456761bb2a10b1370057a6e10391411c0c
+  data.tar.gz: 6099733c5bedbd6638265e489c10ff037f11983774711107cb5a49174b302106524423833a7bed628a83775ac0b1c195fed5aa2d6aecffa24dde6fdaa7f57eb7

data/lib/conf.rb

@@ -8,8 +8,8 @@ module UR
       @types = {}
       doc = XML::Smart.open(filename)
       doc.find('/rtde_config/recipe/@key').each do |key|
-        @names[key.value] = doc.find("//field/@name").map {|x| x.to_s }
-        @types[key.value] = doc.find("//field/@type").map {|x| x.to_s }
+        @names[key.value] = doc.find("/rtde_config/recipe[@key='#{key}']/field/@name").map {|x| x.to_s }
+        @types[key.value] = doc.find("/rtde_config/recipe[@key='#{key}']/field/@type").map {|x| x.to_s }
       end
     end
 

data/lib/serialize.rb

@@ -1,185 +1,187 @@
-#!/usr/bin/env ruby
-
-module UR
-  module Serialize
-    module ControlHeader
-      Data = Struct.new(:size, :command)
-      def self.unpack str
-        Data.new *str.unpack('S>C')
-      end
-    end
-
-    module ControlVersion
-      Data = Struct.new(:major, :minor, :bugfix, :build)
-      def self.unpack(str)
-        Data.new *str.unpack('I>I>I>I>')
-      end
-    end
-
-    module ReturnValue
-      Data = Struct.new :success
-      def self.unpack(str)
-        Data.new *str.unpack('C')
-      end
-    end
-
-    module Message
-      Data = Struct.new :level, :message, :source
-      EXCEPTION_MESSAGE = 0
-      ERROR_MESSAGE = 1
-      WARNING_MESSAGE = 2
-      INFO_MESSAGE = 3
-
-      def self.unpack
-        msg_length = buf.unpack('C')
-        msg = buf.unpack('x' + C * msg_length).pack('C*')
-        src_length = buf.unpack('x' + 'x' * msg_length + 'C')
-        src = buf.unpack('x' + 'x' * msg_length + 'x' + 'C' * src_length).pack('C*')
-        lvl = buf.unpack('x' + 'x' * msg_length + 'x' + 'x' * src_length + 'C')
-        Data.new(level,lvl,msg,src)
-      end
-    end
-
-    def self.get_item_size(data_type)
-      if data_type.start_with? 'VECTOR6'
-        6
-      elsif data_type.start_with? 'VECTOR3'
-        3
-      else
-        1
-      end
-    end
-
-    def self.unpack_field(data, offset, data_type)
-      size = self.get_item_size(data_type)
-      if data_type == 'VECTOR6D' or data_type == 'VECTOR3D'
-        data[offset...offset+size].map(&:to_f)
-      elsif data_type == 'VECTOR6UINT32'
-        data[offset...offset+size].map(&:to_i)
-      elsif data_type == 'DOUBLE'
-        data[offset].to_f
-      elsif data_type == 'UINT32' or data_type == 'UINT64'
-        data[offset].to_i
-      elsif data_type == 'VECTOR6INT32'
-        data[offset...offset+size].map(&:to_i)
-      elsif data_type == 'INT32' or data_type == 'UINT8'
-        data[offset].to_i
-      else
-        raise TypeError.new('unpack_field: unknown data type: ' + data_type)
-      end
-    end
-    def [](item)
-      @values[item]
-    end
-
-    class DataObject
-      attr_reader :values
-      attr_accessor :recipe_id
-
-      def initialize
-        @values = {}
-        @recipe_id = nil
-      end
-
-      def [](item)
-        @values[item]
-      end
-      def []=(item,value)
-        @values[item] = value
-      end
-
-      def self.unpack(data, names, types)
-        if names.length != types.length
-          raise RuntimeError.new('List sizes are not identical.')
-        end
-        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
-
-      def self.create_empty(names, recipe_id)
-        obj = DataObject.new
-        names.each do |i|
-          obj.values[i] = nil
-        end
-        obj.recipe_id = recipe_id
-        obj
-      end
-
-      def pack(names, types)
-        if names.length != types.length
-          raise RuntimeError.new('List sizes are not identical.')
-        end
-        l = []
-        l.append @recipe_id unless @recipe_id
-        names.each do |i|
-          raise RuntimeEror.new('Uninitialized parameter: ' + i) unless @values[i]
-          l.push *@values[i]
-        end
-        l
-      end
-    end
-
-    class DataConfig < Struct.new(:id, :names, :types, :fmt)
-      def self.unpack_recipe(buf)
-        rmd = DataConfig.new
-        rmd.id = buf.unpack('C')[0]
-        rmd.types = buf[1..-1].split(',')
-        rmd.fmt = 'C'
-        #puts "DataConfig: " +rmd.to_s
-        rmd.types.each do |i|
-          if i == 'INT32'
-            rmd.fmt += 'i>'
-          elsif i == 'UINT32'
-            rmd.fmt += 'I>'
-          elsif i == 'VECTOR6D'
-            rmd.fmt += 'G'*6
-          elsif i == 'VECTOR3D'
-            rmd.fmt += 'G'*3
-          elsif i == 'VECTOR6INT32'
-            rmd.fmt += 'i>'*6
-          elsif i == 'VECTOR6UINT32'
-            rmd.fmt += 'I>'*6
-          elsif i == 'DOUBLE'
-            rmd.fmt += 'G'
