Merge pull request #25 from UniversalRobots/update-from-internal-repo

Update from internal repo

Author: michal-milkowski

.devcontainer/Dockerfile

@@ -0,0 +1,24 @@
+FROM python:3
+
+# Install python development requirements
+COPY requirements-dev.txt /tmp/requirements-dev.txt
+RUN pip install --no-cache-dir -r /tmp/requirements-dev.txt
+
+# Install maven and clean up
+RUN apt-get update \
+    && apt-get install -y maven \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+# set the working directory
+WORKDIR /workspace
+
+# Add normal user. USER_UID, and USER_GID are passed from local environment by devcontainer.json.
+# Otherwise all files are created with root privileges.
+ARG USER_UID
+ARG USER_GID
+
+RUN groupadd --gid $USER_GID devuser \
+    && useradd --uid $USER_UID --gid $USER_GID --create-home --shell /bin/bash devuser
+
+USER devuser

.devcontainer/devcontainer.json

@@ -0,0 +1,23 @@
+{
+    "name": "Python 3 & Maven Dev Container",
+    "build": {
+        "dockerfile": "Dockerfile",
+        "args": {
+            "USER_UID": "${localEnv:UID:1000}",
+            "USER_GID": "${localEnv:GID:1000}"
+        }
+    },
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.python"
+            ],
+            "settings": {
+                "python.formatting.provider": "black"
+            }
+        }
+    },
+    "runArgs": [
+        "--add-host=controller:host-gateway"
+    ]
+}

.devcontainer/requirements-dev.txt

@@ -0,0 +1 @@
+black

README.md

@@ -1,7 +1,7 @@
 # RTDE client library - Python
 Library implements API for Universal Robots RTDE realtime interface.
 
-Full RTDE description is available on [Universal Robots support site](https://www.universal-robots.com/support/)
+Full RTDE description is available on [Universal Robots documentation site](https://docs.universal-robots.com/tutorials/communication-protocol-tutorials/rtde-guide.html)
 # Project structure
 ## rtde
 RTDE core library
@@ -22,18 +22,24 @@ Copy rtde_control_loop.urp to the robot. Start python script before starting pro
 - example_plotting.py - example for using csv_reader, and plotting selected data.
 
 ### Running examples
-It's recommended to run examples in [virtual environment](https://docs.python.org/3/library/venv.html).
-Some require additional libraries.
-```
+It's recommended to run examples in [virtual environment](https://docs.python.org/3/library/venv.html) or [devcontainer](#using-devcontainer).
+```bash
+# Example for recording realtime data from the robot
+# NOTE: RTDE interface has to be enabled in the robot security settings
+cd examples
 python record.py -h
 python record.py --host 192.168.0.1 --frequency 10
 ```
-# Using robot simulator in Docker
-RTDE can connect from host system to controller running in Docker
+# Using robot simulator in a Docker
+RTDE can connect from host system or [devcontainer](#using-devcontainer) to controller running in a Docker
 when RTDE port 30004 is forwarded.
-1. Get latest ursim docker image: docker pull universalrobots/ursim_e-series
-2. Run docker container: docker run --rm -dit -p 30004:30004 -p 5900:5900 -p 6080:6080 universalrobots/ursim_e-series
-3. open vnc client in browser, and confirm safet: http://localhost:6080/vnc.html?host=docker_ip&port=6080
+```bash
+# 1. Get latest ursim docker image
+docker pull universalrobots/ursim_e-series
+# 2. Run docker container: 
+docker run --rm -dit -p 30004:30004 -p 5900:5900 -p 6080:6080 universalrobots/ursim_e-series
+# 3. open vnc client in browser, and confirm safety: http://localhost:6080/vnc.html?host=docker_ip&port=6080
+```
 
 More information about ursim docker image is available on [Dockerhub](https://hub.docker.com/r/universalrobots/ursim_e-series)
 
@@ -49,43 +55,64 @@ when RTDE port 30004 is forwarded.
 Leave host, and guest IP fields blank.
 
 # Using rtde library
-Copy rtde folder python project
+Copy rtde folder to python project or install with 
+```bash 
+pip install .
+# or use pre-built package from github
+pip install ./rtde-<version>-release.zip
+pip install https://github.com/UniversalRobots/RTDE_Python_Client_Library/releases/download/[version]/rtde-[version]-release.zip
+```
+
 Library is compatible with Python 2.7+, and Python 3.6+
 
 # Build release package
-```
+```bash
 mvn package
 ```
-## Using with virtual environment
+## Using pre-built package with virtual environment
 Create virtual environment, and install wheel package
 
