urest 0.99.1

data/README.md

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+<img align="right" height="100" src="https://github.com/etm/urest/blob/main/logo/urest_logo.png">
+
+# UREST
+
+A simple REST server for Universal robots in ruby, which uses the ur-sock library.
+
+## Getting Started
+
+A simple ruby server, which uses the ur-sock library.
+
+### Prerequisites & Installation
+
+This server has no special prerequisites. But it is always advisable to prepare
+your machine for installation and development, and install some common
+libraries and headers, which are used by common dependencies:
+
+* Windows 10 users with WSL2 can use Fedora/Ubuntu instructions below 
+* Mac OSX users can use brew: brew install libxml2 libxslt 
+* Ubuntu (>=20.04) / Debian users can use their package manager: ```sudo apt-get install build-essential ruby-dev libxml2-dev libxslt-dev libz-dev libssl-dev librasqal-dev libraptor2-dev libicu-dev```
+* Fedora (>=32) users can use their package manager: ```sudo dnf install @buildsys-build @development-tools @c-development ruby-devel libxml2-devel libxslt-devel zlib-devel rasqal-devel raptor2-devel libicu-devel``` 
+
+You can then install the UREST gem with:
+
+```
+gem install urest
+```
+
+If you want to develop or extend the server, just use the following instruction
+```
+git clone https://github.com/etm/urest
+git clone https://github.com/fpauker/ur-sock
+```
+
+Just follow the install instructions of the 2 projects.
+
+### Starting the server
+
+To scaffold a server, first create a directory, then use the urest
+
+```
+mkdir -p ~/run/urest
+cd ~/run/urest
+urest scaffold
+```
+
+After changing the \.conf file to point to your UR, you can start the server with
+
+```
+./urest start
+```
+
+or
+
+```
+./urest -v start
+```
+
+to see verbose output.
+
+## Contributing
+
+Please read [CONTRIBUTING.md](https://gist.github.com/PurpleBooth/b24679402957c63ec426) for details on our code of conduct, and the process for submitting pull requests to us.
+
+## Versioning
+
+We use [SemVer](http://semver.org/) for versioning.
+
+## Authors
+
+* **Jürgen Mangler**
+
+See also the list of [contributors](https://github.com/etm/urest/AUTHORS) who participated in this project.
+
+## License
+
+This project is licensed under the GPL3 License - see the [LICENSE.md](./LICENSE) file for details

data/Rakefile

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+require 'rake'
+require 'rubygems/package_task'
+
+spec = eval(File.read('urest.gemspec'))
+
+task :default => [:gem]
+
+Gem::PackageTask.new(spec) do |pkg|
+  pkg.need_zip = true
+  pkg.need_tar = true
+  FileUtils.mkdir 'pkg' rescue nil
+  FileUtils.rm_rf Dir.glob('pkg/*')
+  FileUtils.ln_sf "#{pkg.name}.gem", "pkg/#{spec.name}.gem"
+end
+
+task :push => :gem do |r|
+  `gem push pkg/urest.gem`
+end
+
+task :install => :gem do |r|
+  `gem install pkg/urest.gem`
+end

data/lib/rtde.conf.xml

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+<?xml version="1.0"?>
+<rtde_config>
+  <recipe key="speed">
+    <field name="speed_slider_mask" type="UINT32"/>
+    <field name="speed_slider_fraction" type="DOUBLE"/>
+  </recipe>
+  <recipe key="inbit">
+    <!--Only put Input Registers here which are used-->
+    <field name="input_bit_register_64" type="BOOL"/>
+    <field name="input_bit_register_65" type="BOOL"/>
+  </recipe>
+  <recipe key="inint">
+    <!--Only put Input Registers here which are used-->
+    <field name="input_int_register_0" type="INT32"/>
+    <field name="input_int_register_1" type="INT32"/>
+    <field name="input_int_register_2" type="INT32"/>
+    <field name="input_int_register_3" type="INT32"/>
+    <field name="input_int_register_4" type="INT32"/>
