urua 0.99.5001 → 0.99.5006

checksums.yaml

@@ -1,7 +1,7 @@
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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

@@ -1,10 +1,32 @@
 <?xml version="1.0"?>
 <rtde_config>
   <recipe key="speed">
-		<field name="speed_slider_mask" type="UINT32"/>
-		<field name="speed_slider_fraction" type="DOUBLE"/>
-	</recipe>
-
+    <field name="speed_slider_mask" type="UINT32"/>
+    <field name="speed_slider_fraction" type="DOUBLE"/>
+  </recipe>
+  <recipe key="inbit">
+    <!--Only put Input Registers here which are used-->
+    <field name="input_bit_register_64" type="BOOL"/>
+    <field name="input_bit_register_65" type="BOOL"/>
+  </recipe>
+  <recipe key="inint">
+    <!--Only put Input Registers here which are used-->
+    <field name="input_int_register_0" type="INT32"/>
+    <field name="input_int_register_1" type="INT32"/>
+    <field name="input_int_register_2" type="INT32"/>
+    <field name="input_int_register_3" type="INT32"/>
+    <field name="input_int_register_4" type="INT32"/>
+    <field name="input_int_register_5" type="INT32"/>
+    <field name="input_int_register_6" type="INT32"/>
+    <field name="input_int_register_7" type="INT32"/>
+    <field name="input_int_register_8" type="INT32"/>
+    <field name="input_int_register_9" type="INT32"/>
+  </recipe>
+  <recipe key="indoub">
+    <!--Only put Input Registers here which are used-->
+    <field name="input_double_register_0" type="DOUBLE"/>
+    <field name="input_double_register_1" type="DOUBLE"/>
+  </recipe>
   <recipe key="out">
     <field name="timestamp" type="DOUBLE"/>
     <field name="target_q" type="VECTOR6D"/>
@@ -37,6 +59,8 @@
     <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_register_64" type="BOOL"/>
+    <field name="target_speed_fraction" type="DOUBLE"/>
 
     <!-- field name="output_bit_registers0_to_31" type="UINT32"/-->
     <!-- field name="output_bit_registers32_to_63" type="UINT32"/-->

data/lib/urua.rb

@@ -28,18 +28,35 @@ 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)
       opts['speed']['speed_slider_mask'] = 1
-      opts['ov'].value = opts['speed']['speed_slider_fraction'].to_i
+    end
+
+    ### Set register
+    if opts['rtde_config_recipe_inbit']
+      bit_names, bit_types = conf.get_recipe opts['rtde_config_recipe_inbit']
+      opts['inbit'] = opts['rtde'].send_input_setup(bit_names,bit_types)
+    end
+    if opts['rtde_config_recipe_inint']
+      int_names, int_types = conf.get_recipe opts['rtde_config_recipe_inint']
+      opts['inint'] = opts['rtde'].send_input_setup(int_names,int_types)
+    end
+    if opts['rtde_config_recipe_indoub']
+      doub_names, doub_types = conf.get_recipe opts['rtde_config_recipe_indoub']
+      opts['indoub'] = opts['rtde'].send_input_setup(doub_names,doub_types)
     end
 
     ### Setup output
@@ -49,6 +66,17 @@ module URUA
     if not opts['rtde'].send_start
       puts 'Unable to start synchronization'
     end
+
+    ###Initialize all inputs
+    bit_names.each do |i|
+      opts['inbit'][i] = false
+    end
+    int_names.each do |i|
+      opts['inint'][i] = 0
+    end
+    doub_names.each do |i|
+      opts['indoub'][i] = 0.0
+    end
   end #}}}
 
   def self::protect_reconnect_run(opts) #{{{
@@ -56,22 +84,34 @@ 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'], :port => opts['sshport'], :keys => [ opts['certificate'] ])
+    else
+      opts['ssh'] = opts['password'] ? Net::SSH.start(opts['ipadress'], opts['username'], :port => opts['sshport'], password: opts['password']) : Net::SSH.start(opts['ipadress'], opts['username'], :port => opts['sshport'])
+    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
@@ -102,9 +142,19 @@ module URUA
     progs
   end #}}}
 
+  def self::robotprogram_running?(opts)
+    opts['ps'].value == 'Playing'
+  end
+
   def self::implementation_startup(opts) #{{{
+    opts['sshport'] ||= 22
+
     opts['rtde_config'] ||= File.join(__dir__,'rtde.conf.xml')
     opts['rtde_config_recipe_base'] ||= 'out'
+    opts['rtde_config_recipe_speed'] ||= 'speed'
+    opts['rtde_config_recipe_inbit'] ||= 'inbit'
+    opts['rtde_config_recipe_inint'] ||= 'inint'
+    opts['rtde_config_recipe_indoub'] ||= 'indoub'
 
