ur-sock 0.3.2 → 0.3.3

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA256:
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-  data.tar.gz: ac3846b9dd6bae74131d2eaa3e0190b4d041e614f7335952d3d6f72084064e07
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+  data.tar.gz: 9fb11b94f2b0de59f0708e8d785b06a86116080259969e85b9e56dd25eb953cb
 SHA512:
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+  data.tar.gz: 926a8c316f11eb496add47ee6de9dd72dfd33cdc1b3b5ff3550592369cdebaea864417440ee7226c8d879e7235d22767ae9253e73e7608281c725f0e5d1baa77

data/lib/dashboard.rb

@@ -77,13 +77,13 @@ module UR
     end
 
     def load_program (programname)
-      @logger.info "loadprogram"
+      @logger.debug "loadprogram"
       send = "load " + programname + ".urp\n"
       puts send
       @sock.write (send)
       line = @sock.gets.strip
       if line.match(/^./) == 'L'
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -95,7 +95,7 @@ module UR
       @sock.write("play\n")
       line = @sock.gets.strip
       if line == "Starting program"
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -107,7 +107,7 @@ module UR
       @sock.write("stop\n")
       line = @sock.gets.strip
       if line == "Stopped"
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -117,8 +117,9 @@ module UR
 
     def pause_program
       @sock.write("pause\n")
+      line = @sock.gets.strip
       if line == "Pausing program"
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -128,8 +129,9 @@ module UR
 
     def shutdown
       @sock.write("shutdown\n")
+      line = @sock.gets.strip
       if line == "Shutting down"
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -139,8 +141,9 @@ module UR
 
     def running?
       @sock.write("running\n")
+      line = @sock.gets.strip
       if line == "Program running: True"
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -151,7 +154,7 @@ module UR
     def get_robotmode
       @sock.write("robotmode\n")
       line = @sock.gets.strip
-      @logger.info line
+      @logger.debug line
       result = $1.strip if line.match(/^Robotmode:\s(.+)/)
     end
 
@@ -159,7 +162,7 @@ module UR
       @sock.write ("get loaded program\n")
       line = @sock.gets.strip
       if line.match(/^Loaded program:\s(.+)/)
-        @logger.info line
+        @logger.debug line
         path = $1.strip
       else
         @logger.error line
@@ -169,19 +172,19 @@ module UR
 
     def open_popupmessage(message)
       @sock.write ("popup " + message.to_s + "\n")
-      @logger.info @sock.gets.strip
+      @logger.debug @sock.gets.strip
     end
 
     def close_popupmessage
       @sock.write ("close popup\n")
-      @logger.info @sock.gets.strip
+      @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.info line
+        @logger.debug line
       else
         @logger.error line
       end
@@ -189,8 +192,9 @@ module UR
 
     def is_program_saved?
       @sock.write("isProgramSaved\n")
+      line = @sock.gets.strip
       if line == "True"
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -201,22 +205,32 @@ module UR
     def get_program_state
       @sock.write("programState\n")
       line = @sock.gets.strip
-      @logger.info line
+      @logger.debug line
       line
     end
 
     def get_polyscope_version
       @sock.write("PolyscopeVersion\n")
       line = @sock.gets.strip
-      @logger.info line
+      @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
+      end
+    end
+
     def set_operation_mode_auto
       @sock.write("set operational mode automatic\n")
       line = @sock.gets.strip
       if line.match(/^S/)
-        @logger.info line
+        @logger.debug line
       else
         @logger.error line
       end
@@ -226,7 +240,7 @@ module UR
       @sock.write("clear operational mode\n")
       line = @sock.gets.strip
       if line.match(/^operational/)
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -235,8 +249,9 @@ module UR
 
     def power_on
       @sock.write("power on\n")
+      line = @sock.gets.strip
       if line.match(/^Powering/)
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -246,8 +261,9 @@ module UR
 
     def power_off
       @sock.write("power off\n")
+      line = @sock.gets.strip
       if line.match(/^Powering/)
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -257,8 +273,9 @@ module UR
 
     def break_release
       @sock.write("brake release\n")
+      line = @sock.gets.strip
       if line.match(/^Brake/)
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -269,14 +286,15 @@ module UR
     def get_safety_mode
       @sock.write("safetymode\n")
       line = @sock.gets.strip
-      @logger.info line
+      @logger.debug line
       result = $1.strip if line.match(/^Safetymode:\s(.+)/)
     end
 
     def unlock_protective_stop
       @sock.write("unlock protective stop\n")
+      line = @sock.gets.strip
       if line.match(/^Protective/)
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -286,8 +304,9 @@ module UR
 
     def close_safety_popup
       @sock.write("close safety popup\n")
+      line = @sock.gets.strip
       if line.match(/^closing/)
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -297,8 +316,9 @@ module UR
 
     def load_installation
       @sock.write("load installation\n")
+      line = @sock.gets.strip
       if line.match(/^Loading/)
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line
@@ -308,8 +328,9 @@ module UR
 
     def restart_safety
       @sock.write("restart safety\n")
+      line = @sock.gets.strip
       if line.match(/^Brake/)
-        @logger.info line
+        @logger.debug line
         true
       else
         @logger.error line

data/lib/rtde.rb

@@ -7,17 +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'
-                }
+    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
@@ -37,10 +86,6 @@ 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          = "0.3.2"
+  s.version          = "0.3.3"
   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: 0.3.2
+  version: 0.3.3
 platform: ruby
 authors:
 - Florian Pauker
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2019-05-23 00:00:00.000000000 Z
+date: 2019-06-04 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: xml-smart