-          elsif i == 'UINT64'
-            rmd.fmt += 'Q>'
-          elsif i == 'UINT8'
-            rmd.fmt += 'C'
-          elsif i == 'IN_USE'
-            raise TypeError 'An input parameter is already in use.'
-          else
-            raise TypeError 'Unknown data type: ' + i
-          end
-        end
-        @fmt = rmd.fmt
-        rmd
-      end
-
-      def pack(state)
-        l = state.pack(self.names, self.types)
-        l.pack(self.fmt)
-      end
-
-      def unpack(data)
-        li = data.unpack(self.fmt)
-        DataObject.unpack(li, self.names, self.types)
-      end
-    end
-
-  end
-end
+#!/usr/bin/env ruby
+
+module UR
+  module Serialize
+    module ControlHeader
+      Data = Struct.new(:size, :command)
+      def self.unpack str
+        Data.new *str.unpack('S>C')
+      end
+    end
+
+    module ControlVersion
+      Data = Struct.new(:major, :minor, :bugfix, :build)
+      def self.unpack(str)
+        Data.new *str.unpack('I>I>I>I>')
+      end
+    end
+
+    module ReturnValue
+      Data = Struct.new :success
+      def self.unpack(str)
+        Data.new *str.unpack('C')
+      end
+    end
+
+    module Message
+      Data = Struct.new :level, :message, :source
+      EXCEPTION_MESSAGE = 0
+      ERROR_MESSAGE = 1
+      WARNING_MESSAGE = 2
+      INFO_MESSAGE = 3
+
+      def self.unpack
+        msg_length = buf.unpack('C')
+        msg = buf.unpack('x' + C * msg_length).pack('C*')
+        src_length = buf.unpack('x' + 'x' * msg_length + 'C')
+        src = buf.unpack('x' + 'x' * msg_length + 'x' + 'C' * src_length).pack('C*')
+        lvl = buf.unpack('x' + 'x' * msg_length + 'x' + 'x' * src_length + 'C')
+        Data.new(level,lvl,msg,src)
+      end
+    end
+
+    def self.get_item_size(data_type)
+      if data_type.start_with? 'VECTOR6'
+        6
+      elsif data_type.start_with? 'VECTOR3'
+        3
+      else
+        1
+      end
+    end
+
+    def self.unpack_field(data, offset, data_type)
+      size = self.get_item_size(data_type)
+      if data_type == 'VECTOR6D' or data_type == 'VECTOR3D'
+        data[offset...offset+size].map(&:to_f)
+      elsif data_type == 'VECTOR6UINT32'
+        data[offset...offset+size].map(&:to_i)
+      elsif data_type == 'DOUBLE'
+        data[offset].to_f
+      elsif data_type == 'UINT32' or data_type == 'UINT64'
+        data[offset].to_i
+      elsif data_type == 'VECTOR6INT32'
+        data[offset...offset+size].map(&:to_i)
+      elsif data_type == 'INT32' or data_type == 'UINT8'
+        data[offset].to_i
+      else
+        raise TypeError.new('unpack_field: unknown data type: ' + data_type)
+      end
+    end
+    def [](item)
+      @values[item]
+    end
+
+    class DataObject
+      attr_reader :values
+      attr_accessor :recipe_id
+
+      def initialize
+        @values = {}
+        @recipe_id = nil
+      end
+
+      def [](item)
+        @values[item]
+      end
+      def []=(item,value)
+        @values[item] = value
+      end
+
+      def self.unpack(data, names, types)
+        if names.length != types.length
+          raise RuntimeError.new('List sizes are not identical.')
+        end
+        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
+
+      def self.create_empty(names, recipe_id)
+        obj = DataObject.new
+        names.each do |i|
+          obj.values[i] = nil
+        end
+        obj.recipe_id = recipe_id
+        obj
+      end
+
+      def pack(names, types)
+        if names.length != types.length
+          raise RuntimeError.new('List sizes are not identical.')
+        end
+        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]
+        end
+        l
+      end
+    end
+
+    class DataConfig < Struct.new(:id, :names, :types, :fmt)
+      def self.unpack_recipe(buf)
+        rmd = DataConfig.new
+        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>'
+          elsif i == 'UINT32'
+            rmd.fmt += 'I>'
+          elsif i == 'VECTOR6D'
+            rmd.fmt += 'G'*6
+          elsif i == 'VECTOR3D'
+            rmd.fmt += 'G'*3
+          elsif i == 'VECTOR6INT32'
+            rmd.fmt += 'i>'*6
+          elsif i == 'VECTOR6UINT32'
+            rmd.fmt += 'I>'*6
+          elsif i == 'DOUBLE'
+            rmd.fmt += 'G'
+          elsif i == 'UINT64'
+            rmd.fmt += 'Q>'
+          elsif i == 'UINT8'
+            rmd.fmt += 'C'
+          elsif i == 'IN_USE'
+            raise TypeError 'An input parameter is already in use.'
+          else
+            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
+
+      def unpack(data)
+        li = data.unpack(self.fmt)
+        DataObject.unpack(li, self.names, self.types)
+      end
+    end
+
+  end
+end

