urua 0.99.4446 → 0.99.5004

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data/README.md

@@ -2,28 +2,68 @@
 
 # URUA 
 
-OPC UA Server for Universal Robots
+A simple OPC UA server for Universal robots in ruby, which uses the ur-sock and opcua-smart library.
 
 ## Getting Started
 
-A simple ruby server, which uses th ur-sock and opcua-smart library.
+A simple ruby server, which uses the ur-sock and opcua-smart library.
 
 ### Prerequisites & Intallation
 
-To run the server we need the following packages:
+For this server the OPC UA installation of the opcua-smart gem is required. 
+Please follow the instructions at https://github.com/etm/opcua-smart and install the opcua gem.
 
-* ruby gems:
+Additionally you have to install the URUA gem with:
+
+```
+gem install urua
+```
+
+If you want to develop or extend the server, just use the following instruction
+```
+git clone https://github.com/fpauker/urua
+git clone https://github.com/fpauker/ur-sock
+git clone https://github.com/etm/opcua-smart
 ```
-gem install opcua
-gem install ur-sock
+
+Just follow the install instructions of the 3 projects.
+After installing all packages do 
+
+```
+cd urua/server
 ```
+in this directory the devserver.rb and the devserver.config are located. 
+
+### Starting the server
+
+To start the server type in the following commands:
+
+```
+cd urua/server
+./uruaserver.rb start
+```
+or 
+```
+cd urua/server
+./devserver.rb start 
+```
+to start the developing server.
+
 
 ## Adress space
 
-![Architecture](adressspace/ur1.png?raw=true | width=50)
-![Architecture](adressspace/ur2.png?raw=true | width=50)
-![Architecture](adressspace/ur3.png?raw=true | width=50)
-![Architecture](adressspace/ur5.png?raw=true | width=50)
+The server's adress space is shown in the pictures below. 
+
+![Architecture](https://github.com/fpauker/urua/blob/master/adressspace/ur1.png?raw=true)
+![Architecture](https://github.com/fpauker/urua/blob/master/adressspace/ur2.png?raw=true)
+![Architecture](https://github.com/fpauker/urua/blob/master/adressspace/ur3.png?raw=true)
+![Architecture](https://github.com/fpauker/urua/blob/master/adressspace/ur5.png?raw=true)
+
+It offers several features combining 3 different interfaces of the Universal robot. It uses the 
+
+* Primary Secondary Interface for direct execution of UR scripts
+* Dashboard server for orchestration functions e.g. starting/stopping a program
+* RTDE interface for getting the robot states
 
 ## Contributing
 

data/lib/rtde.conf.xml

@@ -0,0 +1,94 @@
+<?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="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="target_speed_fraction" 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_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/urua.rb

@@ -1,6 +1,10 @@
 require 'daemonite'
 require 'opcua/server'
-require 'ur-sock'
+if $dev
+  require_relative '../../ur-sock/lib/ur-sock'
+else
+  require 'ur-sock'
+end
 require 'net/ssh'
 require 'net/scp'
 
@@ -24,13 +28,17 @@ module URUA
     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 to very slow
+
+    ### 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)
@@ -52,22 +60,34 @@ module URUA
     begin
       yield
     rescue UR::Dash::Reconnect => e
+      puts e.message
       tries += 1
       if tries < 2
         URUA::start_dash opts
         retry
       end
+    rescue UR::Psi::Reconnect => e
+      puts e.message
+      tries += 1
+      if tries < 2
+        URUA::start_psi opts
+        retry
+      end
     end
   end #}}}
 
   def self::ssh_start(opts) #{{{
-    opts['ssh'] = opts['password'] ? Net::SSH.start(opts['ipadress'], opts['username'], password: opts['password']) : Net::SSH.start(opts['ipadress'], opts['username'])
+    if opts['certificate']
+      opts['ssh'] = Net::SSH.start(opts['ipadress'], opts['username'], :keys => [ opts['certificate'] ])
+    else
+      opts['ssh'] = opts['password'] ? Net::SSH.start(opts['ipadress'], opts['username'], password: opts['password']) : Net::SSH.start(opts['ipadress'], opts['username'])
+    end
   end #}}}
 
   def self::download_program(opts,name) #{{{
     counter = 0
     begin
-      opts['ssh'].scp.download File.join(opts['url'],name)
+      opts['ssh'].scp.download! File.join(opts['url'],name)
     rescue => e
       counter += 1
       URUA::ssh_start opts
@@ -98,9 +118,14 @@ module URUA
     progs
   end #}}}
 