     Proc.new do
       on startup do |opts|
@@ -113,6 +163,7 @@ 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|
@@ -123,10 +174,20 @@ 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
         }
@@ -144,17 +205,76 @@ module URUA
           a.add_object(:ActualVoltage, opts['server'].types.folder).tap   { |p| URUA::add_axis_concept p, :AxisVoltage }
           a.add_object(:ActualMomentum, opts['server'].types.folder).tap  { |p| p.add_variable :AxisMomentum }
         }
+        # RegitsterType
+        reg = opts['server'].types.add_object_type(:RegType).tap {|r|
+          r.add_object(:Inputs, opts['server'].types.folder).tap {|i|
+            i.add_object(:Bitregister, opts['server'].types.folder).tap {|b|
+              64.upto(127) do |z|
+                b.add_variable_rw :"Bit#{z}" do |node,value,external|
+                  if external
+                    opts['inbit']["input_bit_register_" + z.to_s] = value
+                    opts['rtde'].send(opts['inbit'])
+                  end
+                end
+              end
+            }
+            i.add_object(:Intregister, opts['server'].types.folder).tap {|b|
+              0.upto(47) do |z|
+                b.add_variable_rw :"Int#{z}" do |node,value,external|
+                  if external
+                    opts['inint']["input_int_register_" + z.to_s] = value.to_i
+                    opts['rtde'].send(opts['inint'])
+                  end
+                end
+              end
+            }
+            i.add_object(:Doubleregister, opts['server'].types.folder).tap {|b|
+              0.upto(47) do |z|
+                b.add_variable_rw :"Double#{z}" do |node,value,external|
+                  if external
+                    opts['indoub']["input_double_register_" + z.to_s] = value.to_f
+                    opts['rtde'].send(opts['indoub'])
+                  end
+                end
+              end
+            }
+          }
+          r.add_object(:Outputs, opts['server'].types.folder).tap {|o|
+            o.add_object(:Bitregister, opts['server'].types.folder).tap {|b|
+              64.upto(127) do |z|
+                b.add_variable :"Bit#{z}"
+              end
+            }
+            o.add_object(:Intregister, opts['server'].types.folder).tap {|b|
+              0.upto(47) do |z|
+                b.add_variable :"Int#{z}"
+              end
+            }
+            o.add_object(:Doubleregister, opts['server'].types.folder).tap {|b|
+              0.upto(47) do |z|
+                b.add_variable :"Double#{z}"
+              end
+            }
+          }
+        }
+
 
         # RobotObjectType
         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, :OperationalMode
-            s.add_variable_rw :Override
+            s.add_variable_rw :Override do |node,value,external|
+              if external
+                opts['speed']['speed_slider_fraction'] = value / 100.0
+                opts['rtde'].send(opts['speed'])
+              end
+            end
           }
           r.add_object(:SafetyBoard, opts['server'].types.folder).tap{ |r|
             r.add_variables :MainVoltage, :RobotVoltage, :RobotCurrent
           }
+
           r.add_object(:Programs, opts['server'].types.folder).tap{ |p|
             p.add_object :Program, opts['pf'], OPCUA::OPTIONAL
             p.add_variable :Programs
@@ -172,8 +292,10 @@ 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
@@ -186,6 +308,13 @@ 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
@@ -232,7 +361,7 @@ 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)
@@ -257,6 +386,50 @@ module URUA
         opts['mo'] = st.find(:Remote)
         opts['op'] = st.find(:OperationalMode)
 
+        ### register
+        register = robot.manifest(:Register, reg)
+        inputs = register.find :Inputs
+        ibitreg = inputs.find :Bitregister
+        opts['b_bits'] = 64.upto(127).map{|b|
+          ib = ibitreg.find :"Bit#{b}"
+          ib.value = false
+          ib
+        }
+        iintreg = inputs.find :Intregister
+        opts['i_int'] = 0.upto(47).map{|b|
+          ii = iintreg.find :"Int#{b}"
+          ii.value = 0
+          ii
+        }
+        #extend it with other registers
+        idoubreg = inputs.find :Doubleregister
+        opts['i_doub'] = 0.upto(47).map{|b|
+          id = idoubreg.find :"Double#{b}"
+          id.value = 0.0
+          id
+        }
+        #Output register
+        outputs = register.find :Outputs
+        obitreg = outputs.find :Bitregister
+        opts['o_bit'] = 64.upto(127).map{|b|
+          ob = obitreg.find :"Bit#{b}"
+          ob.value = false
+          ob
+        }
+        ointreg = outputs.find :Intregister
+        opts['o_int'] = 0.upto(47).map{|b|
+          oi = ointreg.find :"Int#{b}"
+          oi.value = 0
+          oi
+        }
+
+        odoubreg = outputs.find :Doubleregister
+        opts['o_doub'] = 0.upto(47).map{|b|
+          od = odoubreg.find :"Double#{b}"
+          od.value = 0.0
+          od
+        }
+
         ### Axes
         axes = robot.manifest(:Axes, ax)
         aapf, avelf, acurf, avolf, amomf = axes.find :ActualPositions, :ActualVelocities, :ActualCurrents, :ActualVoltage, :ActualMomentum
@@ -288,9 +461,12 @@ module URUA
         opts['af']  = aff.find :TCPForce
         opts['afa'] = aff.find :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
 