+    <field name="input_int_register_5" type="INT32"/>
+    <field name="input_int_register_6" type="INT32"/>
+    <field name="input_int_register_7" type="INT32"/>
+    <field name="input_int_register_8" type="INT32"/>
+    <field name="input_int_register_9" type="INT32"/>
+  </recipe>
+  <recipe key="indoub">
+    <!--Only put Input Registers here which are used-->
+    <field name="input_double_register_0" type="DOUBLE"/>
+    <field name="input_double_register_1" type="DOUBLE"/>
+    <field name="input_double_register_2" type="DOUBLE"/>
+    <field name="input_double_register_3" type="DOUBLE"/>
+    <field name="input_double_register_4" type="DOUBLE"/>
+    <field name="input_double_register_5" type="DOUBLE"/>
+    <field name="input_double_register_6" type="DOUBLE"/>
+    <field name="input_double_register_7" type="DOUBLE"/>
+    <field name="input_double_register_8" type="DOUBLE"/>
+    <field name="input_double_register_9" type="DOUBLE"/>
+  </recipe>
+  <recipe key="out">
+    <field name="timestamp" type="DOUBLE"/>
+    <field name="target_q" type="VECTOR6D"/>
+    <field name="target_qd" type="VECTOR6D"/>
+    <field name="target_qdd" type="VECTOR6D"/>
+    <field name="target_current" type="VECTOR6D"/>
+    <field name="target_moment" type="VECTOR6D"/>
+    <field name="actual_q" type="VECTOR6D"/>
+    <field name="actual_qd" type="VECTOR6D"/>
+    <field name="actual_current" type="VECTOR6D"/>
+    <field name="joint_control_output" type="VECTOR6D"/>
+    <field name="actual_TCP_pose" type="VECTOR6D"/>
+    <field name="actual_TCP_speed" type="VECTOR6D"/>
+    <field name="actual_TCP_force" type="VECTOR6D"/>
+    <field name="target_TCP_pose" type="VECTOR6D"/>
+    <field name="target_TCP_speed" type="VECTOR6D"/>
+    <field name="actual_digital_input_bits" type="UINT64"/>
+    <field name="joint_temperatures" type="VECTOR6D"/>
+    <field name="actual_execution_time" type="DOUBLE"/>
+    <field name="robot_mode" type="INT32"/>
+    <field name="joint_mode" type="VECTOR6INT32"/>
+    <field name="safety_mode" type="INT32"/>
+    <field name="actual_tool_accelerometer" type="VECTOR3D"/>
+    <field name="speed_scaling" type="DOUBLE"/>
+    <field name="actual_momentum" type="DOUBLE"/>
+    <field name="actual_main_voltage" type="DOUBLE"/>
+    <field name="actual_robot_voltage" type="DOUBLE"/>
+    <field name="actual_robot_current" type="DOUBLE"/>
+    <field name="actual_joint_voltage" type="VECTOR6D"/>
+    <field name="actual_digital_output_bits" type="UINT64"/>
+    <field name="runtime_state" type="UINT32"/>
+    <field name="output_bit_register_64" type="BOOL"/>
+    <field name="target_speed_fraction" type="DOUBLE"/>
+
+    <!-- field name="output_bit_registers0_to_31" type="UINT32"/-->
+    <!-- field name="output_bit_registers32_to_63" type="UINT32"/-->
+
+    <!-- field name="output_int_register_0" type="INT32"/-->
+    <!-- field name="output_int_register_1" type="INT32"/-->
+    <!-- field name="output_int_register_2" type="INT32"/-->
+    <!-- field name="output_int_register_3" type="INT32"/-->
+    <!-- field name="output_int_register_4" type="INT32"/-->
+    <!-- field name="output_int_register_5" type="INT32"/-->
+    <!-- field name="output_int_register_6" type="INT32"/-->
+    <!-- field name="output_int_register_7" type="INT32"/-->
+    <!-- field name="output_int_register_8" type="INT32"/-->
+    <!-- field name="output_int_register_9" type="INT32"/-->
+    <!-- field name="output_int_register_10" type="INT32"/-->
+    <!-- field name="output_int_register_11" type="INT32"/-->
+    <!-- field name="output_int_register_12" type="INT32"/-->
+    <!-- field name="output_int_register_13" type="INT32"/-->
+    <!-- field name="output_int_register_14" type="INT32"/-->