+  def self::robotprogram_running?(opts)
+    opts['ps'].value == 'Playing'
+  end
+
   def self::implementation_startup(opts) #{{{
     opts['rtde_config'] ||= File.join(__dir__,'rtde.conf.xml')
     opts['rtde_config_recipe_base'] ||= 'out'
+    opts['rtde_config_recipe_speed'] ||= 'speed'
 
     Proc.new do
       on startup do |opts|
@@ -109,6 +134,7 @@ module URUA
         opts['dash'] = nil
         opts['rtde'] = nil
         opts['programs'] = nil
+        opts['psi'] = nil
 
         # ProgramFile
         opts['pf'] = opts['server'].types.add_object_type(:ProgramFile).tap{ |p|
@@ -119,10 +145,20 @@ module URUA
             end
           end
           p.add_method :StartProgram do |node|
-            a = node.id.to_s.split('/')
-            URUA::protect_reconnect_run(opts) do
-              opts['dash'].load_program(a[-2])
-              opts['dash'].start_program
+            unless URUA::robotprogram_running?(opts)
+              a = node.id.to_s.split('/')
+              URUA::protect_reconnect_run(opts) do
+                opts['dash'].load_program(a[-2])
+                opts['dash'].start_program
+              end
+            end
+          end
+          p.add_method :StartAsUrScript do |node|
+            unless URUA::robotprogram_running?(opts)
+              a = node.id.to_s.split('/')
+              URUA::protect_reconnect_run(opts) do
+                opts['psi'].execute_ur_script(URUA::download_program(opts, a[-2]+".script"))
+              end
             end
           end
         }
@@ -145,7 +181,7 @@ module URUA
         rt = opts['server'].types.add_object_type(:RobotType).tap { |r|
           r.add_variables :SerialNumber, :RobotModel
           r.add_object(:State, opts['server'].types.folder).tap{ |s|
-            s.add_variables :CurrentProgram, :RobotMode, :RobotState, :JointMode, :SafetyMode, :ToolMode, :ProgramState, :SpeedScaling, :Remote
+            s.add_variables :CurrentProgram, :RobotMode, :RobotState, :JointMode, :SafetyMode, :ToolMode, :ProgramState, :SpeedScaling, :Remote, :OperationalMode
             s.add_variable_rw :Override
           }
           r.add_object(:SafetyBoard, opts['server'].types.folder).tap{ |r|
@@ -168,8 +204,10 @@ module URUA
             end
           end
           r.add_method :StartProgram do
-            URUA::protect_reconnect_run(opts) do
-              nil unless opts['dash'].start_program
+            unless URUA::robotprogram_running?(opts)
+              URUA::protect_reconnect_run(opts) do
+                nil unless opts['dash'].start_program
+              end
             end
           end
           r.add_method :StopProgram do
@@ -182,6 +220,13 @@ module URUA
               opts['dash'].pause_program
             end
           end
+          r.add_method :RunUrScript, content: OPCUA::TYPES::STRING do |node, content|
+            unless URUA::robotprogram_running?(opts)
+              URUA::protect_reconnect_run(opts) do
+                opts['psi'].execute_ur_script(content)
+              end
+            end
+          end
           r.add_method :PowerOn do
             if opts['rm'].value.to_s != 'Running'
               Thread.new do
@@ -228,7 +273,7 @@ module URUA
         }
         ### populating the adress space
         ### Robot object
-        robot = opts['server'].objects.manifest(:UR10e, rt)
+        robot = opts['server'].objects.manifest(File.basename(opts['namespace']), rt)
 
         opts['sn'] = robot.find(:SerialNumber)
         opts['model'] = robot.find(:RobotModel)
@@ -251,6 +296,7 @@ module URUA
         opts['ov'] = st.find(:Override)
         opts['ss'] = st.find(:SpeedScaling)
         opts['mo'] = st.find(:Remote)
+        opts['op'] = st.find(:OperationalMode)
 
