urua 0.99.4444 → 0.99.5002
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- 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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@@ -1,7 +1,7 @@
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1
1
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---
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2
2
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SHA256:
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3
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-
metadata.gz:
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4
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-
data.tar.gz:
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3
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+
metadata.gz: d3ee01168708553d0decf46b79486a4f166e2c8fb0bc4ca242632136788bffb8
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4
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+
data.tar.gz: aace03047b700a0db3ea42a27d6b2dc843c0243f927190be6fe97fb25a806fbc
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5
5
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SHA512:
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6
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-
metadata.gz:
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7
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-
data.tar.gz:
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6
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+
metadata.gz: 2d0f01cf260daca24bbf05e85f1ad841b8c2f8b0d49f39d602bfe866a81e26798053d0046e93a5b2cbd445b3b0ad4b885c947c62a46bb801781fc551ae9c2984
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7
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+
data.tar.gz: 29f862c4783ab81a8c38890cf768b7f4f919b123ebfa05622a31b126934603f807575105bbe6993973f067895bae7b19bc392c9c13706aba0ad21242b7b20c4f
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data/lib/rtde.conf.xml
ADDED
|
@@ -0,0 +1,94 @@
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1
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+
<?xml version="1.0"?>
|
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2
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+
<rtde_config>
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3
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+
<recipe key="speed">
|
|
4
|
+
<field name="speed_slider_mask" type="UINT32"/>
|
|
5
|
+
<field name="speed_slider_fraction" type="DOUBLE"/>
|
|
6
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+
</recipe>
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|
7
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+
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8
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+
<recipe key="out">
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9
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+
<field name="timestamp" type="DOUBLE"/>
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|
10
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+
<field name="target_q" type="VECTOR6D"/>
|
|
11
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+
<field name="target_qd" type="VECTOR6D"/>
|
|
12
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+
<field name="target_qdd" type="VECTOR6D"/>
|
|
13
|
+
<field name="target_current" type="VECTOR6D"/>
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14
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+
<field name="target_moment" type="VECTOR6D"/>
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15
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+
<field name="actual_q" type="VECTOR6D"/>
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16
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+
<field name="actual_qd" type="VECTOR6D"/>
|
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17
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+
<field name="actual_current" type="VECTOR6D"/>
|
|
18
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+
<field name="joint_control_output" type="VECTOR6D"/>
|
|
19
|
+
<field name="actual_TCP_pose" type="VECTOR6D"/>
|
|
20
|
+
<field name="actual_TCP_speed" type="VECTOR6D"/>
|
|
21
|
+
<field name="actual_TCP_force" type="VECTOR6D"/>
|
|
22
|
+
<field name="target_TCP_pose" type="VECTOR6D"/>
|
|
23
|
+
<field name="target_TCP_speed" type="VECTOR6D"/>
|
|
24
|
+
<field name="actual_digital_input_bits" type="UINT64"/>
|
|
25
|
+
<field name="joint_temperatures" type="VECTOR6D"/>
|
|
26
|
+
<field name="actual_execution_time" type="DOUBLE"/>
