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merged 3 commits into from
Feb 11, 2025
Merged

Change UrDriver initialization to a config struct #264

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29f109c
Use a config struct for initializing UrDriver
urfeex Feb 7, 2025
d15466e
Disable internal deprecation warning
urfeex Feb 7, 2025
2ce3c9b
Increase dashboard timeout in ExampleRobotWrapper to 10s
urfeex Feb 11, 2025
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234 changes: 208 additions & 26 deletions include/ur_client_library/ur/ur_driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,81 @@

namespace urcl
{
/*!
* \brief Structure for configuration parameters of a UrDriver object.
*/
struct UrDriverConfiguration
{
std::string robot_ip; //!< IP-address under which the robot is reachable.
std::string script_file; //!< URScript file that should be sent to the robot.
std::string output_recipe_file; //!< Filename where the output recipe is stored in.
std::string input_recipe_file; //!< Filename where the input recipe is stored in.

/*!
* \brief Function handle to a callback on program state changes.
*
* For this to work, the URScript program will have to send keepalive signals to the \p
* reverse_port.
*/
std::function<void(bool)> handle_program_state;
bool headless_mode; //!< Parameter to control if the driver should be started in headless mode.

std::unique_ptr<ToolCommSetup> tool_comm_setup = nullptr; //!< Configuration for using the tool communication.

/*!
* \brief Port that will be opened by the driver to allow direct communication between the driver
* and the robot controller.
*/
uint32_t reverse_port = 50001;

/*! \brief The driver will offer an interface to receive the program's URScript on this port. If
* the robot cannot connect to this port, `External Control` will stop immediately.
*/
uint32_t script_sender_port = 50002;

/*!
* \brief Port used for sending trajectory points to the robot in case of trajectory forwarding.
*/
uint32_t trajectory_port = 50003;

/*!
* \brief Port used for forwarding script commands to the robot.
*
* This interface supports a set of predefined commands.
* The script commands will be executed locally on the robot.
*/
uint32_t script_command_port = 50004;

/*!
* \brief IP address that the reverse_port will get bound to.
*
* If not specified, the IP address of the interface that is used for connecting to the robot's RTDE port will be
* used.
*/
std::string reverse_ip = "";

/*!
* \brief Proportional gain for arm joints following target position, range [100,2000]
*/
int servoj_gain = 2000;

/*!
* \brief Time [S], range [0.03,0.2] smoothens servoj calls with this lookahead time
*/
double servoj_lookahead_time = 0.03;

bool non_blocking_read = false;

// TODO: Remove on 2027-05
// The following parameters are considered deprecated and will be removed in May 2027.
/// @private
std::string calibration_checksum = "";
/// @private
double force_mode_damping = 0.025;
/// @private
double force_mode_gain_scaling = 0.5;
};

/*!
* \brief This is the main class for interfacing the driver.
*
Expand All @@ -56,6 +131,25 @@ class UrDriver
public:
/*!
* \brief Constructs a new UrDriver object.
*
* An RTDE connection to the robot will be established using the given recipe files. However, RTDE
* communication will not be started automatically, as this requires an external structure to read
* data from the RTDE client using the getDataPackage() method periodically. Once this is setup,
* please use the startRTDECommunication() method to actually start RTDE communication.
*
* \param config Configuration struct for the UrDriver. See it's documentation for details.
*/
explicit UrDriver(const UrDriverConfiguration& config)
{
init(config);
}

/*!
* \brief Constructs a new UrDriver object.
*
* \deprecated Initializing a UrDriver object with an argument list is deprecated. Please use UrDriver(const
* UrDriverConfiguration& config) instead. This function will be removed in May 2027.
*
* Upon initialization this class will check the calibration checksum reported from the robot and
* compare it to a checksum given by the user. If the checksums don't match, the driver will output
* an error message. This is critical if you want to do forward or inverse kinematics based on the
Expand Down Expand Up @@ -94,15 +188,41 @@ class UrDriver
* \param script_command_port Port used for forwarding script commands to the robot. The script commands will be
* executed locally on the robot.
*/
// Called sigA in tests
[[deprecated("Initializing a UrDriver object with an argument list is deprecated. Please use UrDriver(const "
"UrDriverConfiguration& config) instead. This function will be removed in May 2027.")]]
UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
std::unique_ptr<ToolCommSetup> tool_comm_setup, const uint32_t reverse_port = 50001,
const uint32_t script_sender_port = 50002, int servoj_gain = 2000, double servoj_lookahead_time = 0.03,
bool non_blocking_read = false, const std::string& reverse_ip = "", const uint32_t trajectory_port = 50003,
const uint32_t script_command_port = 50004);
const uint32_t script_command_port = 50004)
{
UrDriverConfiguration config;
config.robot_ip = robot_ip;
config.script_file = script_file;
config.output_recipe_file = output_recipe_file;
config.input_recipe_file = input_recipe_file;
config.handle_program_state = handle_program_state;
config.headless_mode = headless_mode;
config.tool_comm_setup = std::move(tool_comm_setup);
config.reverse_port = reverse_port;
config.script_sender_port = script_sender_port;
config.servoj_gain = servoj_gain;
config.servoj_lookahead_time = servoj_lookahead_time;
config.non_blocking_read = non_blocking_read;
config.reverse_ip = reverse_ip;
config.trajectory_port = trajectory_port;
config.script_command_port = script_command_port;
init(config);
}

