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Dashboard commands, Docker Image and CI step for running the examples #127
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1f080c0
Add example for receiving the calibration status
urrsk f43c618
Change to URSim docker image
urrsk db5a2d0
Adding function to interact with the robot through the dashboard
urrsk 7a75157
Add CI step for running the examples
urrsk b7117ed
Remove Dockerfile
urrsk d2d083c
Fix spell error in Brake Release dashboard command
urrsk f146074
Minor code style fixes and cleanup
fmauch 607eeeb
Modernize timeout interface
8cf6f5c
Added commands, version check and now throws exception
urmarp 98ceaa0
Added more capabilities to VersionInformation
d230be3
Use VersionInformation for version checking inside dashboard calls
89423b3
Remove requirement to manually add line termination to the dashboard …
56345db
Explicitly use this->major to avoid name clashes from old c headers
92f535d
Adapt dashboard_client test to changed version API
a856423
Update comments
14ace41
Use external IP address of test container
4fa8eac
Set default IP in examples to external IP address of container
d5fa901
Added port forwarding to start_ursim.sh
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| Original file line number | Diff line number | Diff line change |
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| // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- | ||
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| // -- BEGIN LICENSE BLOCK ---------------------------------------------- | ||
| // Copyright 2022 Universal Robots A/S | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| // | ||
| // -- END LICENSE BLOCK ------------------------------------------------ | ||
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| #include <ur_client_library/log.h> | ||
| #include <ur_client_library/ur/dashboard_client.h> | ||
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| #include <iostream> | ||
| #include <memory> | ||
| #include <thread> | ||
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| using namespace urcl; | ||
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| // In a real-world example it would be better to get those values from command line parameters / a | ||
| // better configuration system such as Boost.Program_options | ||
| const std::string DEFAULT_ROBOT_IP = "192.168.56.101"; | ||
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| // We need a callback function to register. See UrDriver's parameters for details. | ||
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| int main(int argc, char* argv[]) | ||
| { | ||
| urcl::setLogLevel(urcl::LogLevel::DEBUG); | ||
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| // Parse the ip arguments if given | ||
| std::string robot_ip = DEFAULT_ROBOT_IP; | ||
| if (argc > 1) | ||
| { | ||
| robot_ip = std::string(argv[1]); | ||
| } | ||
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| // Making the robot ready for the program by: | ||
| // Connect the the robot Dashboard | ||
| std::unique_ptr<DashboardClient> my_dashboard; | ||
| my_dashboard.reset(new DashboardClient(robot_ip)); | ||
| if (!my_dashboard->connect()) | ||
| { | ||
| URCL_LOG_ERROR("Could not connect to dashboard"); | ||
| return 1; | ||
| } | ||
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| if (!my_dashboard->commandPowerOff()) | ||
| { | ||
| URCL_LOG_ERROR("Could not send power off"); | ||
| return 1; | ||
| } | ||
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| my_dashboard->commandCloseSafetyPopup(); | ||
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| // Power it on | ||
| if (!my_dashboard->commandPowerOn()) | ||
| { | ||
| URCL_LOG_ERROR("Could not send Power on command"); | ||
| return 1; | ||
| } | ||
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| // Release the brakes | ||
| if (!my_dashboard->commandBrakeRelease()) | ||
| { | ||
| URCL_LOG_ERROR("Could not send BrakeRelease command"); | ||
| return 1; | ||
| } | ||
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| // Load existing program | ||
| const std::string program_file_name_to_be_loaded("wait_program.urp"); | ||
| if (!my_dashboard->commandLoadProgram(program_file_name_to_be_loaded)) | ||
| { | ||
| URCL_LOG_ERROR("Could not load %s program", program_file_name_to_be_loaded.c_str()); | ||
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| return 1; | ||
| } | ||
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| // Play loaded program | ||
| if (!my_dashboard->commandPlay()) | ||
| { | ||
| URCL_LOG_ERROR("Could not play program"); | ||
| return 1; | ||
| } | ||
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| // Pause running program | ||
| if (!my_dashboard->commandPause()) | ||
| { | ||
| URCL_LOG_ERROR("Could not pause program"); | ||
| return 1; | ||
| } | ||
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| // Play loaded program | ||
| if (!my_dashboard->commandPlay()) | ||
| { | ||
| URCL_LOG_ERROR("Could not play program"); | ||
| return 1; | ||
| } | ||
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| // Stop program | ||
| if (!my_dashboard->commandStop()) | ||
| { | ||
| URCL_LOG_ERROR("Could not stop program"); | ||
| return 1; | ||
| } | ||
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| // Power it off | ||
| if (!my_dashboard->commandPowerOff()) | ||
| { | ||
| URCL_LOG_ERROR("Could not send Power off command"); | ||
| return 1; | ||
| } | ||
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| // Now the robot is ready to receive a program | ||
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| return 0; | ||
| } | ||
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