|
|
27
|
+
<field name="robot_mode" type="INT32"/>
|
|
28
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+
<field name="joint_mode" type="VECTOR6INT32"/>
|
|
29
|
+
<field name="safety_mode" type="INT32"/>
|
|
30
|
+
<field name="actual_tool_accelerometer" type="VECTOR3D"/>
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31
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+
<field name="speed_scaling" type="DOUBLE"/>
|
|
32
|
+
<field name="target_speed_fraction" type="DOUBLE"/>
|
|
33
|
+
<field name="actual_momentum" type="DOUBLE"/>
|
|
34
|
+
<field name="actual_main_voltage" type="DOUBLE"/>
|
|
35
|
+
<field name="actual_robot_voltage" type="DOUBLE"/>
|
|
36
|
+
<field name="actual_robot_current" type="DOUBLE"/>
|
|
37
|
+
<field name="actual_joint_voltage" type="VECTOR6D"/>
|
|
38
|
+
<field name="actual_digital_output_bits" type="UINT64"/>
|
|
39
|
+
<field name="runtime_state" type="UINT32"/>
|
|
40
|
+
|
|
41
|
+
<!-- field name="output_bit_registers0_to_31" type="UINT32"/-->
|
|
42
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+
<!-- field name="output_bit_registers32_to_63" type="UINT32"/-->
|
|
43
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+
|
|
44
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+
<!-- field name="output_int_register_0" type="INT32"/-->
|
|
45
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+
<!-- field name="output_int_register_1" type="INT32"/-->
|
|
46
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+
<!-- field name="output_int_register_2" type="INT32"/-->
|
|
47
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+
<!-- field name="output_int_register_3" type="INT32"/-->
|
|
48
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+
<!-- field name="output_int_register_4" type="INT32"/-->
|
|
49
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+
<!-- field name="output_int_register_5" type="INT32"/-->
|
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50
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+
<!-- field name="output_int_register_6" type="INT32"/-->
|
|
51
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+
<!-- field name="output_int_register_7" type="INT32"/-->
|
|
52
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+
<!-- field name="output_int_register_8" type="INT32"/-->
|
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53
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+
<!-- field name="output_int_register_9" type="INT32"/-->
|
|
54
|
+
<!-- field name="output_int_register_10" type="INT32"/-->
|
|
55
|
+
<!-- field name="output_int_register_11" type="INT32"/-->
|
|
56
|
+
<!-- field name="output_int_register_12" type="INT32"/-->
|
|
57
|
+
<!-- field name="output_int_register_13" type="INT32"/-->
|
|
58
|
+
<!-- field name="output_int_register_14" type="INT32"/-->
|
|
59
|
+
<!-- field name="output_int_register_15" type="INT32"/-->
|
|
60
|
+
<!-- field name="output_int_register_16" type="INT32"/-->
|
|
61
|
+
<!-- field name="output_int_register_17" type="INT32"/-->
|
|
62
|
+
<!-- field name="output_int_register_18" type="INT32"/-->
|
|
63
|
+
<!-- field name="output_int_register_19" type="INT32"/-->
|
|
64
|
+
<!-- field name="output_int_register_20" type="INT32"/-->
|
|
65
|
+
<!-- field name="output_int_register_21" type="INT32"/-->
|
|
66
|
+
<!-- field name="output_int_register_22" type="INT32"/-->
|
|
67
|
+
<!-- field name="output_int_register_23" type="INT32"/-->
|
|
68
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+
|
|
69
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+
<!-- field name="output_double_register_0" type="DOUBLE"/-->
|
|
70
|
+
<!-- field name="output_double_register_1" type="DOUBLE"/-->
|
|
71
|
+
<!-- field name="output_double_register_2" type="DOUBLE"/-->
|
|
72
|
+
<!-- field name="output_double_register_3" type="DOUBLE"/-->
|
|
73
|
+
<!-- field name="output_double_register_4" type="DOUBLE"/-->
|
|
74
|
+
<!-- field name="output_double_register_5" type="DOUBLE"/-->
|
|
75
|
+
<!-- field name="output_double_register_6" type="DOUBLE"/-->
|
|
76
|
+
<!-- field name="output_double_register_7" type="DOUBLE"/-->
|
|
77
|
+
<!-- field name="output_double_register_8" type="DOUBLE"/-->
|
|
78
|
+
<!-- field name="output_double_register_9" type="DOUBLE"/-->
|
|
79
|
+
<!-- field name="output_double_register_10" type="DOUBLE"/-->
|
|
80
|
+
<!-- field name="output_double_register_11" type="DOUBLE"/-->
|
|
81
|
+
<!-- field name="output_double_register_12" type="DOUBLE"/-->
|
|
82
|
+
<!-- field name="output_double_register_13" type="DOUBLE"/-->
|
|
83
|
+
<!-- field name="output_double_register_14" type="DOUBLE"/-->
