urua 0.99.4444 → 0.99.5002
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- checksums.yaml +4 -4
- data/lib/rtde.conf.xml +94 -0
- data/lib/urua.rb +9 -3
- data/server/devserver.conf +17 -0
- data/server/devserver.rb +13 -0
- data/tools/urua +1 -1
- metadata +41 -10
checksums.yaml
CHANGED
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SHA256:
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metadata.gz:
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data.tar.gz:
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metadata.gz: d3ee01168708553d0decf46b79486a4f166e2c8fb0bc4ca242632136788bffb8
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data.tar.gz: aace03047b700a0db3ea42a27d6b2dc843c0243f927190be6fe97fb25a806fbc
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metadata.gz:
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metadata.gz: 2d0f01cf260daca24bbf05e85f1ad841b8c2f8b0d49f39d602bfe866a81e26798053d0046e93a5b2cbd445b3b0ad4b885c947c62a46bb801781fc551ae9c2984
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data.tar.gz: 29f862c4783ab81a8c38890cf768b7f4f919b123ebfa05622a31b126934603f807575105bbe6993973f067895bae7b19bc392c9c13706aba0ad21242b7b20c4f
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data/lib/rtde.conf.xml
ADDED
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@@ -0,0 +1,94 @@
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<?xml version="1.0"?>
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<rtde_config>
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<recipe key="speed">
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<field name="speed_slider_mask" type="UINT32"/>
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<field name="speed_slider_fraction" type="DOUBLE"/>
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</recipe>
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<recipe key="out">
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<field name="timestamp" type="DOUBLE"/>
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<field name="target_q" type="VECTOR6D"/>
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<field name="target_qd" type="VECTOR6D"/>
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<field name="target_qdd" type="VECTOR6D"/>
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<field name="target_current" type="VECTOR6D"/>
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<field name="target_moment" type="VECTOR6D"/>
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<field name="actual_q" type="VECTOR6D"/>
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<field name="actual_qd" type="VECTOR6D"/>
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<field name="actual_current" type="VECTOR6D"/>
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<field name="joint_control_output" type="VECTOR6D"/>
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<field name="actual_TCP_pose" type="VECTOR6D"/>
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<field name="actual_TCP_speed" type="VECTOR6D"/>
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<field name="actual_TCP_force" type="VECTOR6D"/>
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<field name="target_TCP_pose" type="VECTOR6D"/>
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<field name="target_TCP_speed" type="VECTOR6D"/>
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<field name="actual_digital_input_bits" type="UINT64"/>
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<field name="joint_temperatures" type="VECTOR6D"/>
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<field name="actual_execution_time" type="DOUBLE"/>
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<field name="robot_mode" type="INT32"/>
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<field name="joint_mode" type="VECTOR6INT32"/>
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<field name="safety_mode" type="INT32"/>
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<field name="actual_tool_accelerometer" type="VECTOR3D"/>
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<field name="speed_scaling" type="DOUBLE"/>
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<field name="target_speed_fraction" type="DOUBLE"/>
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<field name="actual_momentum" type="DOUBLE"/>
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<field name="actual_main_voltage" type="DOUBLE"/>
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<field name="actual_robot_voltage" type="DOUBLE"/>
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<field name="actual_robot_current" type="DOUBLE"/>
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<field name="actual_joint_voltage" type="VECTOR6D"/>
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<field name="actual_digital_output_bits" type="UINT64"/>
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<field name="runtime_state" type="UINT32"/>
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<!-- field name="output_bit_registers0_to_31" type="UINT32"/-->
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<!-- field name="output_bit_registers32_to_63" type="UINT32"/-->
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<!-- field name="output_int_register_0" type="INT32"/-->
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<!-- field name="output_int_register_1" type="INT32"/-->
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<!-- field name="output_int_register_2" type="INT32"/-->
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<!-- field name="output_int_register_3" type="INT32"/-->
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<!-- field name="output_int_register_4" type="INT32"/-->
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<!-- field name="output_int_register_5" type="INT32"/-->
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<!-- field name="output_int_register_6" type="INT32"/-->
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<!-- field name="output_int_register_7" type="INT32"/-->
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<!-- field name="output_int_register_8" type="INT32"/-->
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<!-- field name="output_int_register_9" type="INT32"/-->
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<!-- field name="output_int_register_10" type="INT32"/-->
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<!-- field name="output_int_register_11" type="INT32"/-->
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<!-- field name="output_int_register_12" type="INT32"/-->
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<!-- field name="output_int_register_13" type="INT32"/-->
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<!-- field name="output_int_register_14" type="INT32"/-->
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<!-- field name="output_int_register_15" type="INT32"/-->
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<!-- field name="output_int_register_16" type="INT32"/-->
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<!-- field name="output_int_register_17" type="INT32"/-->
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<!-- field name="output_int_register_18" type="INT32"/-->
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<!-- field name="output_int_register_19" type="INT32"/-->
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<!-- field name="output_int_register_20" type="INT32"/-->
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<!-- field name="output_int_register_21" type="INT32"/-->
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<!-- field name="output_int_register_22" type="INT32"/-->
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<!-- field name="output_int_register_23" type="INT32"/-->
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<!-- field name="output_double_register_0" type="DOUBLE"/-->
