urua 0.99.5004 → 0.99.5005

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Files changed (7) hide show
  1. checksums.yaml +4 -4
  2. data/lib/rtde.conf.xml +28 -4
  3. data/lib/urua.rb +149 -12
  4. data/server/devserver.conf +6 -5
  5. data/server/devserver.rsa +49 -0
  6. data/server/uruaserver.conf +1 -0
  7. metadata +7 -6
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+ data.tar.gz: 26b653018bc518e8fc1d9303dad6a9d9e4844b7a11bd8b1a0f2f0ac02ee26cb3154c1120c9c7ec728ce9141c3b4f2b79fb6ad3207f26a19ac005cf42ced4bf01
data/lib/rtde.conf.xml CHANGED
@@ -1,10 +1,32 @@
1
1
  <?xml version="1.0"?>
2
2
  <rtde_config>
3
3
  <recipe key="speed">
4
- <field name="speed_slider_mask" type="UINT32"/>
5
- <field name="speed_slider_fraction" type="DOUBLE"/>
6
- </recipe>
7
-
4
+ <field name="speed_slider_mask" type="UINT32"/>
5
+ <field name="speed_slider_fraction" type="DOUBLE"/>
6
+ </recipe>
7
+ <recipe key="inbit">
8
+ <!--Only put Input Registers here which are used-->
9
+ <field name="input_bit_register_64" type="BOOL"/>
10
+ <field name="input_bit_register_65" type="BOOL"/>
11
+ </recipe>
12
+ <recipe key="inint">
13
+ <!--Only put Input Registers here which are used-->
14
+ <field name="input_int_register_0" type="INT32"/>
15
+ <field name="input_int_register_1" type="INT32"/>
16
+ <field name="input_int_register_2" type="INT32"/>
17
+ <field name="input_int_register_3" type="INT32"/>
18
+ <field name="input_int_register_4" type="INT32"/>
19
+ <field name="input_int_register_5" type="INT32"/>
20
+ <field name="input_int_register_6" type="INT32"/>
21
+ <field name="input_int_register_7" type="INT32"/>
22
+ <field name="input_int_register_8" type="INT32"/>
23
+ <field name="input_int_register_9" type="INT32"/>
24
+ </recipe>
25
+ <recipe key="indoub">
26
+ <!--Only put Input Registers here which are used-->
27
+ <field name="input_double_register_0" type="DOUBLE"/>
28
+ <field name="input_double_register_1" type="DOUBLE"/>
29
+ </recipe>
8
30
  <recipe key="out">
9
31
  <field name="timestamp" type="DOUBLE"/>
10
32
  <field name="target_q" type="VECTOR6D"/>
@@ -37,6 +59,8 @@
37
59
  <field name="actual_joint_voltage" type="VECTOR6D"/>
38
60
  <field name="actual_digital_output_bits" type="UINT64"/>
39
61
  <field name="runtime_state" type="UINT32"/>
62
+ <field name="output_bit_register_64" type="BOOL"/>
63
+ <field name="target_speed_fraction" type="DOUBLE"/>
40
64
 
41
65
  <!-- field name="output_bit_registers0_to_31" type="UINT32"/-->
42
66
  <!-- field name="output_bit_registers32_to_63" type="UINT32"/-->
data/lib/urua.rb CHANGED
@@ -43,7 +43,20 @@ module URUA
43
43
  speed_names, speed_types = conf.get_recipe opts['rtde_config_recipe_speed']
44
44
  opts['speed'] = opts['rtde'].send_input_setup(speed_names, speed_types)
45
45
  opts['speed']['speed_slider_mask'] = 1
46
- opts['ov'].value = opts['speed']['speed_slider_fraction'].to_i
46
+ end
47
+
48
+ ### Set register
49
+ if opts['rtde_config_recipe_inbit']
50
+ bit_names, bit_types = conf.get_recipe opts['rtde_config_recipe_inbit']
51
+ opts['inbit'] = opts['rtde'].send_input_setup(bit_names,bit_types)
52
+ end
53
+ if opts['rtde_config_recipe_inint']
54
+ int_names, int_types = conf.get_recipe opts['rtde_config_recipe_inint']
55
+ opts['inint'] = opts['rtde'].send_input_setup(int_names,int_types)
56
+ end
57
+ if opts['rtde_config_recipe_indoub']
58
+ doub_names, doub_types = conf.get_recipe opts['rtde_config_recipe_indoub']
59
+ opts['indoub'] = opts['rtde'].send_input_setup(doub_names,doub_types)
47
60
  end
48
61
 