|
|
84
|
+
<!-- field name="output_double_register_15" type="DOUBLE"/-->
|
|
85
|
+
<!-- field name="output_double_register_16" type="DOUBLE"/-->
|
|
86
|
+
<!-- field name="output_double_register_17" type="DOUBLE"/-->
|
|
87
|
+
<!-- field name="output_double_register_18" type="DOUBLE"/-->
|
|
88
|
+
<!-- field name="output_double_register_19" type="DOUBLE"/-->
|
|
89
|
+
<!-- field name="output_double_register_20" type="DOUBLE"/-->
|
|
90
|
+
<!-- field name="output_double_register_21" type="DOUBLE"/-->
|
|
91
|
+
<!-- field name="output_double_register_22" type="DOUBLE"/-->
|
|
92
|
+
<!-- field name="output_double_register_23" type="DOUBLE"/-->
|
|
93
|
+
</recipe>
|
|
94
|
+
</rtde_config>
|
data/lib/urua.rb
CHANGED
|
@@ -1,6 +1,10 @@
|
|
|
1
1
|
require 'daemonite'
|
|
2
2
|
require 'opcua/server'
|
|
3
|
-
|
|
3
|
+
if $dev
|
|
4
|
+
require_relative '../../ur-sock/lib/ur-sock'
|
|
5
|
+
else
|
|
6
|
+
require 'ur-sock'
|
|
7
|
+
end
|
|
4
8
|
require 'net/ssh'
|
|
5
9
|
require 'net/scp'
|
|
6
10
|
|
|
@@ -28,8 +32,8 @@ module URUA
|
|
|
28
32
|
### Loading config file
|
|
29
33
|
conf = UR::XMLConfigFile.new opts['rtde_config']
|
|
30
34
|
output_names, output_types = conf.get_recipe opts['rtde_config_recipe_base']
|
|
31
|
-
|
|
32
35
|
opts['rtde'] = UR::Rtde.new(opts['ipadress']).connect
|
|
36
|
+
|
|
33
37
|
### Set Speed to very slow
|
|
34
38
|
if opts['rtde_config_recipe_speed']
|
|
35
39
|
speed_names, speed_types = conf.get_recipe opts['rtde_config_recipe_speed']
|
|
@@ -145,7 +149,7 @@ module URUA
|
|
|
145
149
|
rt = opts['server'].types.add_object_type(:RobotType).tap { |r|
|
|
146
150
|
r.add_variables :SerialNumber, :RobotModel
|
|
147
151
|
r.add_object(:State, opts['server'].types.folder).tap{ |s|
|
|
148
|
-
s.add_variables :CurrentProgram, :RobotMode, :RobotState, :JointMode, :SafetyMode, :ToolMode, :ProgramState, :SpeedScaling, :Remote
|
|
152
|
+
s.add_variables :CurrentProgram, :RobotMode, :RobotState, :JointMode, :SafetyMode, :ToolMode, :ProgramState, :SpeedScaling, :Remote, :OperationalMode
|
|
149
153
|
s.add_variable_rw :Override
|
|
150
154
|
}
|
|
151
155
|
r.add_object(:SafetyBoard, opts['server'].types.folder).tap{ |r|
|
|
@@ -251,6 +255,7 @@ module URUA
|
|
|
251
255
|
opts['ov'] = st.find(:Override)
|
|
252
256
|
opts['ss'] = st.find(:SpeedScaling)
|
|
253
257
|
opts['mo'] = st.find(:Remote)
|
|
258
|
+
opts['op'] = st.find(:OperationalMode)
|
|
254
259
|
|
|
255
260
|
### Axes
|
|
256
261
|
axes = robot.manifest(:Axes, ax)
|
|
@@ -322,6 +327,7 @@ module URUA
|
|
|
322
327
|
opts['rs'].value = opts['dash'].get_program_state
|
|
323
328
|
# update remote control state from dashboard server
|
|
324
329
|
opts['mo'].value = opts['dash'].is_in_remote_control
|
|
330
|
+
opts['op'].value = opts['dash'].get_operational_mode
|
|
325
331
|
end
|
|
326
332
|
|
|
327
333
|
if Time.now.to_i - 10 > opts['doit_progs']
|
|
@@ -0,0 +1,17 @@
|
|
|
1
|
+
### OPC UA specific config
|
|
2
|
+
### --------------------------------------------------------------------------
|
|
3
|
+
namespace: https://centurio.work/ur10evva
|
|
4
|
+
|
|
5
|
+
### UR specific config
|
|
6
|
+
### --------------------------------------------------------------------------
|
|
7
|
+
ipadress: 192.168.1.26
|
|
8
|
+
username: ur
|
|
9
|
+
password: easybot
|
|
10
|
+
url: /programs
|
|
11
|
+
|
|
12
|
+
### UR simulation specific config
|
|
13
|
+
### --------------------------------------------------------------------------
|
|
14
|
+
### if no password, password has to entered when server is started
|
|
15
|
+
# ipadress: localhost
|
|
16
|
+
# username: myusername
|
|
17
|
+
# url: /home/myusername/somedirectory/ursim-current/programs.UR10
|
data/server/devserver.rb
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
1
|
+
#!/usr/bin/ruby
|
|
2
|
+
$dev = true
|
|
3
|
+
require_relative '../lib/urua'
|
|
4
|
+
### add stuff if necessary
|
|
5
|
+
|
|
6
|
+
Thread.abort_on_exception=true
|
|
7
|
+
|
|
8
|
+
Daemonite.new do |opts|
|
|
9
|
+
### add or replace building blocks if necessary
|
|
10
|
+
use URUA::implementation_startup(opts)
|
|
11
|
+
use URUA::implementation_run
|
|
12
|
+
use URUA::implementation_exit
|
|
13
|
+
end.loop!
|
data/tools/urua
CHANGED
|
@@ -43,7 +43,7 @@ if command == 'scaffold'
|
|
|
43
43
|
dir = File.join(__dir__,'..','server')
|
|
44
44
|
FileUtils.cp(File.join(dir,'uruaserver.rb'),'.')
|
|
45
45
|
Dir[File.join(dir,'*')].each do |f|
|
|
46
|
-
unless File.exist?(File.join(__dir__,File.basename(f)))
|
|
46
|
+
unless File.exist?(File.join(__dir__,File.basename(f))) || f =~ /\/dev/
|
|
47
47
|
FileUtils.cp(f,'.')
