Merge branch 'master' into expose-diagnostic-error-codes

Author: urfeex

CHANGELOG.rst

@@ -2,6 +2,26 @@
 Changelog for package ur_client_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.6.0 (2025-01-23)
+------------------
+* Do not throw exception in DashboardClient::sendRequest (`#249 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/249>`_)
+* Add instruction executor for high-level robot control (`#242 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/242>`_)
+* Modernize cmake (`#244 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/244>`_)
+* Update links to dashboard server documentation (`#243 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/243>`_)
+* Trajectory point velocities and example (`#241 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/241>`_)
+* Updated documentation (`#228 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/228>`_)
+* Update ci (`#239 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/239>`_)
+* Enable force mode compatibility with various move types (`#230 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/230>`_)
+* Update package maintainers (`#238 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/238>`_)
+* Bump codecov/codecov-action from 3 to 5 (`#234 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/234>`_)
+* Remove the not regarding MIT license (`#237 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/237>`_)
+* Bump pre-commit/action from 3.0.0 to 3.0.1 (`#236 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/236>`_)
+* Bump actions/checkout from 1 to 4 (`#232 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/232>`_)
+* Bump actions/setup-python from 4 to 5 (`#235 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/235>`_)
+* Bump actions/upload-artifact from 3 to 4 (`#233 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/233>`_)
+* Add dependabot configuration to update actions (`#231 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/231>`_)
+* Contributors: Felix Exner, Rune Søe-Knudsen, dependabot[bot]
+
 1.5.0 (2024-11-25)
 ------------------
 * Adapt RTDE output recipe based on robot response (`#221 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/221>`_)

CMakeLists.txt

@@ -35,6 +35,7 @@ add_library(urcl SHARED
     src/ur/ur_driver.cpp
     src/ur/calibration_checker.cpp
     src/ur/dashboard_client.cpp
+    src/ur/instruction_executor.cpp
     src/ur/tool_communication.cpp
     src/ur/robot_receive_timeout.cpp
     src/ur/version_information.cpp

doc/architecture.rst

@@ -14,6 +14,7 @@ well as a couple of standalone modules to directly use subsets of the library's
    architecture/script_sender
    architecture/trajectory_point_interface
    architecture/ur_driver
+   architecture/instruction_executor
 
 
 Dataflow overview with UrDriver

doc/architecture/instruction_executor.rst

@@ -0,0 +1,23 @@
+Instruction Executor
+====================
+
+The Instruction Executor is a convenience wrapper to make common robot instructions such as point
+to point motions easily accessible. Currently, it supports the following instructions:
+
+* Excecute MoveJ point to point motions
+* Execute MoveL point to point motions
+* Execute sequences consisting of MoveJ and MoveL instructions
+
+The Instruction Executor uses the :ref:`trajectory_point_interface` and the
+:ref:`reverse_interface`
+for sending motion instructions to the robot. Hence, it requires a :ref:`ur_driver` object.
+
+As a minimal working example, please see ``examples/instruction_executor.cpp`` example:
+
+.. literalinclude:: ../../examples/instruction_executor.cpp
+   :language: c++
+   :caption: examples/instruction_executor.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: g_my_driver.reset
+   :end-at: g_my_driver->stopControl();

examples/CMakeLists.txt

@@ -47,3 +47,7 @@ target_link_libraries(script_sender_example ur_client_library::urcl)
 add_executable(trajectory_point_interface_example
 trajectory_point_interface.cpp)
 target_link_libraries(trajectory_point_interface_example ur_client_library::urcl)
+
+add_executable(instruction_executor
+instruction_executor.cpp)
+target_link_libraries(instruction_executor ur_client_library::urcl)