49
62
  ### Setup output
@@ -53,6 +66,17 @@ module URUA
53
66
  if not opts['rtde'].send_start
54
67
  puts 'Unable to start synchronization'
55
68
  end
69
+
70
+ ###Initialize all inputs
71
+ bit_names.each do |i|
72
+ opts['inbit'][i] = false
73
+ end
74
+ int_names.each do |i|
75
+ opts['inint'][i] = 0
76
+ end
77
+ doub_names.each do |i|
78
+ opts['indoub'][i] = 0.0
79
+ end
56
80
  end #}}}
57
81
 
58
82
  def self::protect_reconnect_run(opts) #{{{
@@ -78,9 +102,9 @@ module URUA
78
102
 
79
103
  def self::ssh_start(opts) #{{{
80
104
  if opts['certificate']
81
- opts['ssh'] = Net::SSH.start(opts['ipadress'], opts['username'], :keys => [ opts['certificate'] ])
105
+ opts['ssh'] = Net::SSH.start(opts['ipadress'], opts['username'], :port => opts['sshport'], :keys => [ opts['certificate'] ])
82
106
  else
83
- opts['ssh'] = opts['password'] ? Net::SSH.start(opts['ipadress'], opts['username'], password: opts['password']) : Net::SSH.start(opts['ipadress'], opts['username'])
107
+ 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'])
84
108
  end
85
109
  end #}}}
86
110
 
@@ -123,9 +147,14 @@ module URUA
123
147
  end
124
148
 
125
149
  def self::implementation_startup(opts) #{{{
150
+ opts['sshport'] || 22
151
+
126
152
  opts['rtde_config'] ||= File.join(__dir__,'rtde.conf.xml')
127
153
  opts['rtde_config_recipe_base'] ||= 'out'
128
154
  opts['rtde_config_recipe_speed'] ||= 'speed'
155
+ opts['rtde_config_recipe_inbit'] ||= 'inbit'
156
+ opts['rtde_config_recipe_inint'] ||= 'inint'
157
+ opts['rtde_config_recipe_indoub'] ||= 'indoub'
129
158
 
130
159
  Proc.new do
131
160
  on startup do |opts|
@@ -176,17 +205,76 @@ module URUA
176
205
  a.add_object(:ActualVoltage, opts['server'].types.folder).tap { |p| URUA::add_axis_concept p, :AxisVoltage }
177
206
  a.add_object(:ActualMomentum, opts['server'].types.folder).tap { |p| p.add_variable :AxisMomentum }
178
207
  }
208
+ # RegitsterType
209
+ reg = opts['server'].types.add_object_type(:RegType).tap {|r|
210
+ r.add_object(:Inputs, opts['server'].types.folder).tap {|i|
211
+ i.add_object(:Bitregister, opts['server'].types.folder).tap {|b|
212
+ 64.upto(127) do |z|
213
+ b.add_variable_rw :"Bit#{z}" do |node,value,external|
214
+ if external
215
+ opts['inbit']["input_bit_register_" + z.to_s] = value
216
+ opts['rtde'].send(opts['inbit'])
217
+ end
218
+ end
219
+ end
220
+ }
221
+ i.add_object(:Intregister, opts['server'].types.folder).tap {|b|
222
+ 0.upto(47) do |z|
223
+ b.add_variable_rw :"Int#{z}" do |node,value,external|
224
+ if external
225
+ opts['inint']["input_int_register_" + z.to_s] = value.to_i
226
+ opts['rtde'].send(opts['inint'])
227
+ end
228
+ end
229
+ end
230
+ }
231
+ i.add_object(:Doubleregister, opts['server'].types.folder).tap {|b|
232
+ 0.upto(47) do |z|
233
+ b.add_variable_rw :"Double#{z}" do |node,value,external|
234
+ if external
235
+ opts['indoub']["input_double_register_" + z.to_s] = value.to_f
236
+ opts['rtde'].send(opts['indoub'])
237
+ end
238
+ end
239
+ end
240
+ }
241
+ }
242
+ r.add_object(:Outputs, opts['server'].types.folder).tap {|o|
243
+ o.add_object(:Bitregister, opts['server'].types.folder).tap {|b|
244
+ 64.upto(127) do |z|
245
+ b.add_variable :"Bit#{z}"
246
+ end
247
+ }
248
+ o.add_object(:Intregister, opts['server'].types.folder).tap {|b|
249
+ 0.upto(47) do |z|
250
+ b.add_variable :"Int#{z}"
251
+ end
252
+ }
253
+ o.add_object(:Doubleregister, opts['server'].types.folder).tap {|b|
254
+ 0.upto(47) do |z|
255
+ b.add_variable :"Double#{z}"
256
+ end
257
+ }
258
+ }
259
+ }
260
+
179
261
 
