urest 0.99.1
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- checksums.yaml +7 -0
- data/AUTHORS +1 -0
- data/LICENSE +674 -0
- data/README.md +76 -0
- data/Rakefile +22 -0
- data/lib/rtde.conf.xml +125 -0
- data/lib/urest.rb +405 -0
- data/lib/urest.xml +147 -0
- data/server/dev +12 -0
- data/server/dev.conf +18 -0
- data/server/urest +11 -0
- data/server/urest.conf +18 -0
- data/tools/urest +50 -0
- metadata +138 -0
data/lib/urest.xml
ADDED
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@@ -0,0 +1,147 @@
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1
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+
<description xmlns="http://riddl.org/ns/description/1.0" xmlns:ann="http://riddl.org/ns/annotation/1.0" xmlns:xi="http://www.w3.org/2001/XInclude" datatypeLibrary="http://www.w3.org/2001/XMLSchema-datatypes">
|
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2
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+
<message name="file">
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3
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+
<parameter name="file" mimetype="application/octet-stream"/>
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4
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+
</message>
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5
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+
<message name="named_file">
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6
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+
<parameter name="name" type="string"/>
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|
7
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+
<parameter name="file" mimetype="application/octet-stream"/>
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8
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+
</message>
|
|
9
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+
<message name="properties">
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|
10
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+
<parameter name="properties" mimetype="application/json"/>
|
|
11
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+
</message>
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|
12
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+
<message name="text">
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13
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+
<parameter name="message" type="string"/>
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14
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+
</message>
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15
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+
<message name="value">
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16
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+
<parameter name="value" mimetype="text/plain"/>
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17
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+
</message>
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18
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+
<message name="tbit">
|
|
19
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+
<parameter name="value" type="string">
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20
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+
<param name="pattern">[01]+</param>
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21
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+
</parameter>
|
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22
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+
</message>
|
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23
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+
<message name="tdouble">
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24
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+
<parameter name="value" type="double"/>
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25
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+
</message>
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26
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+
<message name="tint">
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27
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+
<parameter name="value" type="integer"/>
|
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28
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+
</message>
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29
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+
<message name="pval">
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30
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+
<parameter name="value" type="integer">
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31
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<choice>
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32
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<value>on</value>
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33
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<value>off</value>
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34
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</choice>
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35
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</parameter>
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+
</message>
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37
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+
<message name="sval">
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38
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+
<parameter name="value" type="integer">
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39
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+
<param name="minInclusive">0</param>
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40
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+
<param name="maxInclusive">100</param>
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</parameter>
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</message>
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<resource>
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44
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<get out="properties"/>
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45
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+
<resource relative="messsages">
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46
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<resource relative="log">
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47
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<put in="text"/>
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</resource>
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49
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+
<resource relative="popup">
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50
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<put in="text"/>
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51
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<delete/>
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+
</resource>
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53
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<resource relative="safety">
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54
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<put in="text"/>
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55
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<delete/>
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</resource>
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</resource>
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+
<resource relative="registers">
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<resource relative="input">
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<resource relative="bit">
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<resource relative="\d+">
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<get out="value"/>
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63
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<put in="tbit"/>
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</resource>
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</resource>
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66
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+
<resource relative="double">
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67
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<resource relative="\d+">
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68
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<get out="value"/>
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69
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<put in="tdouble"/>
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</resource>
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</resource>
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72
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<resource relative="int">
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73
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<resource relative="\d+">
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74
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<get out="value"/>
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75
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<put in="tint"/>
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76
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</resource>
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77
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</resource>
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78
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+
</resource>
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79
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+
<resource relative="output">
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|
80
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+
<resource relative="bit">
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81
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+
<resource relative="\d+">
|
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82
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+
<get out="value"/>
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83
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</resource>
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84
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+
</resource>
|
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85
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+
<resource relative="double">
|
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86
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+
<resource relative="\d+">
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87
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<get out="value"/>
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88
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</resource>
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89
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+
