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data/AUTHORS

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+Florian Pauker
+Juergen 'eTM' Mangler

data/LICENSE

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+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
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+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.

data/README.md

@@ -0,0 +1,49 @@
+<img align="right" height="100" src="https://github.com/fpauker/urua/blob/master/logo/urua_logo.png">
+
+# URUA 
+
+OPC UA Server for Universal Robots
+
+## Getting Started
+
+A simple ruby server, which uses th ur-sock and opcua-smart library.
+
+### Prerequisites & Intallation
+
+To run the server we need the following packages:
+
+* ruby gems:
+```
+gem install opcua
+gem install ur-sock
+```
+
+## 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)
+
+## Contributing
+
+Please read [CONTRIBUTING.md](https://gist.github.com/PurpleBooth/b24679402957c63ec426) for details on our code of conduct, and the process for submitting pull requests to us.
+
+## Versioning
+
+We use [SemVer](http://semver.org/) for versioning. For the versions available, see the [tags on this repository](https://intra.acdp.at/gogs/fpauker/ua4ur/tags).
+
+## Authors
+
+* **Florian Pauker** - *OPC UA Modelling* -
+* **Jürgen Mangler** - *Ruby Support* -
+
+See also the list of [contributors](https://intra.acdp.at/gogs/fpauker/ua4ur/contributors) who participated in this project.
+
+## License
+
+This project is licensed under the GPL3 License - see the [LICENSE.md](./LICENSE) file for details
+
+## Acknowledgments
+
+* This work has been funded by the FFG

data/Rakefile

@@ -0,0 +1,22 @@
+require 'rake'
+require 'rubygems/package_task'
+
+spec = eval(File.read('urua.gemspec'))
+
+task :default => [:gem]
+
+Gem::PackageTask.new(spec) do |pkg|
+  pkg.need_zip = true
+  pkg.need_tar = true
+  FileUtils.mkdir 'pkg' rescue nil
+  FileUtils.rm_rf Dir.glob('pkg/*')
+  FileUtils.ln_sf "#{pkg.name}.gem", "pkg/#{spec.name}.gem"
+end
+
+task :push => :gem do |r|
+  `gem push pkg/urua.gem`
+end
+
+task :install => :gem do |r|
+  `gem install pkg/urua.gem`
+end