/*!
* \brief Constructs a new UrDriver object.
*
* \deprecated Initializing a UrDriver object with an argument list is deprecated. Please use UrDriver(const
* UrDriverConfiguration& config) instead. This function will be removed in May 2027.
*
* \param robot_ip IP-address under which the robot is reachable.
* \param script_file URScript file that should be sent to the robot.
* \param output_recipe_file Filename where the output recipe is stored in.
Expand All @@ -129,28 +249,43 @@ class UrDriver
* \param force_mode_damping The damping parameter used when the robot is in force mode, range [0,1]
* \param force_mode_gain_scaling Scales the gain used when the robot is in force mode, range [0,2] (only e-series)
*/
[[deprecated(
"Specifying the force mode damping factor and the force mode gain scaling factor at driver creation has "
"been deprecated. Force mode parameters should be specified with each activiation of force mode, and "
"can be set in the function call to start force mode.")]] UrDriver(const std::string& robot_ip,
const std::string& script_file,
const std::string& output_recipe_file,
const std::string& input_recipe_file,
std::function<void(bool)> handle_program_state,
bool headless_mode,
std::unique_ptr<ToolCommSetup> tool_comm_setup,
const uint32_t reverse_port,
const uint32_t script_sender_port,
int servoj_gain, double servoj_lookahead_time,
bool non_blocking_read,
const std::string& reverse_ip,
const uint32_t trajectory_port,
const uint32_t script_command_port,
double force_mode_damping,
double force_mode_gain_scaling = 0.5);
// Called sigB in tests
[[deprecated("Initializing a UrDriver object with an argument list is deprecated. Please use UrDriver(const "
"UrDriverConfiguration& config) instead. This function will be removed in May 2027.")]]
UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
std::unique_ptr<ToolCommSetup> tool_comm_setup, const uint32_t reverse_port,
const uint32_t script_sender_port, int servoj_gain, double servoj_lookahead_time, bool non_blocking_read,
const std::string& reverse_ip, const uint32_t trajectory_port, const uint32_t script_command_port,
double force_mode_damping, double force_mode_gain_scaling = 0.5)
{
UrDriverConfiguration config;
config.robot_ip = robot_ip;
config.script_file = script_file;
config.output_recipe_file = output_recipe_file;
config.input_recipe_file = input_recipe_file;
config.handle_program_state = handle_program_state;
config.headless_mode = headless_mode;
config.tool_comm_setup = std::move(tool_comm_setup);
config.reverse_port = reverse_port;
config.script_sender_port = script_sender_port;
config.servoj_gain = servoj_gain;
config.servoj_lookahead_time = servoj_lookahead_time;
config.non_blocking_read = non_blocking_read;
config.reverse_ip = reverse_ip;
config.trajectory_port = trajectory_port;
config.script_command_port = script_command_port;
config.force_mode_damping = force_mode_damping;
config.force_mode_gain_scaling = force_mode_gain_scaling;
init(config);
}