         ### Axes
         axes = robot.manifest(:Axes, ax)
@@ -286,6 +332,7 @@ module URUA
         ### Connecting to universal robot
         URUA::start_rtde opts
         URUA::start_dash opts
+        URUA::start_psi opts
 
         ### Manifest programs
         opts['programs'] = robot.find(:Programs)
@@ -293,7 +340,7 @@ module URUA
         opts['progs'] = []
         opts['semaphore'] = Mutex.new
         ### check if interfaces are ok
-        raise if !opts['dash'] || !opts['rtde'] ##### TODO, don't return, raise
+        raise if !opts['dash'] || !opts['rtde'] || !opts['psi']
 
         # Functionality for threading in loop
         opts['doit_state'] = Time.now.to_i
@@ -303,6 +350,17 @@ module URUA
         # Serious comment (we do the obvious stuff)
         opts['sn'].value = opts['dash'].get_serial_number
         opts['model'].value = opts['dash'].get_robot_model
+      rescue Errno::ECONNREFUSED => e
+        print 'ECONNREFUSED: '
+        puts e.message
+      rescue UR::Dash::Reconnect => e
+        URUA::start_dash opts
+        puts e.message
+        puts e.backtrace
+      rescue UR::Psi::Reconnect => e
+        URUA::start_psi opts
+        puts e.message
+        puts e.backtrace
       rescue => e
         puts e.message
         puts e.backtrace
@@ -322,6 +380,7 @@ module URUA
           opts['rs'].value = opts['dash'].get_program_state
           # update remote control state from dashboard server
           opts['mo'].value = opts['dash'].is_in_remote_control
+          opts['op'].value = opts['dash'].get_operational_mode
         end
 
         if Time.now.to_i - 10 > opts['doit_progs']
@@ -332,14 +391,12 @@ module URUA
               # check every 10 seconds for new programs
               progs = URUA::get_robot_programs(opts)
               delete = opts['progs'] - progs
-              # puts 'Missing Nodes: ' + delete.to_s
               delete.each do |d|
                 d = d[0..-5]
                 opts['prognodes'][d].delete!
                 opts['prognodes'].delete(d)
               end
               add = progs - opts['progs']
-              # puts 'New nodes: ' + add.to_s
               add.each do |a|
                 a = a[0..-5]
                 opts['prognodes'][a] = opts['programs'].manifest(a, opts['pf'])
@@ -377,10 +434,14 @@ module URUA
           URUA::split_vector6_data(data['actual_qd'],opts['as'], opts['asa']) # Actual TCP Speed
           URUA::split_vector6_data(data['actual_qd'],opts['af'], opts['afa']) # Actual TCP Force
 
+          ######TODO Fix Write Values that opc ua does not overwrite the speed slider mask of manual changes
           # Write values
           if opts['rtde_config_recipe_speed']
-            opts['speed']['speed_slider_fraction'] = opts['ov'].value / 100.0
-            opts['rtde'].send(opts['speed'])
+            #if opts['ov'] != opts['ovold']
+            #  if opts['ov'] == data['target_speed_fraction']
+            #opts['speed']['speed_slider_fraction'] = opts['ov'].value / 100.0
+            #opts['rtde'].send(opts['speed'])
+            opts['ovold'] = data['target_speed_fraction']
           end
         else
           if Time.now.to_i - 10 > opts['doit_rtde']
@@ -388,18 +449,21 @@ module URUA
             URUA::start_rtde opts
           end
         end
-
       rescue Errno::ECONNREFUSED => e
-        puts 'ECONNREFUSED:'
+        print 'ECONNREFUSED: '
         puts e.message
       rescue UR::Dash::Reconnect => e
         URUA::start_dash opts
+        puts e.message
+        puts e.backtrace
+      rescue UR::Psi::Reconnect => e
+        URUA::start_psi opts
+        puts e.message
+        puts e.backtrace
       rescue => e
-        unless opts['dash']
-          URUA::start_dash opts
-        end
-        p e.message
-        p e.backtrace
+        puts e.message
+        puts e.backtrace
+        raise
       end
     end
   end #}}}