180
262
  # RobotObjectType
181
263
  rt = opts['server'].types.add_object_type(:RobotType).tap { |r|
182
264
  r.add_variables :SerialNumber, :RobotModel
183
265
  r.add_object(:State, opts['server'].types.folder).tap{ |s|
184
266
  s.add_variables :CurrentProgram, :RobotMode, :RobotState, :JointMode, :SafetyMode, :ToolMode, :ProgramState, :SpeedScaling, :Remote, :OperationalMode
185
- s.add_variable_rw :Override
267
+ s.add_variable_rw :Override do |node,value,external|
268
+ if external
269
+ opts['speed']['speed_slider_fraction'] = value / 100.0
270
+ opts['rtde'].send(opts['speed'])
271
+ end
272
+ end
186
273
  }
187
274
  r.add_object(:SafetyBoard, opts['server'].types.folder).tap{ |r|
188
275
  r.add_variables :MainVoltage, :RobotVoltage, :RobotCurrent
189
276
  }
277
+
190
278
  r.add_object(:Programs, opts['server'].types.folder).tap{ |p|
191
279
  p.add_object :Program, opts['pf'], OPCUA::OPTIONAL
192
280
  p.add_variable :Programs
@@ -298,6 +386,50 @@ module URUA
298
386
  opts['mo'] = st.find(:Remote)
299
387
  opts['op'] = st.find(:OperationalMode)
300
388
 
389
+ ### register
390
+ register = robot.manifest(:Register, reg)
391
+ inputs = register.find :Inputs
392
+ ibitreg = inputs.find :Bitregister
393
+ opts['b_bits'] = 64.upto(127).map{|b|
394
+ ib = ibitreg.find :"Bit#{b}"
395
+ ib.value = false
396
+ ib
397
+ }
398
+ iintreg = inputs.find :Intregister
399
+ opts['i_int'] = 0.upto(47).map{|b|
400
+ ii = iintreg.find :"Int#{b}"
401
+ ii.value = 0
402
+ ii
403
+ }
404
+ #extend it with other registers
405
+ idoubreg = inputs.find :Doubleregister
406
+ opts['i_doub'] = 0.upto(47).map{|b|
407
+ id = idoubreg.find :"Double#{b}"
408
+ id.value = 0.0
409
+ id
410
+ }
411
+ #Output register
412
+ outputs = register.find :Outputs
413
+ obitreg = outputs.find :Bitregister
414
+ opts['o_bit'] = 64.upto(127).map{|b|
415
+ ob = obitreg.find :"Bit#{b}"
416
+ ob.value = false
417
+ ob
418
+ }
419
+ ointreg = outputs.find :Intregister
420
+ opts['o_int'] = 0.upto(47).map{|b|
421
+ oi = ointreg.find :"Int#{b}"
422
+ oi.value = 0
423
+ oi
424
+ }
425
+
426
+ odoubreg = outputs.find :Doubleregister
427
+ opts['o_doub'] = 0.upto(47).map{|b|
428
+ od = odoubreg.find :"Double#{b}"
429
+ od.value = 0.0
430
+ od
431
+ }
432
+
301
433
  ### Axes
302
434
  axes = robot.manifest(:Axes, ax)
303
435
  aapf, avelf, acurf, avolf, amomf = axes.find :ActualPositions, :ActualVelocities, :ActualCurrents, :ActualVoltage, :ActualMomentum
@@ -329,6 +461,8 @@ module URUA
329
461
  opts['af'] = aff.find :TCPForce
330
462
  opts['afa'] = aff.find :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
331
463
 