+    <!-- field name="output_int_register_15" type="INT32"/-->
+    <!-- field name="output_int_register_16" type="INT32"/-->
+    <!-- field name="output_int_register_17" type="INT32"/-->
+    <!-- field name="output_int_register_18" type="INT32"/-->
+    <!-- field name="output_int_register_19" type="INT32"/-->
+    <!-- field name="output_int_register_20" type="INT32"/-->
+    <!-- field name="output_int_register_21" type="INT32"/-->
+    <!-- field name="output_int_register_22" type="INT32"/-->
+    <!-- field name="output_int_register_23" type="INT32"/-->
+
+    <!-- field name="output_double_register_0" type="DOUBLE"/-->
+    <!-- field name="output_double_register_1" type="DOUBLE"/-->
+    <!-- field name="output_double_register_2" type="DOUBLE"/-->
+    <!-- field name="output_double_register_3" type="DOUBLE"/-->
+    <!-- field name="output_double_register_4" type="DOUBLE"/-->
+    <!-- field name="output_double_register_5" type="DOUBLE"/-->
+    <!-- field name="output_double_register_6" type="DOUBLE"/-->
+    <!-- field name="output_double_register_7" type="DOUBLE"/-->
+    <!-- field name="output_double_register_8" type="DOUBLE"/-->
+    <!-- field name="output_double_register_9" type="DOUBLE"/-->
+    <!-- field name="output_double_register_10" type="DOUBLE"/-->
+    <!-- field name="output_double_register_11" type="DOUBLE"/-->
+    <!-- field name="output_double_register_12" type="DOUBLE"/-->
+    <!-- field name="output_double_register_13" type="DOUBLE"/-->
+    <!-- field name="output_double_register_14" type="DOUBLE"/-->
+    <!-- field name="output_double_register_15" type="DOUBLE"/-->
+    <!-- field name="output_double_register_16" type="DOUBLE"/-->
+    <!-- field name="output_double_register_17" type="DOUBLE"/-->
+    <!-- field name="output_double_register_18" type="DOUBLE"/-->
+    <!-- field name="output_double_register_19" type="DOUBLE"/-->
+    <!-- field name="output_double_register_20" type="DOUBLE"/-->
+    <!-- field name="output_double_register_21" type="DOUBLE"/-->
+    <!-- field name="output_double_register_22" type="DOUBLE"/-->
+    <!-- field name="output_double_register_23" type="DOUBLE"/-->
+  </recipe>
+</rtde_config>

data/lib/urest.rb

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+require 'riddl/server'
+require 'json'
+require 'typhoeus'
+if $dev
+  require_relative '../../ur-sock/lib/ur-sock'
+else
+  require 'ur-sock'
+end
+require 'net/ssh'
+require 'net/scp'
+
+module UREST
+  SERVER = File.expand_path(File.join(__dir__,'urest.xml'))
+
+  def self::start_dash(opts) #{{{
+    opts['dash'] = UR::Dash.new(opts['ipadress']).connect rescue nil
+  end #}}}
+
+  def self::start_psi(opts) #{{{
+    opts['psi'] = UR::Psi.new(opts['ipadress']).connect rescue nil
+  end #}}}
+
+  def self::start_rtde(opts) #{{{
+    ### Loading config file
+    conf = UR::XMLConfigFile.new opts['rtde_config']
+    output_names, output_types = conf.get_recipe opts['rtde_config_recipe_base']
+    opts['rtde'] = UR::Rtde.new(opts['ipadress']).connect
+
+    ### Set Speed
+    if opts['rtde_config_recipe_speed']
+      speed_names, speed_types = conf.get_recipe opts['rtde_config_recipe_speed']
+      opts['speed'] = opts['rtde'].send_input_setup(speed_names, speed_types)
+      opts['speed']['speed_slider_mask'] = 1
+    end
+
+    ### Set register
+    if opts['rtde_config_recipe_inbit']
+      bit_names, bit_types = conf.get_recipe opts['rtde_config_recipe_inbit']
+      opts['inbit'] = opts['rtde'].send_input_setup(bit_names,bit_types)
+    end
+    if opts['rtde_config_recipe_inint']
+      int_names, int_types = conf.get_recipe opts['rtde_config_recipe_inint']
+      opts['inint'] = opts['rtde'].send_input_setup(int_names,int_types)
+    end