data/lib/transfer.rb

@@ -0,0 +1,58 @@
+#!/usr/bin/env ruby
+require 'socket'        # Sockets are in standard library
+require 'logger'
+require 'uri'
+
+module UR
+
+  class Transfer
+    module ConnectionState
+      DISCONNECTED = 0
+      CONNECTED = 1
+      STARTED = 2
+      PAUSED = 3
+    end
+
+    def initialize(host, logger=Logger.new(STDOUT,level: :INFO))
+      host = '//' + host if host !~ /\/\//
+      uri = URI::parse(host)
+      @logger = logger
+      @hostname = uri.host
+      @port = uri.port.nil? ? 30003 : uri.port
+      @conn_state = ConnectionState::DISCONNECTED
+      @sock = nil
+    end
+
+    def connect
+      return if @sock
+      @sock = Socket.new Socket::AF_INET, Socket::SOCK_STREAM
+      @sock.setsockopt Socket::SOL_SOCKET, Socket::SO_REUSEADDR, 1
+      @sock = TCPSocket.new(@hostname, @port)
+      @conn_state = ConnectionState::CONNECTED
+      self
+    end
+
+    def connected?
+      @conn_state != ConnectionState::DISCONNECTED
+    end
+
+    def disconnect
+      if @sock
+        @sock.close
+        @sock = nil
+        @conn_state = ConnectionState::DISCONNECTED
+        @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))
+        end
+      end
+    end
+
+  end
+
+end

data/lib/ur-sock.rb

@@ -1,2 +1,3 @@
 require_relative 'conf'
 require_relative 'rtde'
+require_relative 'transfer'

data/ur-sock.gemspec

@@ -1,6 +1,6 @@
 Gem::Specification.new do |s|
   s.name             = "ur-sock"
-  s.version          = "0.1"
+  s.version          = "0.2"
   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: '0.1'
+  version: '0.2'
 platform: ruby
 authors:
 - Florian Pauker
@@ -44,6 +44,7 @@ files:
 - lib/conf.rb
 - lib/rtde.rb
 - lib/serialize.rb
+- lib/transfer.rb
 - lib/ur-sock.rb
 - ur-sock.gemspec
 homepage: https://github.com/fpauker/ur-sock