data/server/devserver.conf

@@ -0,0 +1,17 @@
+### OPC UA specific config
+### --------------------------------------------------------------------------
+namespace: https://centurio.work/urwst51
+
+### UR specific config
+### --------------------------------------------------------------------------
+ipadress: 131.130.37.204
+username: root
+certificate: /home/paukerf87/Projects/urua/server/devserver.rsa
+url: /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/devserver.rb

@@ -0,0 +1,13 @@
+#!/usr/bin/ruby
+$dev = true
+require_relative '../lib/urua'
+### add stuff if necessary
+
+Thread.abort_on_exception=true
+
+Daemonite.new do |opts|
+  ### add or replace building blocks if necessary
+  use URUA::implementation_startup(opts)
+  use URUA::implementation_run
+  use URUA::implementation_exit
+end.loop!

data/server/uruaserver.conf

@@ -1,6 +1,6 @@
 ### OPC UA specific config
 ### --------------------------------------------------------------------------
-namespace: https://centurio.work/ur10evva
+namespace: https://centurio.work/ur10
 
 ### UR specific config
 ### --------------------------------------------------------------------------

data/tools/urua

@@ -43,7 +43,7 @@ if command == 'scaffold'
   dir = File.join(__dir__,'..','server')
   FileUtils.cp(File.join(dir,'uruaserver.rb'),'.')
   Dir[File.join(dir,'*')].each do |f|
-    unless File.exist?(File.join(__dir__,File.basename(f)))
+    unless File.exist?(File.join(__dir__,File.basename(f))) || f =~ /\/dev/
       FileUtils.cp(f,'.')
     end
   end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: urua
 version: !ruby/object:Gem::Version
-  version: 0.99.4446
+  version: 0.99.5004
 platform: ruby
 authors:
 - Florian Pauker
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: tools
 cert_chain: []
-date: 2020-05-30 00:00:00.000000000 Z
+date: 2020-09-01 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: opcua
@@ -29,16 +29,16 @@ dependencies:
   name: ur-sock
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - ">="
+    - - "~>"
       - !ruby/object:Gem::Version
-        version: '0.4444'
+        version: '1.0'
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - ">="
+    - - "~>"
       - !ruby/object:Gem::Version
-        version: '0.4444'
+        version: '1.0'
 - !ruby/object:Gem::Dependency
   name: daemonite
   requirement: !ruby/object:Gem::Requirement
@@ -46,6 +46,9 @@ dependencies:
     - - "~>"
       - !ruby/object:Gem::Version
         version: '0.5'
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 0.5.9
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
@@ -53,8 +56,73 @@ dependencies:
     - - "~>"
       - !ruby/object:Gem::Version
         version: '0.5'
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 0.5.9
+- !ruby/object:Gem::Dependency
+  name: net-ssh
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '5.2'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '5.2'
+- !ruby/object:Gem::Dependency
+  name: net-scp
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
+- !ruby/object:Gem::Dependency
+  name: ed25519
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1'
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '1.2'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1'
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '1.2'
+- !ruby/object:Gem::Dependency
+  name: bcrypt_pbkdf
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1'
 description: OPC UA Server for Universal Robots. See https://github.com/fpauker/urua
-email: juergen.mangler@gmail.com
+email: florian.pauker@gmail.com
 executables:
 - urua
 extensions: []
@@ -65,11 +133,14 @@ files:
 - LICENSE
 - README.md
 - Rakefile
+- lib/rtde.conf.xml
 - lib/urua.rb
+- server/devserver.conf
+- server/devserver.rb
 - server/uruaserver.conf
 - server/uruaserver.rb
 - tools/urua
-homepage: http://cpee.org/
+homepage: https://github.com/fpauker/urua
 licenses:
 - GPL-3.0
 metadata: {}