</resource>
|
|
90
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+
<resource relative="int">
|
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91
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+
<resource relative="\d+">
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92
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<get out="value"/>
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93
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+
</resource>
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94
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+
</resource>
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95
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+
</resource>
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|
96
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+
</resource>
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97
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+
<resource relative="model">
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98
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+
<get out="value"/>
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|
99
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+
</resource>
|
|
100
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+
<resource relative="serialnumber">
|
|
101
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<get out="value"/>
|
|
102
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+
</resource>
|
|
103
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+
<resource relative="state">
|
|
104
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<get out="properties"/>
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|
105
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<resource relative="mode">
|
|
106
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<get out="value"/>
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|
107
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+
</resource>
|
|
108
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+
<resource relative="power">
|
|
109
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<get out="value"/>
|
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110
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<put in="pval"/>
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111
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</resource>
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112
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+
<resource relative="remote">
|
|
113
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<get out="value"/>
|
|
114
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+
</resource>
|
|
115
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+
<resource relative="program">
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116
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<get out="value"/>
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117
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</resource>
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118
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<resource relative="program_state">
|
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119
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<get out="value"/>
|
|
120
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+
</resource>
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|
121
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+
<resource relative="safety_mode">
|
|
122
|
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<get out="value"/>
|
|
123
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+
</resource>
|
|
124
|
+
<resource relative="speed">
|
|
125
|
+
<get out="value"/>
|
|
126
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+
<put in="sval"/>
|
|
127
|
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</resource>
|
|
128
|
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<resource relative="speed_scaling">
|
|
129
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<get out="value"/>
|
|
130
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+
</resource>
|
|
131
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+
</resource>
|
|
132
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+
<resource relative="programs">
|
|
133
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+
<get out="properties"/>
|
|
134
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<resource>
|
|
135
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+
<get out="file"/>
|
|
136
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+
<post in="named_file"/>
|
|
137
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<resource relative="fork">
|
|
138
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+
<get/>
|
|
139
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<put/>
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|
140
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+
</resource>
|
|
141
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+
<resource relative="wait">
|
|
142
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+
<put/>
|
|
143
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+
</resource>
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144
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+
</resource>
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145
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+
</resource>
|
|
146
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+
</resource>
|
|
147
|
+
</description>
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data/server/dev
ADDED
|
@@ -0,0 +1,12 @@
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1
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+
#!/usr/bin/ruby
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2
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$dev = true
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3
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require_relative '../lib/urest'
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4
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### add stuff if necessary
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5
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+
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6
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Riddl::Server.new(UREST::SERVER, :host => 'localhost', :port => 8197) do |opts|
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7
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accessible_description true
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8
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+
cross_site_xhr true
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|
9
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+
process_out false
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|
10
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+
|
|
11
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use UREST::implementation(opts)
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12
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end.loop!
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data/server/dev.conf
ADDED
|
@@ -0,0 +1,18 @@
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1
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### OPC UA specific config
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|
2
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+
### --------------------------------------------------------------------------
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3
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+
namespace: https://lab.bpm.in.tum.de/ur1
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4
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5
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### UR specific config
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|
6
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### --------------------------------------------------------------------------
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|
7
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+
ipadress: 131.159.6.109
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8
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+
sshport: 22
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9
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username: root
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10
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password: easybot
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|
11
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dir: /programs
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12
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+
|
|
13
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### UR simulation specific config
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|
14
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### --------------------------------------------------------------------------
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|
15
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### if no password, password has to entered when server is started
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|
16
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+
# ipadress: localhost
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17
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# username: myusername
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18
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+
# url: /home/myusername/somedirectory/ursim-current/programs.UR10
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data/server/urest
ADDED
|
@@ -0,0 +1,11 @@
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1
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+
#!/usr/bin/ruby
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2
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require 'urest'
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3
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### add stuff if necessary
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|
4
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+
|
|
5
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Riddl::Server.new(UREST::SERVER, :host => 'localhost', :port => 8198) do |opts|
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6
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accessible_description true
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7
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cross_site_xhr true
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8
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process_out false
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9
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+
|
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10
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use UREST::implementation(opts)
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11
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end.loop!