 ### Linux & MacOS
-```
+```bash
 python -m venv venv
 source venv/bin/activate
 pip install wheel
-```
-Install rtde package
-```
+# Install pre-built rtde package
 pip install target/rtde-<version>-release.zip
 ```
 
 ### Windows PowerShell
 If Python3 is not installed, then just run python3 from powershell. Microsoft store will launch the installation.
 
 Permission to run scripts in console is needed to activate virtual envrionment.
-```
+```PowerShell
 set-executionpolicy -Scope CurrentUser -ExecutionPolicy Unrestricted
 python -m venv venv
 venv/Scripts/Activate.ps1
 pip install wheel
-```
-Install rtde package
-```
+# Install pre-built rtde package
 pip install target/rtde-<version>-release.zip
 ```
 
+## Using devcontainer
+Open project in VSCode and select to "reopen in devcontainer".
+Execute build command from terminal
+
+Running record.py against simulator:
+```bash
+# first start simulator exposing RTDE port 30004
+# docker run --rm -dit -p 30004:30004 -p 5900:5900 -p 6080:6080 universalrobots/ursim_e-series
+
+# in devcontainer terminal type
+cd examples
+./record.py --host controller --frequency 10 --verbose
+```
+
 # Contributor guidelines
 Code is formatted with [black](https://github.com/psf/black).
 Run code formatter before submitting pull request.
 
+```bash
+# open project in devcontainer
+python -m black .
+```

examples/record.py

@@ -55,11 +55,6 @@
     help="data output file to write to (robot_data.csv)",
 )
 parser.add_argument("--verbose", help="increase output verbosity", action="store_true")
-parser.add_argument(
-    "--buffered",
-    help="Use buffered receive which doesn't skip data",
-    action="store_true",
-)
 parser.add_argument(
     "--binary", help="save the data in binary format", action="store_true"
 )
@@ -114,10 +109,7 @@
         if args.samples > 0 and i >= args.samples:
             keep_running = False
         try:
-            if args.buffered:
-                state = con.receive_buffered(args.binary)
-            else:
-                state = con.receive(args.binary)
+            state = con.receive_buffered(args.binary)
             if state is not None:
                 writer.writerow(state)
                 i += 1

pom.xml

@@ -6,7 +6,7 @@
   <modelVersion>4.0.0</modelVersion>
   <groupId>com.ur.rtde.client</groupId>
   <artifactId>rtde</artifactId>
-  <version>2.7.2</version>
+  <version>2.7.12</version>
   <packaging>pom</packaging>
 
   <properties>

rtde/csv_binary_writer.py

@@ -108,7 +108,12 @@ def writeheader(self):
             headerStr += self.__header_names[i]
 
         headerStr += "\n"
-        self.__file.write(struct.pack(str(len(headerStr)) + "s", headerStr if sys.version_info[0] < 3 else headerStr.encode("utf-8")))
+        self.__file.write(
+            struct.pack(
+                str(len(headerStr)) + "s",
+                headerStr if sys.version_info[0] < 3 else headerStr.encode("utf-8"),
+            )
+        )
 