+    if opts['rtde_config_recipe_indoub']
+      doub_names, doub_types = conf.get_recipe opts['rtde_config_recipe_indoub']
+      opts['indoub'] = opts['rtde'].send_input_setup(doub_names,doub_types)
+    end
+
+    ### Setup output
+    if not opts['rtde'].send_output_setup(output_names, output_types,10)
+      puts 'Unable to configure output'
+    end
+    if not opts['rtde'].send_start
+      puts 'Unable to start synchronization'
+    end
+
+    ###Initialize all inputs
+    bit_names.each do |i|
+      opts['inbit'][i] = false
+    end
+    int_names.each do |i|
+      opts['inint'][i] = 0
+    end
+    doub_names.each do |i|
+      opts['indoub'][i] = 0.0
+    end
+  end #}}}
+
+  def self::protect_reconnect_run(opts) #{{{
+    tries = 0
+    begin
+      yield
+    rescue UR::Dash::Reconnect => e
+      puts e.message
+      tries += 1
+      if tries < 2
+        UREST::start_dash opts
+        retry
+      end
+    rescue UR::Psi::Reconnect => e
+      puts e.message
+      tries += 1
+      if tries < 2
+        UREST::start_psi opts
+        retry
+      end
+    end
+  end #}}}
+
+  def self::ssh_start(opts) #{{{
+    if opts['certificate']
+      opts['ssh'] = Net::SSH.start(opts['ipadress'], opts['username'], :port => opts['sshport'], :keys => [ opts['certificate'] ])
+    else
+      opts['ssh'] = opts['password'] ? Net::SSH.start(opts['ipadress'], opts['username'], :port => opts['sshport'], auth_methods: ['password'], password: opts['password']) : Net::SSH.start(opts['ipadress'], opts['username'], :port => opts['sshport'])
+    end
+  end #}}}
+
+  def self::download_program(opts,name) #{{{
+    counter = 0
+    begin
+      opts['ssh'].scp.download! name
+    rescue => e
+      counter += 1
+      UREST::ssh_start opts
+      retry if counter < 3
+    end
+  end #}}}
+
+  def self::upload_program(opts,name,program) #{{{
+    counter = 0
+    begin
+      opts['ssh'].scp.upload StringIO.new(program), File.join(opts['dir'],name)
+    rescue => e
+      counter += 1
+      UREST::ssh_start opts
+      retry if counter < 3
+    end
+    nil
+  end #}}}
+
+  def self::get_robot_programs(opts) #{{{
+    progs = []
+    begin
+      progs = opts['ssh'].exec!('ls ' + File.join(opts['dir'],'*.urp') + ' 2>/dev/null').split("\n")
+      progs.shift if progs[0] =~ /^bash:/
+    rescue => e
+      UREST::ssh_start opts
+    end
+    progs
+  end #}}}
+
+  def self::robotprogram_running?(opts) #{{{
+    opts['ps']== 'Playing'
+  end #}}}
+
+  def self::start_program(opts,fname) #{{{
+    unless UREST::robotprogram_running?(opts)
+      UREST::protect_reconnect_run(opts) do
+        opts['dash'].load_program(fname)
+        opts['dash'].start_program
+      end
+    end
+  end #}}}
+
+  class GetValue < Riddl::Implementation #{{{
+    def response
+      Riddl::Parameter::Complex.new('value','text/plain',@a[0])
+    end
+  end  #}}}
+  class GetValues < Riddl::Implementation #{{{
+    def response
+      Riddl::Parameter::Complex.new('values','application/json',JSON::generate(@a[0]))
+    end
+  end  #}}}
+
+  class GetProg < Riddl::Implementation #{{{
+    def response
+      opts = @a[0]
+      fname = File.join(opts['dir'],@r[-1] + '.urp')
+      if opts['progs'].include? fname
+        return Riddl::Parameter::Complex.new('file','application/octet-stream',UREST::download_program(opts,fname),File.basename(fname))
+      else
+        @status = 403
+      end
+      nil
+    end
+  end  #}}}
+  class ForkProg < Riddl::Implementation #{{{
+    def response
+      opts = @a[0]
+      fname = File.join(opts['dir'],@r[-2])
+      if opts['progs'].include? fname + '.urp'
+        UREST::start_program(opts,fname)
+      else
+        @status = 403
+      end
+      nil