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data/server/urest.conf
ADDED
|
@@ -0,0 +1,18 @@
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1
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### OPC UA specific config
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2
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### --------------------------------------------------------------------------
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3
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namespace: https://centurio.work/ur10
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4
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+
|
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5
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### UR specific config
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6
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### --------------------------------------------------------------------------
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7
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ipadress: 10.0.31.22
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8
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sshport: 22
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9
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username: root
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|
10
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password: easybot
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11
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url: /programs
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12
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+
|
|
13
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+
### UR simulation specific config
|
|
14
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+
### --------------------------------------------------------------------------
|
|
15
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### if no password, password has to entered when server is started
|
|
16
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# ipadress: localhost
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|
17
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# username: myusername
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18
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# url: /home/myusername/somedirectory/ursim-current/programs.UR10
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data/tools/urest
ADDED
|
@@ -0,0 +1,50 @@
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1
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#!/usr/bin/ruby
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2
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require 'rubygems'
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3
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require 'optparse'
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4
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require 'fileutils'
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5
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require 'pp'
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6
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+
|
|
7
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def wrap(s, width=78, indent=18)
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8
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lines = []
|
|
9
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+
line, s = s[0..indent-2], s[indent..-1]
|
|
10
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s.split(/\n/).each do |ss|
|
|
11
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+
ss.split(/[ \t]+/).each do |word|
|
|
12
|
+
if line.size + word.size >= width
|
|
13
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lines << line
|
|
14
|
+
line = (" " * (indent)) + word
|
|
15
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+
else
|
|
16
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line << " " << word
|
|
17
|
+
end
|
|
18
|
+
end
|
|
19
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+
lines << line if line
|
|
20
|
+
line = (" " * (indent-1))
|
|
21
|
+
end
|
|
22
|
+
return lines.join "\n"
|
|
23
|
+
end
|
|
24
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+
|
|
25
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ARGV.options { |opt|
|
|
26
|
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opt.summary_width = 15
|
|
27
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opt.summary_indent = ' '
|
|
28
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+
opt.banner = "Usage:\n#{opt.summary_indent}#{File.basename($0)}\n"
|
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29
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opt.on("Options:")
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30
|
+
opt.on("--help", "-h","This text.") { puts opt; exit }
|
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31
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opt.on("")
|
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32
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opt.on(wrap("[scaffold] scaffold a server. The executable is always copied, default config are only created when they dont exists.",78,18))