data/lib/urua.rb

@@ -0,0 +1,416 @@
+require 'daemonite'
+require 'opcua/server'
+require 'ur-sock'
+require 'net/ssh'
+require 'net/scp'
+
+module URUA
+
+  def self::add_axis_concept(context, item) #{{{
+    context.add_variables item, :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
+  end #}}}
+
+  def self::split_vector6_data(vector, item, nodes) #{{{
+    # aqd = data['actual_qd'].to_s
+    item.value = vector.to_s
+    va = vector.to_s[1..-2].split(',')
+    nodes.each_with_index do |a, i|
+      a.value = vector[i].to_f
+    end
+    [vector.to_s, va]
+  end #}}}
+
+  def self::start_dash(opts) #{{{
+    opts['dash'] = UR::Dash.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
+    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
+
+    ### Setup output
+    if not opts['rtde'].send_output_setup(output_names, output_types,10)
+      puts 'Unable to configure output'
+    end
+    if not opts['rtde'].send_start
+      puts 'Unable to start synchronization'
+    end
+  end #}}}
+
+  def self::protect_reconnect_run(opts) #{{{
+    tries = 0
+    begin
+      yield
+    rescue UR::Dash::Reconnect => e
+      tries += 1
+      if tries < 2
+        URUA::start_dash 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'])
+  end #}}}
+
+  def self::download_program(opts,name) #{{{
+    counter = 0
+    begin
+      opts['ssh'].scp.download File.join(opts['url'],name)
+    rescue => e
+      counter += 1
+      URUA::ssh_start opts
+      retry if counter < 3
+    end
+  end #}}}
+
+  def self::upload_program(opts,name,program) #{{{
+    counter = 0
+    begin
+      opts['ssh'].scp.upload StringIO.new(program), File.join(opts['url'],name)
+    rescue => e
+      counter += 1
+      URUA::ssh_start opts
+      retry if counter < 3
+    end
+    nil
+  end #}}}
+
+  def self::get_robot_programs(opts) #{{{
+    progs = []
+    begin
+      progs = opts['ssh'].exec!('ls ' + File.join(opts['url'],'*.urp') + ' 2>/dev/null').split("\n")
+      progs.shift if progs[0] =~ /^bash:/
+    rescue => e
+      URUA::ssh_start opts
+    end
+    progs
+  end #}}}
+
+  def self::implementation_startup(opts) #{{{
+    opts['rtde_config'] ||= File.join(__dir__,'rtde.conf.xml')
+    opts['rtde_config_recipe_base'] ||= 'out'
+
+    Proc.new do
+      on startup do |opts|
+        opts['server'] = OPCUA::Server.new
+        opts['server'].add_namespace opts['namespace']
+        opts['dash'] = nil
+        opts['rtde'] = nil
+        opts['programs'] = nil
+
+        # ProgramFile
+        opts['pf'] = opts['server'].types.add_object_type(:ProgramFile).tap{ |p|
+          p.add_method :SelectProgram do |node|
+            a = node.id.to_s.split('/')
+            URUA::protect_reconnect_run(opts) do
+              opts['dash'].load_program(a[-2])
+            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
+            end
+          end
+        }
+        # TCP ObjectType
+        tcp = opts['server'].types.add_object_type(:Tcp).tap{ |t|
+          t.add_object(:ActualPose, opts['server'].types.folder).tap { |p| URUA::add_axis_concept p, :TCPPose }
+          t.add_object(:ActualSpeed, opts['server'].types.folder).tap{ |p| URUA::add_axis_concept p, :TCPSpeed }
+          t.add_object(:ActualForce, opts['server'].types.folder).tap{ |p| URUA::add_axis_concept p, :TCPForce }
+        }
+        # AxisObjectType
+        ax = opts['server'].types.add_object_type(:AxisType).tap { |a|
+          a.add_object(:ActualPositions, opts['server'].types.folder).tap { |p| URUA::add_axis_concept p, :AxisPositions }
+          a.add_object(:ActualVelocities, opts['server'].types.folder).tap{ |p| URUA::add_axis_concept p, :AxisVelocities }
+          a.add_object(:ActualCurrents, opts['server'].types.folder).tap  { |p| URUA::add_axis_concept p, :AxisCurrents }
+          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 }
+        }
+
+        # 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
+            s.add_variable_rw :Override
+          }
+          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
+            opts['file'] = p.add_variable :File
+            p.add_method :UploadProgram, name: OPCUA::TYPES::STRING, program: OPCUA::TYPES::STRING do |node, name, program|
+              URUA::upload_program opts, name, program
+            end
+            p.add_method :DownloadProgram, name: OPCUA::TYPES::STRING, return:  OPCUA::TYPES::STRING do |node,name|
+              URUA::download_program opts, name
+            end
+          }
+          r.add_method :SelectProgram, name: OPCUA::TYPES::STRING do |node, name|
+            URUA::protect_reconnect_run(opts) do
+              opts['dash'].load_program(name)
+            end
+          end
+          r.add_method :StartProgram do
+            URUA::protect_reconnect_run(opts) do
+              nil unless opts['dash'].start_program
+            end
+          end
+          r.add_method :StopProgram do
+            URUA::protect_reconnect_run(opts) do
+              opts['dash'].stop_program
+            end
+          end
+          r.add_method :PauseProgram do
+            URUA::protect_reconnect_run(opts) do
+              opts['dash'].pause_program
+            end
+          end
+          r.add_method :PowerOn do
+            if opts['rm'].value.to_s != 'Running'
+              Thread.new do
+                sleep 0.5 until opts['rm'].value.to_s == 'Idle'
+                URUA::protect_reconnect_run(opts) do
+                  puts 'break released' if opts['dash'].break_release
+                end
+              end
+            end
+          end
+          r.add_method :PowerOff do
+            URUA::protect_reconnect_run(opts) do
+              opts['dash'].power_off
+            end
+          end
+          r.add_object(:RobotMode, opts['server'].types.folder).tap{ |r|
+            r.add_method :AutomaticMode do
+              opts['dash'].set_operation_mode_auto
+            end
+            r.add_method :ManualMode do
+              opts['dash'].set_operation_mode_manual
+            end
+            r.add_method :ClearMode do
+              opts['dash'].clear_operation_mode
+            end
+          }
+
+          r.add_object(:Messaging, opts['server'].types.folder).tap{ |r|
+            r.add_method :PopupMessage, message: OPCUA::TYPES::STRING do |node, message|
+              opts['dash'].open_popupmessage(message)
+            end
+            r.add_method :ClosePopupMessage do
+              opts['dash'].close_popupmessage
+            end