|
|
48
48
|
end
|
|
49
49
|
end
|
metadata
CHANGED
|
@@ -1,7 +1,7 @@
|
|
|
1
1
|
--- !ruby/object:Gem::Specification
|
|
2
2
|
name: urua
|
|
3
3
|
version: !ruby/object:Gem::Version
|
|
4
|
-
version: 0.99.
|
|
4
|
+
version: 0.99.5002
|
|
5
5
|
platform: ruby
|
|
6
6
|
authors:
|
|
7
7
|
- Florian Pauker
|
|
@@ -9,7 +9,7 @@ authors:
|
|
|
9
9
|
autorequire:
|
|
10
10
|
bindir: tools
|
|
11
11
|
cert_chain: []
|
|
12
|
-
date: 2020-
|
|
12
|
+
date: 2020-07-17 00:00:00.000000000 Z
|
|
13
13
|
dependencies:
|
|
14
14
|
- !ruby/object:Gem::Dependency
|
|
15
15
|
name: opcua
|
|
@@ -29,18 +29,46 @@ dependencies:
|
|
|
29
29
|
name: ur-sock
|
|
30
30
|
requirement: !ruby/object:Gem::Requirement
|
|
31
31
|
requirements:
|
|
32
|
-
- - "
|
|
32
|
+
- - "~>"
|
|
33
|
+
- !ruby/object:Gem::Version
|
|
34
|
+
version: '1.0'
|
|
35
|
+
type: :runtime
|
|
36
|
+
prerelease: false
|
|
37
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
38
|
+
requirements:
|
|
39
|
+
- - "~>"
|
|
40
|
+
- !ruby/object:Gem::Version
|
|
41
|
+
version: '1.0'
|
|
42
|
+
- !ruby/object:Gem::Dependency
|
|
43
|
+
name: daemonite
|
|
44
|
+
requirement: !ruby/object:Gem::Requirement
|
|
45
|
+
requirements:
|
|
46
|
+
- - "~>"
|
|
33
47
|
- !ruby/object:Gem::Version
|
|
34
|
-
version: '0.
|
|
48
|
+
version: '0.5'
|
|
35
49
|
type: :runtime
|
|
36
50
|
prerelease: false
|
|
37
51
|
version_requirements: !ruby/object:Gem::Requirement
|
|
38
52
|
requirements:
|
|
39
|
-
- - "
|
|
53
|
+
- - "~>"
|
|
54
|
+
- !ruby/object:Gem::Version
|
|
55
|
+
version: '0.5'
|
|
56
|
+
- !ruby/object:Gem::Dependency
|
|
57
|
+
name: net-scp
|
|
58
|
+
requirement: !ruby/object:Gem::Requirement
|
|
59
|
+
requirements:
|
|
60
|
+
- - "~>"
|
|
61
|
+
- !ruby/object:Gem::Version
|
|
62
|
+
version: '3.0'
|
|
63
|
+
type: :runtime
|
|
64
|
+
prerelease: false
|
|
65
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
66
|
+
requirements:
|
|
67
|
+
- - "~>"
|
|
40
68
|
- !ruby/object:Gem::Version
|
|
41
|
-
version: '0
|
|
42
|
-
description:
|
|
43
|
-
email:
|
|
69
|
+
version: '3.0'
|
|
70
|
+
description: OPC UA Server for Universal Robots. See https://github.com/fpauker/urua
|
|
71
|
+
email: florian.pauker@gmail.com
|
|
44
72
|
executables:
|
|
45
73
|
- urua
|
|
46
74
|
extensions: []
|
|
@@ -51,11 +79,14 @@ files:
|
|
|
51
79
|
- LICENSE
|
|
52
80
|
- README.md
|
|
53
81
|
- Rakefile
|
|
82
|
+
- lib/rtde.conf.xml
|
|
54
83
|
- lib/urua.rb
|
|
84
|
+
- server/devserver.conf
|
|
85
|
+
- server/devserver.rb
|
|
55
86
|
- server/uruaserver.conf
|
|
56
87
|
- server/uruaserver.rb
|
|
57
88
|
- tools/urua
|
|
58
|
-
homepage:
|
|
89
|
+
homepage: https://github.com/fpauker/urua
|
|
59
90
|
licenses:
|
|
60
91
|
- GPL-3.0
|
|
61
92
|
metadata: {}
|
|
@@ -77,5 +108,5 @@ requirements: []
|
|
|
77
108
|
rubygems_version: 3.1.2
|
|
78
109
|
signing_key:
|
|
79
110
|
specification_version: 4
|
|
80
|
-
summary:
|
|
111
|
+
summary: OPC UA Server for Universal Robots
|
|
81
112
|
test_files: []
|