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<!-- field name="output_double_register_1" type="DOUBLE"/-->
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<!-- field name="output_double_register_2" type="DOUBLE"/-->
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<!-- field name="output_double_register_3" type="DOUBLE"/-->
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<!-- field name="output_double_register_4" type="DOUBLE"/-->
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<!-- field name="output_double_register_5" type="DOUBLE"/-->
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<!-- field name="output_double_register_6" type="DOUBLE"/-->
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<!-- field name="output_double_register_7" type="DOUBLE"/-->
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<!-- field name="output_double_register_8" type="DOUBLE"/-->
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<!-- field name="output_double_register_9" type="DOUBLE"/-->
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<!-- field name="output_double_register_10" type="DOUBLE"/-->
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<!-- field name="output_double_register_11" type="DOUBLE"/-->
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<!-- field name="output_double_register_12" type="DOUBLE"/-->
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<!-- field name="output_double_register_13" type="DOUBLE"/-->
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<!-- field name="output_double_register_14" type="DOUBLE"/-->
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<!-- field name="output_double_register_15" type="DOUBLE"/-->
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<!-- field name="output_double_register_16" type="DOUBLE"/-->
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<!-- field name="output_double_register_17" type="DOUBLE"/-->
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<!-- field name="output_double_register_18" type="DOUBLE"/-->
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<!-- field name="output_double_register_19" type="DOUBLE"/-->
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<!-- field name="output_double_register_20" type="DOUBLE"/-->
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<!-- field name="output_double_register_21" type="DOUBLE"/-->
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<!-- field name="output_double_register_22" type="DOUBLE"/-->
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<!-- field name="output_double_register_23" type="DOUBLE"/-->
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</recipe>
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</rtde_config>
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data/lib/urua.rb
CHANGED
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require 'daemonite'
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require 'opcua/server'
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-
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if $dev
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require_relative '../../ur-sock/lib/ur-sock'
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else
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require 'ur-sock'
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end
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require 'net/ssh'
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require 'net/scp'
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@@ -28,8 +32,8 @@ module URUA
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### Loading config file
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conf = UR::XMLConfigFile.new opts['rtde_config']
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output_names, output_types = conf.get_recipe opts['rtde_config_recipe_base']
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-
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opts['rtde'] = UR::Rtde.new(opts['ipadress']).connect
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### Set Speed to very slow
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if opts['rtde_config_recipe_speed']
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speed_names, speed_types = conf.get_recipe opts['rtde_config_recipe_speed']
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@@ -145,7 +149,7 @@ module URUA
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rt = opts['server'].types.add_object_type(:RobotType).tap { |r|
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r.add_variables :SerialNumber, :RobotModel
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r.add_object(:State, opts['server'].types.folder).tap{ |s|
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s.add_variables :CurrentProgram, :RobotMode, :RobotState, :JointMode, :SafetyMode, :ToolMode, :ProgramState, :SpeedScaling, :Remote
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s.add_variables :CurrentProgram, :RobotMode, :RobotState, :JointMode, :SafetyMode, :ToolMode, :ProgramState, :SpeedScaling, :Remote, :OperationalMode
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s.add_variable_rw :Override
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}
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r.add_object(:SafetyBoard, opts['server'].types.folder).tap{ |r|
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@@ -251,6 +255,7 @@ module URUA
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opts['ov'] = st.find(:Override)
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opts['ss'] = st.find(:SpeedScaling)
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opts['mo'] = st.find(:Remote)
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opts['op'] = st.find(:OperationalMode)
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### Axes
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axes = robot.manifest(:Axes, ax)
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opts['rs'].value = opts['dash'].get_program_state
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# update remote control state from dashboard server
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opts['mo'].value = opts['dash'].is_in_remote_control
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opts['op'].value = opts['dash'].get_operational_mode
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end
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if Time.now.to_i - 10 > opts['doit_progs']
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### OPC UA specific config
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### --------------------------------------------------------------------------
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namespace: https://centurio.work/ur10evva
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### UR specific config
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### --------------------------------------------------------------------------
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ipadress: 192.168.1.26
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username: ur
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password: easybot
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url: /programs
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### UR simulation specific config
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### --------------------------------------------------------------------------
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### if no password, password has to entered when server is started
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# ipadress: localhost
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# username: myusername
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# url: /home/myusername/somedirectory/ursim-current/programs.UR10