+            r.add_method :AddToLog, message: OPCUA::TYPES::STRING do |node, message|
+              opts['dash'].add_to_log(message)
+            end
+            r.add_method :CloseSafetyPopup do
+              URUA::protect_reconnect_run(opts) do
+                opts['dash'].close_safety_popup
+              end
+            end
+          }
+        }
+        ### populating the adress space
+        ### Robot object
+        robot = opts['server'].objects.manifest(:UR10e, rt)
+
+        opts['sn'] = robot.find(:SerialNumber)
+        opts['model'] = robot.find(:RobotModel)
+
+        ### SafetyBoard
+        sb = robot.find(:SafetyBoard)
+        opts['mv'] = sb.find(:MainVoltage)
+        opts['rv'] = sb.find(:RobotVoltage)
+        opts['rc'] = sb.find(:RobotCurrent)
+
+        ### StateObject
+        st = robot.find(:State)
+        opts['rm'] = st.find(:RobotMode)
+        opts['sm'] = st.find(:SafetyMode)
+        opts['jm'] = st.find(:JointMode)
+        opts['tm'] = st.find(:ToolMode)
+        opts['ps'] = st.find(:ProgramState)
+        opts['rs'] = st.find(:RobotState)
+        opts['cp'] = st.find(:CurrentProgram)
+        opts['ov'] = st.find(:Override)
+        opts['ss'] = st.find(:SpeedScaling)
+        opts['mo'] = st.find(:Remote)
+
+        ### Axes
+        axes = robot.manifest(:Axes, ax)
+        aapf, avelf, acurf, avolf, amomf = axes.find :ActualPositions, :ActualVelocities, :ActualCurrents, :ActualVoltage, :ActualMomentum
+
+        ### Positions
+        opts['aap']  = aapf.find :AxisPositions
+        opts['aapa'] = aapf.find :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
+        ### Velocities
+        opts['avel']  = avelf.find :AxisVelocities
+        opts['avela'] = avelf.find :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
+        ### Currents
+        opts['acur']  = acurf.find :AxisCurrents
+        opts['acura'] = acurf.find :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
+        ### Voltage
+        opts['avol']  = avolf.find :AxisVoltage
+        opts['avola'] = avolf.find :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
+        ### Momentum
+        opts['amom'] = amomf.find :AxisMomentum
+        ### TCP
+        tcp = robot.manifest(:Tcp, tcp)
+        apf, asf, aff = tcp.find :ActualPose, :ActualSpeed, :ActualForce
+        ### TCP Pose
+        opts['ap']  = apf.find :TCPPose
+        opts['apa'] = apf.find :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
+        ### TCP Speed
+        opts['as']  = asf.find :TCPSpeed
+        opts['asa'] = asf.find :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
+        ### TCP Force
+        opts['af']  = aff.find :TCPForce
+        opts['afa'] = aff.find :Axis1, :Axis2, :Axis3, :Axis4, :Axis5, :Axis6
+
+        ### Connecting to universal robot
+        URUA::start_rtde opts
+        URUA::start_dash opts
+
+        ### Manifest programs
+        opts['programs'] = robot.find(:Programs)
+        opts['prognodes'] = {}
+        opts['progs'] = []
+        opts['semaphore'] = Mutex.new
+        ### check if interfaces are ok
+        raise if !opts['dash'] || !opts['rtde'] ##### TODO, don't return, raise
+
+        # Functionality for threading in loop
+        opts['doit_state'] = Time.now.to_i
+        opts['doit_progs'] = Time.now.to_i
+        opts['doit_rtde'] = Time.now.to_i
+
+        # Serious comment (we do the obvious stuff)
+        opts['sn'].value = opts['dash'].get_serial_number
+        opts['model'].value = opts['dash'].get_robot_model
+      rescue => e
+        puts e.message
+        puts e.backtrace
+        raise
+      end
+    end
+  end   #}}}
+
+  def self::implementation_run #{{{
+    Proc.new do
+      run do |opts|
+        opts['server'].run
+
+        if Time.now.to_i - 1 > opts['doit_state']
+          opts['doit_state'] = Time.now.to_i
+          opts['cp'].value = opts['dash'].get_loaded_program
+          opts['rs'].value = opts['dash'].get_program_state
+          # update remote control state from dashboard server
+          opts['mo'].value = opts['dash'].is_in_remote_control
+        end
+
+        if Time.now.to_i - 10 > opts['doit_progs']
+          opts['doit_progs'] = Time.now.to_i
+          Thread.new do
+            opts['semaphore'].synchronize do
+              # Content of thread
+              # 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'])
+              end
+              opts['progs'] = progs.dup
+              opts['programs'].find(:Programs).value = opts['progs']
+
+            end unless opts['semaphore'].locked?
+          end
+        end
+
+        data = opts['rtde'].receive
+        if data
+          # robot object
+          opts['mv'].value = data['actual_main_voltage']
+          opts['rv'].value = data['actual_robot_voltage']
+          opts['rc'].value = data['actual_robot_current']
+          opts['ss'].value = data['speed_scaling']
+
+          # State objects
+          opts['rm'].value = UR::Rtde::ROBOTMODE[data['robot_mode']]
+          opts['sm'].value = UR::Rtde::SAFETYMODE[data['safety_mode']]
+          opts['jm'].value = UR::Rtde::JOINTMODE[data['joint_mode']]
+          opts['tm'].value = UR::Rtde::TOOLMODE[data['tool_mode']]
+          opts['ps'].value = UR::Rtde::PROGRAMSTATE[data['runtime_state']]
+          # Axes object
+          URUA::split_vector6_data(data['actual_q'],opts['aap'], opts['aapa']) # actual jont positions
+          URUA::split_vector6_data(data['actual_qd'],opts['avel'], opts['avela']) # actual joint velocities
+          URUA::split_vector6_data(data['actual_joint_voltage'],opts['avol'], opts['avola']) # actual joint voltage
+          URUA::split_vector6_data(data['actual_current'],opts['acur'], opts['acura']) # actual current
+          opts['amom'].value = data['actual_momentum'].to_s # actual_momentum
+
+          # TCP object
+          URUA::split_vector6_data(data['actual_qd'],opts['ap'], opts['apa']) # Actual TCP Pose
+          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'])
+          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:'
+        puts e.message
+      rescue UR::Dash::Reconnect => e
+        URUA::start_dash opts
+      rescue => e
+        unless opts['dash']
+          URUA::start_dash opts
+        end
+        p e.message
+        p e.backtrace
+      end
+    end
+  end #}}}
+
+  def self::implementation_exit #{{{
+    Proc.new do
+      on exit do
+        # reserved for important stuff
+        p 'bye'
+      end
+    end
+  end #}}}
+
+end