+        ### Register
+
         ### Connecting to universal robot
         URUA::start_rtde opts
         URUA::start_dash opts
+        URUA::start_psi opts
 
         ### Manifest programs
         opts['programs'] = robot.find(:Programs)
@@ -298,7 +474,7 @@ 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
@@ -308,6 +484,17 @@ 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
@@ -338,14 +525,12 @@ 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'])
@@ -365,6 +550,13 @@ module URUA
           opts['rc'].value = data['actual_robot_current']
           opts['ss'].value = data['speed_scaling']
 
+          #register
+
+          #bitregister
+          # 64.upto(127).map{|r|
+          #   opts[]
+          # }
+
           # State objects
           opts['rm'].value = UR::Rtde::ROBOTMODE[data['robot_mode']]
           opts['sm'].value = UR::Rtde::SAFETYMODE[data['safety_mode']]
@@ -383,29 +575,32 @@ 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
 
-          # Write values
-          if opts['rtde_config_recipe_speed']
-            opts['speed']['speed_slider_fraction'] = opts['ov'].value / 100.0
-            opts['rtde'].send(opts['speed'])
+          #speed slider or override
+          if opts['ov'].value != (data['target_speed_fraction'] * 100).to_i
+            opts['ov'].value = (data['target_speed_fraction'] * 100).to_i
           end
+
         else
           if Time.now.to_i - 10 > opts['doit_rtde']
             opts['doit_rtde'] = Time.now.to_i
             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

@@ -1,17 +1,18 @@
 ### OPC UA specific config
 ### --------------------------------------------------------------------------
-namespace: https://centurio.work/ur10evva
+namespace: https://centurio.work/urwst51
 
 ### UR specific config
 ### --------------------------------------------------------------------------
-ipadress: 192.168.1.26
+ipadress: 192.168.1.25
+sshport: 22
 username: ur
-password: easybot
+certificate: /home/mangler/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
+# ipadress: 192.168.1.25
+# username: ur
 # url: /home/myusername/somedirectory/ursim-current/programs.UR10

data/server/devserver.rsa

@@ -0,0 +1,49 @@
+-----BEGIN OPENSSH PRIVATE KEY-----
+b3BlbnNzaC1rZXktdjEAAAAABG5vbmUAAAAEbm9uZQAAAAAAAAABAAACFwAAAAdzc2gtcn
+NhAAAAAwEAAQAAAgEAtXjKzO8SKL38RmcIPnoqDWGphjchJPkoNg2P6+ZubURgGD0IZX1X
+RjhFSwN6kK7WmwxIxA6fm/DuNUaQOH1AIFPet2y/bGcxlxV4/ws/XNbpjOkV8rmeoGhX1I
+Xsoqes2hQwI1osneShzpYuYbrFfHfvly6XFN8Gh6l9ld97FhyzMM9xNXR7D25M6mYEyk78
+z+1yOKppd738pj0lmI8COJ8OtMTbP/+ehr2I0t+VAcBM/XM6pfyDLe8vZRDfa5KP4kTtac
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+-----END OPENSSH PRIVATE KEY-----

data/server/uruaserver.conf

@@ -1,10 +1,11 @@
 ### OPC UA specific config
 ### --------------------------------------------------------------------------
-namespace: https://centurio.work/ur10evva
+namespace: https://centurio.work/ur10
 
 ### UR specific config
 ### --------------------------------------------------------------------------
 ipadress: 10.0.31.22
+sshport: 22
 username: root
 password: easybot
 url: /programs

metadata

@@ -1,15 +1,15 @@
 --- !ruby/object:Gem::Specification
 name: urua
 version: !ruby/object:Gem::Version
-  version: 0.99.5001
+  version: 0.99.5006
 platform: ruby
 authors:
 - Florian Pauker
 - Juergen eTM Mangler
-autorequire: 
+autorequire:
 bindir: tools
 cert_chain: []
-date: 2020-06-05 00:00:00.000000000 Z
+date: 2021-10-06 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: opcua
@@ -29,14 +29,14 @@ dependencies:
   name: ur-sock
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - ">="
+    - - "~>"
       - !ruby/object:Gem::Version
         version: '1.0'
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - ">="
+    - - "~>"
       - !ruby/object:Gem::Version
         version: '1.0'
 - !ruby/object:Gem::Dependency
@@ -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
@@ -53,6 +56,71 @@ 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: florian.pauker@gmail.com
 executables:
@@ -69,6 +137,7 @@ files:
 - lib/urua.rb
 - server/devserver.conf
 - server/devserver.rb
+- server/devserver.rsa
 - server/uruaserver.conf
 - server/uruaserver.rb
 - tools/urua
@@ -76,7 +145,7 @@ homepage: https://github.com/fpauker/urua
 licenses:
 - GPL-3.0
 metadata: {}
-post_install_message: 
+post_install_message:
 rdoc_options: []
 require_paths:
 - lib
@@ -91,8 +160,8 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubygems_version: 3.1.2
-signing_key: 
+rubygems_version: 3.2.22
+signing_key:
 specification_version: 4
 summary: OPC UA Server for Universal Robots
 test_files: []