+    end
+  end  #}}}
+  class WaitProg < Riddl::Implementation #{{{
+    def response
+      opts = @a[0]
+      fname = File.join(opts['dir'],@r[-2])
+      if opts['progs'].include? fname + '.urp'
+        if @h['CPEE_CALLBACK']
+          EM.defer do
+            UREST::start_program(opts,fname)
+            sleep 2
+            while UREST::robotprogram_running?(opts)
+              sleep 0.25
+            end
+            Typhoeus.put(@h['CPEE_CALLBACK'])
+          end
+          @headers << Riddl::Header.new("CPEE-CALLBACK", 'true')
+        else
+          UREST::start_program(opts,fname)
+        end
+      else
+        @status = 403
+      end
+      nil
+    end
+  end  #}}}
+
+  class SetInt < Riddl::Implementation #{{{
+    def response
+      opts = @a[0]
+      value = @p[0].value
+      z = @r[-1].to_i
+      if z < 10
+        opts['inint']["input_int_register_" + z.to_s] = value.to_i
+        opts['rtde'].send(opts['inint'])
+      else
+        @status = 403
+      end
+      nil
+    end
+  end  #}}}
+
+  def self::implementation(opts)
+    Proc.new do
+      startup do #{{{ # Init RTDE and DASH
+        opts['sshport'] ||= 22
+        opts['frequency'] ||= 0.5
+
+        opts['rtde_config'] ||= File.join(__dir__,'rtde.conf.xml')
+        opts['rtde_config_recipe_base'] ||= 'out'
+        opts['rtde_config_recipe_speed'] ||= 'speed'
+        opts['rtde_config_recipe_inbit'] ||= 'inbit'
+        opts['rtde_config_recipe_inint'] ||= 'inint'
+        opts['rtde_config_recipe_indoub'] ||= 'indoub'
+
+        opts['dash'] = nil
+        opts['rtde'] = nil
+        opts['programs'] = nil
+        opts['psi'] = nil
+
+        ### Connecting to universal robot
+        UREST::start_rtde opts
+        UREST::start_dash opts
+        UREST::start_psi opts
+
+        ### check if interfaces are ok
+        raise if !opts['dash'] || !opts['rtde'] || !opts['psi']
+
+        # Functionality for threading in loop
+        opts['doit_state'] = Time.now.to_i
+        opts['doit_progs'] = Time.now.to_i
+        opts['doit_rtde'] = Time.now.to_i
+
+        # Serious comment (we do the obvious stuff)
+        opts['speed'] = {}
+        opts['sn'] = opts['dash'].get_serial_number
+        opts['model'] = opts['dash'].get_robot_model
+
+        ### Manifest programs
+        opts['semaphore'] = Mutex.new
+        opts['progs'] = []
+      rescue Errno::ECONNREFUSED => e
+        print 'ECONNREFUSED: '
+        puts e.message
+      rescue UR::Dash::Reconnect => e
+        UREST::start_dash opts
+        puts e.message
+        puts e.backtrace
+      rescue UR::Psi::Reconnect => e
+        UREST::start_psi opts
+        puts e.message
+        puts e.backtrace
+      rescue => e
+        puts e.message
+        puts e.backtrace
+        raise
+      end # }}}
+
+      parallel do #{{{ periodic reading of data from UR
+        EM.add_periodic_timer(opts[:frequency]) do
+          if Time.now.to_i - 1 > opts['doit_state']
+            opts['doit_state'] = Time.now.to_i
+            opts['cp'] = opts['dash'].get_loaded_program
+            opts['rs'] = opts['dash'].get_program_state.split(' ')[0]
+            # update remote control state from dashboard server
+            opts['mo'] = opts['dash'].is_in_remote_control
+            opts['op'] = opts['dash'].get_operational_mode
+          end
+
+          if Time.now.to_i - 10 > opts['doit_progs']
+            opts['doit_progs'] = Time.now.to_i
+            Thread.new do
+              opts['semaphore'].synchronize do
+                # Content of thread
+                # check every 10 seconds for new programs
+                opts['progs'] = UREST::get_robot_programs(opts)
+              end unless opts['semaphore'].locked?