464
+ ### Register
465
+
332
466
  ### Connecting to universal robot
333
467
  URUA::start_rtde opts
334
468
  URUA::start_dash opts
@@ -416,6 +550,13 @@ module URUA
416
550
  opts['rc'].value = data['actual_robot_current']
417
551
  opts['ss'].value = data['speed_scaling']
418
552
 
553
+ #register
554
+
555
+ #bitregister
556
+ # 64.upto(127).map{|r|
557
+ # opts[]
558
+ # }
559
+
419
560
  # State objects
420
561
  opts['rm'].value = UR::Rtde::ROBOTMODE[data['robot_mode']]
421
562
  opts['sm'].value = UR::Rtde::SAFETYMODE[data['safety_mode']]
@@ -434,15 +575,11 @@ module URUA
434
575
  URUA::split_vector6_data(data['actual_qd'],opts['as'], opts['asa']) # Actual TCP Speed
435
576
  URUA::split_vector6_data(data['actual_qd'],opts['af'], opts['afa']) # Actual TCP Force
436
577
 
437
- ######TODO Fix Write Values that opc ua does not overwrite the speed slider mask of manual changes
438
- # Write values
439
- if opts['rtde_config_recipe_speed']
440
- #if opts['ov'] != opts['ovold']
441
- # if opts['ov'] == data['target_speed_fraction']
442
- #opts['speed']['speed_slider_fraction'] = opts['ov'].value / 100.0
443
- #opts['rtde'].send(opts['speed'])
444
- opts['ovold'] = data['target_speed_fraction']
578
+ #speed slider or override
579
+ if opts['ov'].value != (data['target_speed_fraction'] * 100).to_i
580
+ opts['ov'].value = (data['target_speed_fraction'] * 100).to_i
445
581
  end
582
+
446
583
  else
447
584
  if Time.now.to_i - 10 > opts['doit_rtde']
448
585
  opts['doit_rtde'] = Time.now.to_i
data/server/devserver.conf CHANGED
@@ -4,14 +4,15 @@ namespace: https://centurio.work/urwst51
4
4
 
5
5
  ### UR specific config
6
6
  ### --------------------------------------------------------------------------
7
- ipadress: 131.130.37.204
8
- username: root
9
- certificate: /home/paukerf87/Projects/urua/server/devserver.rsa
7
+ ipadress: 192.168.1.25
8
+ sshport: 22
9
+ username: ur
10
+ certificate: /home/mangler/Projects/urua/server/devserver.rsa
10
11
  url: /programs
11
12
 