/*!
* \brief Constructs a new UrDriver object.
*
* \deprecated Initializing a UrDriver object with an argument list is deprecated. Please use UrDriver(const
* UrDriverConfiguration& config) instead. This function will be removed in May 2027.
*
* \param robot_ip IP-address under which the robot is reachable.
* \param script_file URScript file that should be sent to the robot.
* \param output_recipe_file Filename where the output recipe is stored in.
Expand Down Expand Up @@ -178,16 +313,44 @@ class UrDriver
* \param force_mode_damping The damping parameter used when the robot is in force mode, range [0,1]
* \param force_mode_gain_scaling Scales the gain used when the robot is in force mode, range [0,2] (only e-series)
*/
// Called sigC in tests
[[deprecated("Initializing a UrDriver object with an argument list is deprecated. Please use UrDriver(const "
"UrDriverConfiguration& config) instead. This function will be removed in May 2027.")]]
UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum,
const uint32_t reverse_port = 50001, const uint32_t script_sender_port = 50002, int servoj_gain = 2000,
double servoj_lookahead_time = 0.03, bool non_blocking_read = false, const std::string& reverse_ip = "",
const uint32_t trajectory_port = 50003, const uint32_t script_command_port = 50004,
double force_mode_damping = 0.025, double force_mode_gain_scaling = 0.5);
double force_mode_damping = 0.025, double force_mode_gain_scaling = 0.5)
{
UrDriverConfiguration config;
config.robot_ip = robot_ip;
config.script_file = script_file;
config.output_recipe_file = output_recipe_file;
config.input_recipe_file = input_recipe_file;
config.handle_program_state = handle_program_state;
config.headless_mode = headless_mode;
config.calibration_checksum = calibration_checksum;
config.tool_comm_setup = std::move(tool_comm_setup);
config.reverse_port = reverse_port;
config.script_sender_port = script_sender_port;
config.servoj_gain = servoj_gain;
config.servoj_lookahead_time = servoj_lookahead_time;
config.non_blocking_read = non_blocking_read;
config.reverse_ip = reverse_ip;
config.trajectory_port = trajectory_port;
config.script_command_port = script_command_port;
config.force_mode_damping = force_mode_damping;
config.force_mode_gain_scaling = force_mode_gain_scaling;
init(config);
}
/*!
* \brief Constructs a new UrDriver object.
*
* \deprecated Initializing a UrDriver object with an argument list is deprecated. Please use UrDriver(const
* UrDriverConfiguration& config) instead. This function will be removed in May 2027.
*
* \param robot_ip IP-address under which the robot is reachable.
* \param script_file URScript file that should be sent to the robot.
* \param output_recipe_file Filename where the output recipe is stored in.
Expand All @@ -214,18 +377,36 @@ class UrDriver
* \param force_mode_damping The damping parameter used when the robot is in force mode, range [0,1]
* \param force_mode_gain_scaling Scales the gain used when the robot is in force mode, range [0,2] (only e-series)
*/
// Called sigD in tests
[[deprecated("Initializing a UrDriver object with an argument list is deprecated. Please use UrDriver(const "
"UrDriverConfiguration& config) instead. This function will be removed in May 2027.")]]
UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
const std::string& calibration_checksum = "", const uint32_t reverse_port = 50001,
const uint32_t script_sender_port = 50002, int servoj_gain = 2000, double servoj_lookahead_time = 0.03,
bool non_blocking_read = false, const std::string& reverse_ip = "", const uint32_t trajectory_port = 50003,
const uint32_t script_command_port = 50004, double force_mode_damping = 0.025,
double force_mode_gain_scaling = 0.5)
: UrDriver(robot_ip, script_file, output_recipe_file, input_recipe_file, handle_program_state, headless_mode,
std::unique_ptr<ToolCommSetup>{}, calibration_checksum, reverse_port, script_sender_port, servoj_gain,
servoj_lookahead_time, non_blocking_read, reverse_ip, trajectory_port, script_command_port,
force_mode_damping, force_mode_gain_scaling)
{
UrDriverConfiguration config;
config.robot_ip = robot_ip;
config.script_file = script_file;
config.output_recipe_file = output_recipe_file;
config.input_recipe_file = input_recipe_file;
config.handle_program_state = handle_program_state;
config.headless_mode = headless_mode;
config.calibration_checksum = calibration_checksum;
config.reverse_port = reverse_port;
config.script_sender_port = script_sender_port;
config.servoj_gain = servoj_gain;
config.servoj_lookahead_time = servoj_lookahead_time;
config.non_blocking_read = non_blocking_read;
config.reverse_ip = reverse_ip;
config.trajectory_port = trajectory_port;
config.script_command_port = script_command_port;
config.force_mode_damping = force_mode_damping;
config.force_mode_gain_scaling = force_mode_gain_scaling;
init(config);
}

virtual ~UrDriver() = default;
Expand Down Expand Up @@ -669,6 +850,7 @@ class UrDriver

private:
static std::string readScriptFile(const std::string& filename);
void init(const UrDriverConfiguration& config);
/*!
* \brief Reconnects the secondary stream used to send program to the robot.
*
Expand Down Expand Up @@ -709,4 +891,4 @@ class UrDriver
VersionInformation robot_version_;
};
} // namespace urcl
#endif // ifndef UR_CLIENT_LIBRARY_UR_UR_DRIVER_H_INCLUDED
#endif // ifndef UR_CLIENT_LIBRARY_UR_UR_DRIVER_H_INCLUDED
21 changes: 16 additions & 5 deletions src/example_robot_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,16 +48,27 @@ ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std:
URCL_LOG_ERROR("Could not connect to dashboard");
}

// In CI we the dashboard client times out for no obvious reason. Hence we increase the timeout
// here.
timeval tv;
tv.tv_sec = 10;
tv.tv_usec = 0;
dashboard_client_->setReceiveTimeout(tv);

if (!initializeRobotWithDashboard())
{
throw UrException("Could not initialize robot with dashboard");
}

std::unique_ptr<ToolCommSetup> tool_comm_setup;
ur_driver_ =
std::make_shared<UrDriver>(robot_ip, script_file, output_recipe_file, input_recipe_file,
std::bind(&ExampleRobotWrapper::handleRobotProgramState, this, std::placeholders::_1),
headless_mode, std::move(tool_comm_setup));
UrDriverConfiguration driver_config;
driver_config.robot_ip = robot_ip;
driver_config.script_file = script_file;
driver_config.output_recipe_file = output_recipe_file;
driver_config.input_recipe_file = input_recipe_file;
driver_config.handle_program_state =
std::bind(&ExampleRobotWrapper::handleRobotProgramState, this, std::placeholders::_1);
driver_config.headless_mode = headless_mode;
ur_driver_ = std::make_shared<UrDriver>(driver_config);

if (!headless_mode && !std::empty(autostart_program))
{
Expand Down
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