examples/instruction_executor.cpp

@@ -0,0 +1,135 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2024 Universal Robots A/S
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#include <chrono>
+#include <string>
+#include <thread>
+
+#include "ur_client_library/types.h"
+#include "ur_client_library/ur/ur_driver.h"
+#include "ur_client_library/log.h"
+#include "ur_client_library/control/trajectory_point_interface.h"
+#include "ur_client_library/ur/dashboard_client.h"
+#include "ur_client_library/ur/instruction_executor.h"
+
+const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
+const std::string SCRIPT_FILE = "resources/external_control.urscript";
+const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
+const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
+
+std::unique_ptr<urcl::DashboardClient> g_my_dashboard;
+std::shared_ptr<urcl::UrDriver> g_my_driver;
+
+// We need a callback function to register. See UrDriver's parameters for details.
+void handleRobotProgramState(bool program_running)
+{
+  // Print the text in green so we see it better
+  std::cout << "\033[1;32mProgram running: " << std::boolalpha << program_running << "\033[0m\n" << std::endl;
+}
+
+int main(int argc, char* argv[])
+{
+  urcl::setLogLevel(urcl::LogLevel::INFO);
+  // Parse the ip arguments if given
+  std::string robot_ip = DEFAULT_ROBOT_IP;
+  if (argc > 1)
+  {
+    robot_ip = std::string(argv[1]);
+  }
+
+  // --------------- INITIALIZATION BEGIN -------------------
+  // Making the robot ready for the program by:
+  // Connect the robot Dashboard
+  g_my_dashboard.reset(new urcl::DashboardClient(robot_ip));
+  if (!g_my_dashboard->connect())
+  {
+    URCL_LOG_ERROR("Could not connect to dashboard");
+    return 1;
+  }
+
+  // // Stop program, if there is one running
+  if (!g_my_dashboard->commandStop())
+  {
+    URCL_LOG_ERROR("Could not send stop program command");
+    return 1;
+  }
+
+  // Power it off
+  if (!g_my_dashboard->commandPowerOff())
+  {
+    URCL_LOG_ERROR("Could not send Power off command");
+    return 1;
+  }
+
+  // Power it on
+  if (!g_my_dashboard->commandPowerOn())
+  {
+    URCL_LOG_ERROR("Could not send Power on command");
+    return 1;
+  }
+
+  // Release the brakes
+  if (!g_my_dashboard->commandBrakeRelease())
+  {
+    URCL_LOG_ERROR("Could not send BrakeRelease command");
+    return 1;
+  }
+
+  std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup;
+  const bool headless = true;
+  g_my_driver.reset(new urcl::UrDriver(robot_ip, SCRIPT_FILE, OUTPUT_RECIPE, INPUT_RECIPE, &handleRobotProgramState,
+                                       headless, std::move(tool_comm_setup), CALIBRATION_CHECKSUM));
+  auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_driver);
+  // --------------- INITIALIZATION END -------------------
+
+  URCL_LOG_INFO("Running motion");
+  // Trajectory definition
+  std::vector<std::shared_ptr<urcl::control::MotionPrimitive>> motion_sequence{
+    std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.57, 0, 0, 0, 0 }, 0.1,
+                                                    std::chrono::seconds(5)),
+    std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 }, 0.1,
+                                                    std::chrono::seconds(5)),
+
+    std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose(-0.203, 0.263, 0.559, 0.68, -1.083, -2.076), 0.1,
+                                                    std::chrono::seconds(2)),
+    std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose{ -0.203, 0.463, 0.559, 0.68, -1.083, -2.076 }, 0.1,
+                                                    std::chrono::seconds(2)),
+  };
+  instruction_executor->executeMotion(motion_sequence);
+
+  instruction_executor->moveJ({ -1.57, -1.57, 0, 0, 0, 0 });
+  instruction_executor->moveJ({ -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 });
+  instruction_executor->moveL({ -0.203, 0.263, 0.559, 0.68, -1.083, -2.076 });
+  instruction_executor->moveL({ -0.203, 0.463, 0.559, 0.68, -1.083, -2.076 });
+
+  g_my_driver->stopControl();
+  return 0;
+}

