urest 0.99.1 → 0.99.2

checksums.yaml

@@ -1,7 +1,7 @@
 ---
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-  data.tar.gz: 1fcdd14c1d6ad31ef0f454acdaa00a1e112555148b5f547966a41f7eb420ab99
+  metadata.gz: 59f7523ac9718ba64625c68f5c0648384ae431ac33aa9290d595b26a8fc3331b
+  data.tar.gz: 0524b28fbeb8c854fa25e7a066c3b8ede656b72ccadee0a54fffc7c3a7a299fc
 SHA512:
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+  data.tar.gz: 368541a3b7995bf19549aacbe9953566c095f5f7e3f9e7c03b71b4ff93df66de2fc79276f36dc7bfbe099a6939487f517bcdb5f18c721e021dcdbf4e33472002

data/lib/urest.rb

@@ -121,11 +121,16 @@ module UREST
 
   def self::get_robot_programs(opts) #{{{
     progs = []
+    once  = false
     begin
-      progs = opts['ssh'].exec!('ls ' + File.join(opts['dir'],'*.urp') + ' 2>/dev/null').split("\n")
+      progs = opts['ssh'].exec!('ls ' + File.join(opts['dir'],'*.urp') + ' ' + File.join(opts['dir'],'**','*.urp') + ' 2>/dev/null').split("\n")
       progs.shift if progs[0] =~ /^bash:/
     rescue => e
       UREST::ssh_start opts
+      unless once
+        once = true
+        retry
+      end
     end
     progs
   end #}}}
@@ -157,7 +162,7 @@ module UREST
   class GetProg < Riddl::Implementation #{{{
     def response
       opts = @a[0]
-      fname = File.join(opts['dir'],@r[-1] + '.urp')
+      fname = File.join(opts['dir'],@r[1..-1].join('/'))
       if opts['progs'].include? fname
         return Riddl::Parameter::Complex.new('file','application/octet-stream',UREST::download_program(opts,fname),File.basename(fname))
       else
@@ -169,8 +174,8 @@ module UREST
   class ForkProg < Riddl::Implementation #{{{
     def response
       opts = @a[0]
-      fname = File.join(opts['dir'],@r[-2])
-      if opts['progs'].include? fname + '.urp'
+      fname = File.join(opts['dir'],@r[1..-2].join('/'))
+      if opts['progs'].include? fname
         UREST::start_program(opts,fname)
       else
         @status = 403
@@ -181,8 +186,8 @@ module UREST
   class WaitProg < Riddl::Implementation #{{{
     def response
       opts = @a[0]
-      fname = File.join(opts['dir'],@r[-2])
-      if opts['progs'].include? fname + '.urp'
+      fname = File.join(opts['dir'],@r[1..-2].join('/'))
+      if opts['progs'].include? fname
         if @h['CPEE_CALLBACK']
           EM.defer do
             UREST::start_program(opts,fname)
@@ -203,6 +208,16 @@ module UREST
     end
   end  #}}}
 
+  class DeleteSafetyMessage < Riddl::Implementation #{{{
+    def response
+      opts = @a[0]
+      UREST::protect_reconnect_run(opts) do
+        opts['dash'].close_safety_popup
+      end
+      nil
+    end
+  end  #}}}
+
   class SetInt < Riddl::Implementation #{{{
     def response
       opts = @a[0]
@@ -246,7 +261,7 @@ module UREST
 
         # Functionality for threading in loop
         opts['doit_state'] = Time.now.to_i
-        opts['doit_progs'] = Time.now.to_i
+        opts['doit_progs'] = Time.now.to_i - 11
         opts['doit_rtde'] = Time.now.to_i
 