+            end
+          end
+
+          data = opts['rtde'].receive
+          if data
+            opts['ss'] = data['speed_scaling']
+
+            # State objects
+            opts['rm'] = UR::Rtde::ROBOTMODE[data['robot_mode']]
+            opts['sm'] = UR::Rtde::SAFETYMODE[data['safety_mode']]
+            opts['ps'] = UR::Rtde::PROGRAMSTATE[data['runtime_state']]
+
+            #speed slider or override
+            if opts['ov'] != (data['target_speed_fraction'] * 100).to_i
+              opts['ov'] = (data['target_speed_fraction'] * 100).to_i
+            end
+          else
+            if Time.now.to_i - 10 > opts['doit_rtde']
+              opts['doit_rtde'] = Time.now.to_i
+              UREST::start_rtde opts
+            end
+          end
+        rescue Errno::ECONNREFUSED => e
+          print 'ECONNREFUSED: '
+          puts e.message
+        rescue UR::Dash::Reconnect => e
+          UREST::start_dash opts
+          puts e.message
+          puts e.backtrace
+        rescue UR::Psi::Reconnect => e
+          UREST::start_psi opts
+          puts e.message
+          puts e.backtrace
+        rescue => e
+          puts e.message
+          puts e.backtrace
+          raise
+        end
+      end #}}}
+
+      on resource do
+        run GetValues, [ 'messages', 'registers', 'model', 'serialnumber', 'state', 'programs'] if get
+        on resource 'model' do #{{{
+          run GetValue, opts['model'] if get
+        end #}}}
+        on resource 'serialnumber' do #{{{
+          run GetValue, opts['sn'] if get
+        end #}}}
+        on resource 'state' do #{{{
+          run GetValues, {
+            :mode => opts['rm'].downcase,
+            :power => opts['rm'] == 'Running' ? 'on' : 'off',
+            :remote => opts['mo'] || 'false',
+            :program => File.basename(opts['cp'] || ''),
+            :program_state => (opts['rs'] || 'stopped').downcase,
+            :safety_mode => opts['sm'].downcase,
+            :speed => opts['ov'],
+            :speed_scaling => opts['ss']
+          } if get
+          on resource 'mode' do
+            run GetValue, opts['rm'].downcase if get
+          end
+          on resource 'power' do
+            run GetValue, opts['rm'] == 'Running' ? 'on' : 'off' if get
+          end
+          on resource 'remote' do
+            run GetValue, opts['mo'] || 'false' if get
+          end
+          on resource 'program' do
+            run GetValue, File.basename(opts['cp'] || '') if get
+          end
+          on resource 'program_state' do
+            run GetValue, (opts['rs'] || 'stopped').downcase if get
+          end
+          on resource 'safety_mode' do
+            run GetValue, opts['sm'].downcase if get
+          end
+          on resource 'speed' do
+            run GetValue, opts['ov'] if get
+          end
+          on resource 'speed_scaling' do
+            run GetValue, opts['ss'] if get
+          end
+        end #}}}
+        on resource 'programs' do
+          run GetValues, opts['progs'].map{|f|File.basename(f,'.urp')} if get
+          on resource do
+            run GetProg, opts if get
+            on resource 'fork' do
+              run ForkProg, opts if put
+            end
+            on resource 'wait' do
+              run WaitProg, opts if put
+            end
+          end
+        end
+        on resource 'registers' do
+          on resource 'input' do
+            on resource 'int' do
+              on resource '\d+' do
+                run SetInt, opts if put 'tint'
+              end
+            end
+          end
+        end
+      end
+    end
+  end
+
+end