include/ur_client_library/control/motion_primitives.h

@@ -0,0 +1,95 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2025 Universal Robots A/S
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#ifndef UR_CLIENT_LIBRARY_MOTION_PRIMITIVES_H_INCLUDED
+#define UR_CLIENT_LIBRARY_MOTION_PRIMITIVES_H_INCLUDED
+
+#include <chrono>
+#include <ur_client_library/types.h>
+
+namespace urcl
+{
+namespace control
+{
+
+enum class MotionType : uint8_t
+{
+  MOVEJ = 0,
+  MOVEL = 1,
+  MOVEP = 2,
+  MOVEC = 3,
+  SPLINE = 51,
+  UNKNOWN = 255
+};
+struct MotionPrimitive
+{
+  MotionType type;
+  std::chrono::duration<double> duration;
+  double acceleration;
+  double velocity;
+  double blend_radius;
+};
+
+struct MoveJPrimitive : public MotionPrimitive
+{
+  MoveJPrimitive(const urcl::vector6d_t& target, const double blend_radius = 0,
+                 const std::chrono::duration<double> duration = std::chrono::milliseconds(0),
+                 const double acceleration = 1.4, const double velocity = 1.04)
+  {
+    type = MotionType::MOVEJ;
+    target_joint_configuration = target;
+    this->duration = duration;
+    this->acceleration = acceleration;
+    this->velocity = velocity;
+    this->blend_radius = blend_radius;
+  }
+
+  urcl::vector6d_t target_joint_configuration;
+};
+
+struct MoveLPrimitive : public MotionPrimitive
+{
+  MoveLPrimitive(const urcl::Pose& target, const double blend_radius = 0,
+                 const std::chrono::duration<double> duration = std::chrono::milliseconds(0),
+                 const double acceleration = 1.4, const double velocity = 1.04)
+  {
+    type = MotionType::MOVEL;
+    target_pose = target;
+    this->duration = duration;
+    this->acceleration = acceleration;
+    this->velocity = velocity;
+    this->blend_radius = blend_radius;
+  }
+
+  urcl::Pose target_pose;
+};
+}  // namespace control
+}  // namespace urcl
+#endif  // UR_CLIENT_LIBRARY_MOTION_PRIMITIVES_H_INCLUDED

include/ur_client_library/control/reverse_interface.h

@@ -141,13 +141,20 @@ class ReverseInterface
                "commands.")]] virtual void
   setKeepaliveCount(const uint32_t count);
 
+  void registerDisconnectionCallback(std::function<void(const int)> disconnection_fun)
+  {
+    disconnection_callback_ = disconnection_fun;
+  }
+
 protected:
   virtual void connectionCallback(const int filedescriptor);
 
   virtual void disconnectionCallback(const int filedescriptor);
 
   virtual void messageCallback(const int filedescriptor, char* buffer, int nbytesrecv);
 
+  std::function<void(const int)> disconnection_callback_ = nullptr;
+
   int client_fd_;
   comm::TCPServer server_;
 

include/ur_client_library/control/trajectory_point_interface.h

@@ -52,6 +52,8 @@ enum class TrajectoryResult : int32_t
   TRAJECTORY_RESULT_FAILURE = 2    ///< Aborted due to error during execution
 };
 
+std::string trajectoryResultToString(const TrajectoryResult result);
+
 /*!
  * Spline types
  */

include/ur_client_library/types.h

@@ -31,6 +31,23 @@ using vector6d_t = std::array<double, 6>;
 using vector6int32_t = std::array<int32_t, 6>;
 using vector6uint32_t = std::array<uint32_t, 6>;
 
+struct Pose
+{
+  Pose() : x(0.0), y(0.0), z(0.0), rx(0.0), ry(0.0), rz(0.0)
+  {
+  }
+  Pose(const double x, const double y, const double z, const double rx, const double ry, const double rz)
+    : x(x), y(y), z(z), rx(rx), ry(ry), rz(rz)
+  {
+  }
+  double x;
+  double y;
+  double z;
+  double rx;
+  double ry;
+  double rz;
+};
+
 template <class T, std::size_t N>
 std::ostream& operator<<(std::ostream& out, const std::array<T, N>& item)
 {
@@ -59,4 +76,4 @@ constexpr typename std::underlying_type<E>::type toUnderlying(const E e) noexcep
 {
   return static_cast<typename std::underlying_type<E>::type>(e);
 }
-}  // namespace urcl
+}  // namespace urcl