         # Serious comment (we do the obvious stuff)
@@ -338,6 +353,11 @@ module UREST
         on resource 'model' do #{{{
           run GetValue, opts['model'] if get
         end #}}}
+        on resource 'messages' do #{{{
+          on resource 'safety' do
+            run DeleteSafetyMessage, opts if delete
+          end
+        end #}}}
         on resource 'serialnumber' do #{{{
           run GetValue, opts['sn'] if get
         end #}}}
@@ -377,15 +397,18 @@ module UREST
             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
+        on resource 'programs' do |r|
+          run GetValues, opts['progs'].filter{ |e| e =~ /^\/#{r[:r].join('/')}\/[a-zA-Z0-9_-]+\.urp/ }.map{ |e| File.basename(e) } if get
+          on resource '[a-zA-Z0-9_-]+' do |r|
+            run GetValues, opts['progs'].filter{ |e| e =~ /^\/#{r[:r].join('/')}\/[a-zA-Z0-9_-]+\.urp/ }.map{ |e| File.basename(e) } if get
+            on resource '[a-zA-Z0-9_-]+\.urp' 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
         end

data/lib/urest.xml

@@ -42,7 +42,7 @@
   </message>
   <resource>
     <get out="properties"/>
-    <resource relative="messsages">
+    <resource relative="messages">
       <resource relative="log">
         <put in="text"/>
       </resource>
@@ -131,15 +131,18 @@
     </resource>
     <resource relative="programs">
       <get out="properties"/>
-      <resource>
-        <get out="file"/>
+      <resource relative="[a-zA-Z0-9_-]+" recursive="true">
+        <get out="properties"/>
         <post in="named_file"/>
-        <resource relative="fork">
-          <get/>
-          <put/>
-        </resource>
-        <resource relative="wait">
-          <put/>
+        <resource relative="[a-zA-Z0-9_-]+\.urp">
+          <get out="file"/>
+          <resource relative="fork">
+            <get/>
+            <put/>
+          </resource>
+          <resource relative="wait">
+            <put/>
+          </resource>
         </resource>
       </resource>
     </resource>

data/server/dev

@@ -3,7 +3,7 @@ $dev = true
 require_relative '../lib/urest'
 ### add stuff if necessary
 
-Riddl::Server.new(UREST::SERVER, :host => 'localhost', :port => 8197) do |opts|
+Riddl::Server.new(UREST::SERVER, :host => 'localhost', :port => 8198) do |opts|
   accessible_description true
   cross_site_xhr true
   process_out false

data/server/dev.conf

@@ -1,7 +1,3 @@
-### OPC UA specific config
-### --------------------------------------------------------------------------
-namespace: https://lab.bpm.in.tum.de/ur1
-
 ### UR specific config
 ### --------------------------------------------------------------------------
 ipadress: 131.159.6.109
@@ -9,10 +5,3 @@ sshport: 22
 username: root
 password: easybot
 dir: /programs
-
-### UR simulation specific config
-### --------------------------------------------------------------------------
-### if no password, password has to entered when server is started
-# ipadress: localhost
-# username: myusername
-# url: /home/myusername/somedirectory/ursim-current/programs.UR10

data/server/urest.conf

@@ -1,14 +1,10 @@
-### OPC UA specific config
-### --------------------------------------------------------------------------
-namespace: https://centurio.work/ur10
-
 ### UR specific config
 ### --------------------------------------------------------------------------
 ipadress: 10.0.31.22
 sshport: 22
 username: root
 password: easybot
-url: /programs
+dir: /programs
 
 ### UR simulation specific config
 ### --------------------------------------------------------------------------

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: urest
 version: !ruby/object:Gem::Version
-  version: 0.99.1
+  version: 0.99.2
 platform: ruby
 authors:
 - Juergen eTM Mangler
 autorequire:
 bindir: tools
 cert_chain: []
-date: 2023-01-19 00:00:00.000000000 Z
+date: 2025-02-10 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: riddl
@@ -114,7 +114,7 @@ files:
 - tools/urest
 homepage: https://github.com/etm/urest
 licenses:
-- GPL-3.0
+- LGPL-3.0-or-later
 metadata: {}
 post_install_message:
 rdoc_options: []
@@ -131,7 +131,7 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubygems_version: 3.3.26
+rubygems_version: 3.5.22
 signing_key:
 specification_version: 4
 summary: REST Server for Universal Robots