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data/server/devserver.rb
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#!/usr/bin/ruby
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$dev = true
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require_relative '../lib/urua'
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### add stuff if necessary
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Thread.abort_on_exception=true
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Daemonite.new do |opts|
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### add or replace building blocks if necessary
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use URUA::implementation_startup(opts)
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use URUA::implementation_run
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use URUA::implementation_exit
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end.loop!
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data/tools/urua
CHANGED
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dir = File.join(__dir__,'..','server')
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FileUtils.cp(File.join(dir,'uruaserver.rb'),'.')
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Dir[File.join(dir,'*')].each do |f|
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unless File.exist?(File.join(__dir__,File.basename(f)))
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unless File.exist?(File.join(__dir__,File.basename(f))) || f =~ /\/dev/
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FileUtils.cp(f,'.')
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end
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end
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metadata
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--- !ruby/object:Gem::Specification
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name: urua
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version: !ruby/object:Gem::Version
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version: 0.99.
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version: 0.99.5002
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platform: ruby
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authors:
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- Florian Pauker
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@@ -9,7 +9,7 @@ authors:
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autorequire:
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bindir: tools
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cert_chain: []
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date: 2020-
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date: 2020-07-17 00:00:00.000000000 Z
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dependencies:
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- !ruby/object:Gem::Dependency
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name: opcua
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@@ -29,18 +29,46 @@ dependencies:
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name: ur-sock
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requirement: !ruby/object:Gem::Requirement
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requirements:
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-
- - "
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- - "~>"
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- !ruby/object:Gem::Version
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version: '1.0'
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type: :runtime
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prerelease: false
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version_requirements: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '1.0'
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- !ruby/object:Gem::Dependency
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name: daemonite
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requirement: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '0.
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version: '0.5'
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type: :runtime
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prerelease: false
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version_requirements: !ruby/object:Gem::Requirement
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requirements:
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-
- - "
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- - "~>"
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- !ruby/object:Gem::Version
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version: '0.5'
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- !ruby/object:Gem::Dependency
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name: net-scp
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requirement: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '3.0'
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type: :runtime
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prerelease: false
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version_requirements: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '0
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description:
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email:
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version: '3.0'
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description: OPC UA Server for Universal Robots. See https://github.com/fpauker/urua
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email: florian.pauker@gmail.com
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executables:
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- urua
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extensions: []
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@@ -51,11 +79,14 @@ files:
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- LICENSE
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- README.md
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- Rakefile
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- lib/rtde.conf.xml
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54
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- lib/urua.rb
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84
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- server/devserver.conf
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+
- server/devserver.rb
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- server/uruaserver.conf
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56
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- server/uruaserver.rb
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57
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- tools/urua
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|
58
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-
homepage:
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homepage: https://github.com/fpauker/urua
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licenses:
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- GPL-3.0
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metadata: {}
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@@ -77,5 +108,5 @@ requirements: []
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rubygems_version: 3.1.2
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signing_key:
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specification_version: 4
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summary:
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summary: OPC UA Server for Universal Robots
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test_files: []
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