Merge branch 'master' into force_mode_arguments

CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package ur_client_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.4.0 (2024-09-10)
+------------------
+* Ensure that the targets are reachable within the robots limits (`#184 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/184>`_)
+* Analog domain (`#211 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/211>`_)
+* Fix clang compilation error (`#210 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/210>`_)
+* Moved reset of speed slider to correct teardown function, so that it … (`#206 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/206>`_)
+  …resets between each test.
+* [doc] Fix syntax in example.rst (`#207 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/207>`_)
+* [doc] Migrate documentation to sphinx (`#95 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/95>`_)
+* Contributors: Felix Exner, Mads Holm Peters, Remi Siffert, URJala
+
 1.3.7 (2024-06-03)
 ------------------
 * [ci] Update CI

examples/full_driver.cpp

@@ -117,12 +117,20 @@ int main(int argc, char* argv[])
 
   g_my_driver->startRTDECommunication();
 
-  double increment = 0.01;
+  // Increment depends on robot version
+  double increment_constant = 0.0005;
+  if (g_my_driver->getVersion().major < 5)
+  {
+    increment_constant = 0.002;
+  }
+  double increment = increment_constant;
 
-  bool passed_slow_part = false;
-  bool passed_fast_part = false;
+  bool first_pass = true;
+  bool passed_negative_part = false;
+  bool passed_positive_part = false;
   URCL_LOG_INFO("Start moving the robot");
-  while (!(passed_slow_part && passed_fast_part))
+  urcl::vector6d_t joint_target = { 0, 0, 0, 0, 0, 0 };
+  while (!(passed_positive_part && passed_negative_part))
   {
     // Read latest RTDE package. This will block for a hard-coded timeout (see UrDriver), so the
     // robot will effectively be in charge of setting the frequency of this loop.
@@ -139,28 +147,40 @@ int main(int argc, char* argv[])
         throw std::runtime_error(error_msg);
       }
 
-      // Simple motion command of last joint
-      if (g_joint_positions[5] > 3)
+      if (first_pass)
+      {
+        joint_target = g_joint_positions;
+        first_pass = false;
+      }
+
+      // Open loop control. The target is incremented with a constant each control loop
+      if (passed_positive_part == false)
       {
-        passed_fast_part = increment > 0.01 || passed_fast_part;
-        increment = -3;  // this large jump will activate speed scaling
+        increment = increment_constant;
+        if (g_joint_positions[5] >= 2)
+        {
+          passed_positive_part = true;
+        }
       }
-      else if (g_joint_positions[5] < -3)
+      else if (passed_negative_part == false)
       {
-        passed_slow_part = increment < 0.01 || passed_slow_part;
-        increment = 0.02;
+        increment = -increment_constant;
+        if (g_joint_positions[5] <= 0)
+        {
+          passed_negative_part = true;
+        }
       }
-      g_joint_positions[5] += increment;
+      joint_target[5] += increment;
       // Setting the RobotReceiveTimeout time is for example purposes only. This will make the example running more
       // reliable on non-realtime systems. Use with caution in productive applications.
-      bool ret = g_my_driver->writeJointCommand(g_joint_positions, comm::ControlMode::MODE_SERVOJ,
+      bool ret = g_my_driver->writeJointCommand(joint_target, comm::ControlMode::MODE_SERVOJ,
                                                 RobotReceiveTimeout::millisec(100));
       if (!ret)
       {
         URCL_LOG_ERROR("Could not send joint command. Is the robot in remote control?");
         return 1;
       }
-      URCL_LOG_DEBUG("data_pkg:\n%s", data_pkg->toString());
+      URCL_LOG_DEBUG("data_pkg:\n%s", data_pkg->toString().c_str());
     }
     else
     {

include/ur_client_library/rtde/rtde_writer.h

@@ -34,6 +34,7 @@
 #include "ur_client_library/rtde/data_package.h"
 #include "ur_client_library/comm/stream.h"
 #include "ur_client_library/queue/readerwriterqueue.h"
+#include "ur_client_library/ur/datatypes.h"
 #include <thread>
 #include <mutex>
 
@@ -118,10 +119,14 @@ class RTDEWriter
    *
    * \param output_pin The pin to change
    * \param value The new value, it should be between 0 and 1, where 0 is 4mA and 1 is 20mA.
+   * \param type The domain for the output can be eitherAnalogOutputType::CURRENT or  AnalogOutputType::VOLTAGE or
+   * AnalogOutputType::SET_ON_TEACH_PENDANT. In the latter case the domain is left untouched and the domain configured
+   * on the teach pendant will be used.
    *
    * \returns Success of the package creation
    */
-  bool sendStandardAnalogOutput(uint8_t output_pin, double value);
+  bool sendStandardAnalogOutput(uint8_t output_pin, double value,
+                                const AnalogOutputType type = AnalogOutputType::SET_ON_TEACH_PENDANT);
 
   /*!
    * \brief Creates a package to request setting a new value for an input_bit_register

include/ur_client_library/ur/datatypes.h

@@ -79,6 +79,13 @@ enum class SafetyStatus : int8_t  // Only available on 3.10/5.4
   SYSTEM_THREE_POSITION_ENABLING_STOP = 13
 };
 
+enum class AnalogOutputType : int8_t
+{
+  SET_ON_TEACH_PENDANT = -1,
+  CURRENT = 0,
+  VOLTAGE = 1
+};
+
 inline std::string robotModeString(const RobotMode& mode)
 {
   switch (mode)

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_client_library</name>
-  <version>1.3.7</version>
+  <version>1.4.0</version>
   <description>Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver.</description>
   <author>Thomas Timm Andersen</author>
   <author>Simon Rasmussen</author>