|
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33
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+
opt.parse!
|
|
34
|
+
}
|
|
35
|
+
if (ARGV.length == 0) ||
|
|
36
|
+
(ARGV.length == 1 && ARGV[0] != 'scaffold')
|
|
37
|
+
puts ARGV.options
|
|
38
|
+
exit
|
|
39
|
+
end
|
|
40
|
+
command = ARGV[0]
|
|
41
|
+
|
|
42
|
+
if command == 'scaffold'
|
|
43
|
+
dir = File.join(__dir__,'..','server')
|
|
44
|
+
FileUtils.cp(File.join(dir,'urest'),'.')
|
|
45
|
+
Dir[File.join(dir,'*')].each do |f|
|
|
46
|
+
unless File.exist?(File.join(__dir__,File.basename(f))) || f =~ /\/dev/
|
|
47
|
+
FileUtils.cp(f,'.')
|
|
48
|
+
end
|
|
49
|
+
end
|
|
50
|
+
end
|
metadata
ADDED
|
@@ -0,0 +1,138 @@
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|
|
1
|
+
--- !ruby/object:Gem::Specification
|
|
2
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+
name: urest
|
|
3
|
+
version: !ruby/object:Gem::Version
|
|
4
|
+
version: 0.99.1
|
|
5
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platform: ruby
|
|
6
|
+
authors:
|
|
7
|
+
- Juergen eTM Mangler
|
|
8
|
+
autorequire:
|
|
9
|
+
bindir: tools
|
|
10
|
+
cert_chain: []
|
|
11
|
+
date: 2023-01-19 00:00:00.000000000 Z
|
|
12
|
+
dependencies:
|
|
13
|
+
- !ruby/object:Gem::Dependency
|
|
14
|
+
name: riddl
|
|
15
|
+
requirement: !ruby/object:Gem::Requirement
|
|
16
|
+
requirements:
|
|
17
|
+
- - "~>"
|
|
18
|
+
- !ruby/object:Gem::Version
|
|
19
|
+
version: '0'
|
|
20
|
+
- - ">="
|
|
21
|
+
- !ruby/object:Gem::Version
|
|
22
|
+
version: '0.120'
|
|
23
|
+
type: :runtime
|
|
24
|
+
prerelease: false
|
|
25
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
26
|
+
requirements:
|
|
27
|
+
- - "~>"
|
|
28
|
+
- !ruby/object:Gem::Version
|
|
29
|
+
version: '0'
|
|
30
|
+
- - ">="
|
|
31
|
+
- !ruby/object:Gem::Version
|
|
32
|
+
version: '0.120'
|
|
33
|
+
- !ruby/object:Gem::Dependency
|
|
34
|
+
name: ur-sock
|
|
35
|
+
requirement: !ruby/object:Gem::Requirement
|
|
36
|
+
requirements:
|
|
37
|
+
- - "~>"
|
|
38
|
+
- !ruby/object:Gem::Version
|
|
39
|
+
version: '1.0'
|
|
40
|
+
type: :runtime
|
|
41
|
+
prerelease: false
|
|
42
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
43
|
+
requirements:
|
|
44
|
+
- - "~>"
|
|
45
|
+
- !ruby/object:Gem::Version
|
|
46
|
+
version: '1.0'
|
|
47
|
+
- !ruby/object:Gem::Dependency
|
|
48
|
+
name: daemonite
|
|
49
|
+
requirement: !ruby/object:Gem::Requirement
|
|
50
|
+
requirements:
|
|
51
|
+
- - "~>"
|
|
52
|
+
- !ruby/object:Gem::Version
|
|
53
|
+
version: '0.5'
|
|
54
|
+
- - ">="
|
|
55
|
+
- !ruby/object:Gem::Version
|
|
56
|
+
version: 0.5.9
|
|
57
|
+
type: :runtime
|
|
58
|
+
prerelease: false
|
|
59
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
60
|
+
requirements:
|
|
61
|
+
- - "~>"
|
|
62
|
+
- !ruby/object:Gem::Version
|
|
63
|
+
version: '0.5'
|
|
64
|
+
- - ">="
|
|
65
|
+
- !ruby/object:Gem::Version
|
|
66
|
+
version: 0.5.9
|
|
67
|
+
- !ruby/object:Gem::Dependency
|
|
68
|
+
name: net-ssh
|
|
69
|
+
requirement: !ruby/object:Gem::Requirement
|
|
70
|
+
requirements:
|
|
71
|
+
- - "~>"
|
|
72
|
+
- !ruby/object:Gem::Version
|
|
73
|
+
version: '7.0'
|
|
74
|
+
type: :runtime
|
|
75
|
+
prerelease: false
|
|
76
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
77
|
+
requirements:
|
|
78
|
+
- - "~>"
|
|
79
|
+
- !ruby/object:Gem::Version
|
|
80
|
+
version: '7.0'
|
|
81
|
+
- !ruby/object:Gem::Dependency
|
|
82
|
+
name: net-scp
|
|
83
|
+
requirement: !ruby/object:Gem::Requirement
|
|
84
|
+
requirements:
|
|
85
|
+
- - "~>"
|
|
86
|
+
- !ruby/object:Gem::Version
|
|
87
|
+
version: '4.0'
|
|
88
|
+
type: :runtime
|
|
89
|
+
prerelease: false
|
|
90
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
91
|
+
requirements:
|
|
92
|
+
- - "~>"
|
|
93
|
+
- !ruby/object:Gem::Version
|
|
94
|
+
version: '4.0'
|
|
95
|
+
description: REST Server for Universal Robots. See https://github.com/etm/urest
|
|
96
|
+
email: juergen.mangler@gmail.com
|
|
97
|
+
executables:
|
|
98
|
+
- urest
|
|
99
|
+
extensions: []
|
|
100
|
+
extra_rdoc_files:
|
|
101
|
+
- README.md
|
|
102
|
+
files:
|
|
103
|
+
- AUTHORS
|
|
104
|
+
- LICENSE
|
|
105
|
+
- README.md
|
|
106
|
+
- Rakefile
|
|
107
|
+
- lib/rtde.conf.xml
|
|
108
|
+
- lib/urest.rb
|
|
109
|
+
- lib/urest.xml
|
|
110
|
+
- server/dev
|
|
111
|
+
- server/dev.conf
|
|
112
|
+
- server/urest
|
|
113
|
+
- server/urest.conf
|
|
114
|
+
- tools/urest
|
|
115
|
+
homepage: https://github.com/etm/urest
|
|
116
|
+
licenses:
|
|
117
|
+
- GPL-3.0
|
|
118
|
+
metadata: {}
|
|
119
|
+
post_install_message:
|
|
120
|
+
rdoc_options: []
|
|
121
|
+
require_paths:
|
|
122
|
+
- lib
|
|
123
|
+
required_ruby_version: !ruby/object:Gem::Requirement
|
|
124
|
+
requirements:
|
|
125
|
+
- - ">="
|
|
126
|
+
- !ruby/object:Gem::Version
|
|
127
|
+
version: 2.4.0
|
|
128
|
+
required_rubygems_version: !ruby/object:Gem::Requirement
|
|
129
|
+
requirements:
|
|
130
|
+
- - ">="
|
|
131
|
+
- !ruby/object:Gem::Version
|
|
132
|
+
version: '0'
|
|
133
|
+
requirements: []
|
|
134
|
+
rubygems_version: 3.3.26
|
|
135
|
+
signing_key:
|
|
136
|
+
specification_version: 4
|
|
137
|
+
summary: REST Server for Universal Robots
|
|
138
|
+
test_files: []
|