urua 0.99.4447 → 0.99.5000

checksums.yaml

@@ -1,7 +1,7 @@
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 SHA256:
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-  data.tar.gz: 82e306922e3d9e9b9f6f39a6def2be6f5280d143f7dc7f3c069f9def7faeeb49
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+  data.tar.gz: 66b2c863d5b5c28f64dc953ce2826ced664c029e40213ebf3bb42b1dfe0f5450
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+  data.tar.gz: cbf0db9abf68997f387141b7a26581f3139e992728de8550bffe10f7af1526f527fd5f280413090d7573ab5a7c3f7b2f6bc43d467181486275c2c5bf87510f59

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'
 
@@ -28,8 +32,8 @@ module URUA
     ### 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']
@@ -145,7 +149,7 @@ 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|
@@ -251,6 +255,7 @@ 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)
@@ -322,6 +327,7 @@ 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']

data/server/devserver.conf

@@ -0,0 +1,17 @@
+### OPC UA specific config
+### --------------------------------------------------------------------------
+namespace: https://centurio.work/ur10evva
+
+### UR specific config
+### --------------------------------------------------------------------------
+ipadress: 192.168.1.26
+username: ur
+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/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!

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: urua
 version: !ruby/object:Gem::Version
-  version: 0.99.4447
+  version: 0.99.5000
 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: 2020-06-05 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: opcua
@@ -31,14 +31,14 @@ dependencies:
     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
@@ -66,6 +66,8 @@ files:
 - README.md
 - Rakefile
 - lib/urua.rb
+- server/devserver.conf
+- server/devserver.rb
 - server/uruaserver.conf
 - server/uruaserver.rb
 - tools/urua