data/server/uruaserver.conf

@@ -0,0 +1,17 @@
+### OPC UA specific config
+### --------------------------------------------------------------------------
+namespace: https://centurio.work/ur10evva
+
+### UR specific config
+### --------------------------------------------------------------------------
+ipadress: 10.0.31.22
+username: root
+password: easybot
+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/uruaserver.rb

@@ -0,0 +1,12 @@
+#!/usr/bin/ruby
+require '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/tools/urua

@@ -0,0 +1,50 @@
+#!/usr/bin/ruby
+require 'rubygems'
+require 'optparse'
+require 'fileutils'
+require 'pp'
+
+def wrap(s, width=78, indent=18)
+  lines = []
+  line, s = s[0..indent-2], s[indent..-1]
+  s.split(/\n/).each do |ss|
+    ss.split(/[ \t]+/).each do |word|
+      if line.size + word.size >= width
+        lines << line
+        line = (" " * (indent)) + word
+      else
+        line << " " << word
+      end
+    end
+    lines << line if line
+    line = (" " * (indent-1))
+  end
+  return lines.join "\n"
+end
+
+ARGV.options { |opt|
+  opt.summary_width = 15
+  opt.summary_indent = '  '
+  opt.banner = "Usage:\n#{opt.summary_indent}#{File.basename($0)}\n"
+  opt.on("Options:")
+  opt.on("--help", "-h","This text.") { puts opt; exit }
+  opt.on("")
+  opt.on(wrap("[scaffold]        scaffold a server. The executable is always copied, default config are only created when they dont exists.",78,18))
+  opt.parse!
+}
+if (ARGV.length == 0) ||
+   (ARGV.length == 1  && ARGV[0] != 'scaffold')
+  puts ARGV.options
+  exit
+end
+command = ARGV[0]
+
+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)))
+      FileUtils.cp(f,'.')
+    end
+  end
+end

metadata

@@ -0,0 +1,81 @@
+--- !ruby/object:Gem::Specification
+name: urua
+version: !ruby/object:Gem::Version
+  version: 0.99.4444
+platform: ruby
+authors:
+- Florian Pauker
+- Juergen eTM Mangler
+autorequire: 
+bindir: tools
+cert_chain: []
+date: 2020-05-30 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: opcua
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.18'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.18'
+- !ruby/object:Gem::Dependency
+  name: ur-sock
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0.4444'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0.4444'
+description: see https://github.com/fpauker/urua
+email: juergen.mangler@gmail.com
+executables:
+- urua
+extensions: []
+extra_rdoc_files:
+- README.md
+files:
+- AUTHORS
+- LICENSE
+- README.md
+- Rakefile
+- lib/urua.rb
+- server/uruaserver.conf
+- server/uruaserver.rb
+- tools/urua
+homepage: http://cpee.org/
+licenses:
+- GPL-3.0
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: 2.4.0
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubygems_version: 3.1.2
+signing_key: 
+specification_version: 4
+summary: Universal Robot (UR) OPC UA Server.
+test_files: []