12
13
  ### UR simulation specific config
13
14
  ### --------------------------------------------------------------------------
14
15
  ### if no password, password has to entered when server is started
15
- # ipadress: localhost
16
- # username: myusername
16
+ # ipadress: 192.168.1.25
17
+ # username: ur
17
18
  # url: /home/myusername/somedirectory/ursim-current/programs.UR10
data/server/devserver.rsa ADDED
@@ -0,0 +1,49 @@
1
+ -----BEGIN OPENSSH PRIVATE KEY-----
2
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+ +M6UWpMwAK/HndzlGDYDbGRjNkWgNSy4VOrYWTabFk4TlRQBvuZRIKKfxTMh0c/AsqHSZE
37
+ vamoA5huUWLpv9ZYkFVF2mzlmxVeOzAsaRxYGMNSEqQBdqnpDwfpfhaVXSreC4sRMJvh9k
38
+ PIMJl2BkQkNJu7EjAAABAQDtvX1SlMcb+GUY9BaH5Bc/+3x2clQbTQckbTF1Ao58ENzRm+
39
+ 35a7DxCQgaOnqp/hAo2gqTE0R7gl8eRlhS79XQgW1HFdmS+ueFYV5W+FIDN5TqngVbV4CN
40
+ YVbTU28VWw0j/FH5ia5rLEjCNrZSoCfFaF+U4+U85v3cDigDzwFSV+wN0DrlQ4NaPbIqfu
41
+ +6cZRVV79yfMvlMz+2BKkDziIVHzE0Y4kPQTqlNfJXJxL29EJyeA1cJQlAZGV2cEh15C6o
42
+ ZBMfGx8T9ol5bBZx+hWMkLUAKgrGfKcsaffcyas85GPf9XSBL+A0oXdH9ZPz/Oz0jl7/6g
43
+ be4G7Sl4l4qvpBAAABAQDDaPCD4MXPG6yARnSXZ90ymRkevRExkfAfOMpy7WNZeK2+IM3T
44
+ TcK+tf1CMEtRgvoBwCmfgoLeMYiAl/833B7p009D0Yc+p2f58x+UvyQlYLtwWDYmtpTrZ7
45
+ vcRw2Ijylox1V+ymJk2o6/rrlsu8Et673YHlUzBGqyMUxkWwUFkJ/70p7lWmLELD+oSD7k
46
+ HczLkvCGx+5slALTKnEOVRhKT+j6uM4XOjsepyuQtWJpnu91rR8tNnprtgq6hlKUazq24f
47
+ 04G4vO34rVSXc1rzkYLIQNeayYpxmJ/ZVvtIR169hXYBE1hg0no3APiEZAqaeAXtzlo6D2
48
+ a+DF8plVmS6DAAAAFHBhdWtlcmY4N0BoYWlyeWNoZXN0AQIDBAUG
49
+ -----END OPENSSH PRIVATE KEY-----
data/server/uruaserver.conf CHANGED
@@ -5,6 +5,7 @@ namespace: https://centurio.work/ur10
5
5
  ### UR specific config
6
6
  ### --------------------------------------------------------------------------
7
7
  ipadress: 10.0.31.22
8
+ sshport: 22
8
9
  username: root
9
10
  password: easybot
10
11
  url: /programs
metadata CHANGED
@@ -1,15 +1,15 @@
1
1
  --- !ruby/object:Gem::Specification
2
2
  name: urua
3
3
  version: !ruby/object:Gem::Version
4
- version: 0.99.5004
4
+ version: 0.99.5005
5
5
  platform: ruby
6
6
  authors:
7
7
  - Florian Pauker
8
8
  - Juergen eTM Mangler
9
- autorequire:
9
+ autorequire:
10
10
  bindir: tools
11
11
  cert_chain: []
12
- date: 2020-09-01 00:00:00.000000000 Z
12
+ date: 2021-10-06 00:00:00.000000000 Z
13
13
  dependencies:
14
14
  - !ruby/object:Gem::Dependency
15
15
  name: opcua
@@ -137,6 +137,7 @@ files:
137
137
  - lib/urua.rb
138
138
  - server/devserver.conf
139
139
  - server/devserver.rb
140
+ - server/devserver.rsa
140
141
  - server/uruaserver.conf
141
142
  - server/uruaserver.rb
142
143
  - tools/urua
@@ -144,7 +145,7 @@ homepage: https://github.com/fpauker/urua
144
145
  licenses:
145
146
  - GPL-3.0
146
147
  metadata: {}
147
- post_install_message:
148
+ post_install_message:
148
149
  rdoc_options: []
149
150
  require_paths:
150
151
  - lib
@@ -159,8 +160,8 @@ required_rubygems_version: !ruby/object:Gem::Requirement
159
160
  - !ruby/object:Gem::Version
160
161
  version: '0'
161
162
  requirements: []
162
- rubygems_version: 3.1.2
163
- signing_key:
163
+ rubygems_version: 3.2.22
164
+ signing_key:
164
165
  specification_version: 4
165
166
  summary: OPC UA Server for Universal Robots
166
167
  test_files: []