Dashboard client polyscopex (#1546)

* Support PolyScopeX Robot API through the dashboard client

* Add resume service to docs

Co-authored-by: Mads Holm Peters <[email protected]>
(cherry picked from commit f247c0b)

Author: 2 people

ur_robot_driver/doc/dashboard_client.rst

@@ -118,6 +118,12 @@ restart_safety (`std_srvs/Trigger <http://docs.ros.org/en/rolling/p/std_srvs/srv
 
 Used when robot gets a safety fault or violation to restart the safety. After safety has been rebooted the robot will be in Power Off. NOTE: You should always ensure it is okay to restart the system. It is highly recommended to check the error log before using this command (either via PolyScope or e.g. ssh connection).
 
+resume (`std_srvs/Trigger <http://docs.ros.org/en/rolling/p/std_srvs/srv/Trigger.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Resume a paused program on a PolyScope X robot. This service is only available on a PolyScope X
+robot.
+
 shutdown (`std_srvs/Trigger <http://docs.ros.org/en/rolling/p/std_srvs/srv/Trigger.html>`_)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 

ur_robot_driver/include/ur_robot_driver/dashboard_client_ros.hpp

@@ -85,16 +85,19 @@ class DashboardClientROS
   virtual ~DashboardClientROS() = default;
 
 private:
-  inline rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr createDashboardTriggerSrv(const std::string& topic,
-                                                                                      const std::string& command,
-                                                                                      const std::string& expected)
+  inline rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr
+  createDashboardTriggerSrv(const std::string& topic, std::function<urcl::DashboardResponse()> command)
   {
     rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr service = node_->create_service<std_srvs::srv::Trigger>(
-        topic, [&, command, expected](const std::shared_ptr<std_srvs::srv::Trigger::Request> req,
-                                      const std::shared_ptr<std_srvs::srv::Trigger::Response> resp) {
+        topic, [command](const std::shared_ptr<std_srvs::srv::Trigger::Request> req,
+                         const std::shared_ptr<std_srvs::srv::Trigger::Response> resp) {
           try {
-            resp->message = this->client_.sendAndReceive(command);
-            resp->success = std::regex_match(resp->message, std::regex(expected));
+            auto response = command();
+            resp->message = response.message;
+            if (response.data.find("status_code") != response.data.end()) {
+              resp->message += ", status_code: " + std::to_string(std::get<int>(response.data["status_code"]));
+            }
+            resp->success = response.ok;
           } catch (const urcl::UrException& e) {
             RCLCPP_ERROR(rclcpp::get_logger("Dashboard_Client"), "Service Call failed: '%s'", e.what());
             resp->message = e.what();
@@ -104,6 +107,60 @@ class DashboardClientROS
     return service;
   }
 
+  template <class SrvResponseT>
+  urcl::DashboardResponse dashboardCallWithChecks(std::function<urcl::DashboardResponse()> dashboard_call,
+                                                  SrvResponseT resp)
+  {
+    urcl::DashboardResponse dashboard_response;
+    try {
+      dashboard_response = dashboard_call();
+      resp->success = dashboard_response.ok;
+      resp->answer = dashboard_response.message;
+    } catch (const urcl::NotImplementedException& e) {
+      RCLCPP_ERROR(rclcpp::get_logger("Dashboard_Client"), "This service call seems not to be implemented (for this "
+                                                           "robot version).");
+      resp->answer = "Not implemented for this robot software version.";
+      resp->success = false;
+    } catch (const urcl::UrException& e) {
+      RCLCPP_ERROR(rclcpp::get_logger("Dashboard_Client"), "Service Call failed: '%s'", e.what());
+      resp->answer = e.what();
+      resp->success = false;
+      return dashboard_response;
+    }
+    return dashboard_response;
+  }
+
+  template <class SrvResponseT>
+  void handleDashboardResponseData(std::function<void()> fun, SrvResponseT& resp,
+                                   const urcl::DashboardResponse& dashboard_response)
+  {
+    try {
+      fun();
+    } catch (const std::bad_variant_access& e) {
+      RCLCPP_ERROR(rclcpp::get_logger("Dashboard_Client"), "Service Call failed: '%s'", e.what());
+      std::ostringstream oss;
+      for (const auto& [key, value] : dashboard_response.data) {
+        oss << key << ": ";
+        std::visit([&oss](const auto& arg) { oss << arg; }, value);
+        oss << "\n";
+      }
+      RCLCPP_INFO(rclcpp::get_logger("Dashboard_Client"), "Available data:\n%s", oss.str().c_str());
+      resp->answer = e.what();
+      resp->success = false;
+    } catch (const std::out_of_range& e) {
+      RCLCPP_ERROR(rclcpp::get_logger("Dashboard_Client"), "Service Call failed: '%s'", e.what());
+      std::ostringstream oss;
+      for (const auto& [key, value] : dashboard_response.data) {
+        oss << key << ": ";
+        std::visit([&oss](const auto& arg) { oss << arg; }, value);
+        oss << "\n";
+      }
+      RCLCPP_INFO(rclcpp::get_logger("Dashboard_Client"), "Available data:\n%s", oss.str().c_str());
+      resp->answer = e.what();
+      resp->success = false;
+    }
+  }
+
   bool handleRunningQuery(ur_dashboard_msgs::srv::IsProgramRunning::Request::SharedPtr req,
                           ur_dashboard_msgs::srv::IsProgramRunning::Response::SharedPtr resp);
 
@@ -122,7 +179,7 @@ class DashboardClientROS
   bool connect();
 
   std::shared_ptr<rclcpp::Node> node_;
-  urcl::DashboardClient client_;
+  std::unique_ptr<urcl::DashboardClient> client_;
 
   urcl::comm::INotifier notifier_;
   urcl::primary_interface::PrimaryClient primary_client_;
@@ -134,6 +191,7 @@ class DashboardClientROS
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr close_safety_popup_service_;
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr pause_service_;
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr play_service_;
+  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resume_service_;
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr power_off_service_;
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr power_on_service_;
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr restart_safety_service_;