         # Header types
         typeStr = str("")
@@ -119,7 +124,12 @@ def writeheader(self):
             typeStr += self.getType(self.__types[i])
 
         typeStr += "\n"
-        self.__file.write(struct.pack(str(len(typeStr)) + "s", typeStr if sys.version_info[0] < 3 else typeStr.encode("utf-8")))
+        self.__file.write(
+            struct.pack(
+                str(len(typeStr)) + "s",
+                typeStr if sys.version_info[0] < 3 else typeStr.encode("utf-8"),
+            )
+        )
 
     def packToBinary(self, vtype, value):
         print(vtype)

rtde/rtde.py

@@ -83,6 +83,7 @@ def __init__(self, hostname, port=30004):
         self.__input_config = {}
         self.__skipped_package_count = 0
         self.__protocolVersion = RTDE_PROTOCOL_VERSION_1
+        self.__warning_counter = {}
 
     def connect(self):
         if self.__sock:
@@ -206,9 +207,9 @@ def send(self, input_data):
         return self.__sendall(Command.RTDE_DATA_PACKAGE, config.pack(input_data))
 
     def receive(self, binary=False):
-        """Recieve the latest data package.
-        If muliple packages has been received, older ones are discarded
-        and only the newest one will be returned. Will block untill a package
+        """Receive the latest data package.
+        If multiple packages has been received, older ones are discarded
+        and only the newest one will be returned. Will block until a package
         is received or the connection is lost
         """
         if self.__output_config is None:
@@ -218,8 +219,8 @@ def receive(self, binary=False):
         return self.__recv(Command.RTDE_DATA_PACKAGE, binary)
 
     def receive_buffered(self, binary=False, buffer_limit=None):
-        """Recieve the next data package.
-        If muliple packages has been received they are buffered and will
+        """Receive the next data package.
+        If multiple packages has been received they are buffered and will
         be returned on subsequent calls to this function.
         Returns None if no data is available.
         """
@@ -301,6 +302,9 @@ def has_data(self):
         return len(readable) != 0
 
     def __recv(self, command, binary=False):
+
+        previous_skipped_package_count = self.__skipped_package_count
+
         while self.is_connected():
             try:
                 self.__recv_to_buffer(DEFAULT_TIMEOUT)
@@ -321,16 +325,44 @@ def __recv(self, command, binary=False):
                     if len(self.__buf) >= 3 and command == Command.RTDE_DATA_PACKAGE:
                         next_packet_header = serialize.ControlHeader.unpack(self.__buf)
                         if next_packet_header.command == command:
-                            _log.debug("skipping package(1)")
                             self.__skipped_package_count += 1
                             continue
                     if packet_header.command == command:
+                        if (
+                            self.__skipped_package_count
+                            > previous_skipped_package_count
+                        ):
+                            _log.debug(
+                                "Total number of skipped packages increased to {}".format(
+                                    self.__skipped_package_count
+                                )
+                            )
+
+                        if self.__warning_counter:
+                            for warn in self.__warning_counter:
+                                _log.debug(
+                                    "A total of {} packets with command {} received, before expected command.".format(
+                                        self.__warning_counter[warn], warn
+                                    )
+                                )
+                            self.__warning_counter.clear()
+
                         if binary:
                             return packet[1:]
 
                         return data
                     else:
-                        _log.debug("skipping package(2)")
+                        if not packet_header.command in self.__warning_counter:
+                            _log.debug(
+                                "Packet with command {} doesn't match the expected command {}. It will be skipped.".format(
+                                    packet_header.command, command
+                                )
+                            )
+                            self.__warning_counter[packet_header.command] = 1
+                        else:
+                            self.__warning_counter[packet_header.command] = (
+                                self.__warning_counter[packet_header.command] + 1
+                            )
                 else:
                     break
         raise RTDEException(" _recv() Connection lost ")

rtde/serialize.py

@@ -22,6 +22,7 @@
 # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 import struct
+import sys
 
 
 class ControlHeader(object):
@@ -167,8 +168,13 @@ class DataConfig(object):
     @staticmethod
     def unpack_recipe(buf):
         rmd = DataConfig()
-        rmd.id = struct.unpack_from(">B", buf)[0]
-        rmd.types = buf.decode("utf-8")[1:].split(",")
+        python_version = sys.version_info
+        if python_version.major == 2:
+            rmd.id = struct.unpack_from(">B", buf)[0]
+            rmd.types = buf.decode("utf-8")[1:].split(",")
+        else:
+            rmd.id = buf[0]
+            rmd.types = buf[1:].decode("utf-8").split(",")
         rmd.fmt = ">B"
         for i in rmd.types:
             if i == "INT32":

setup.py

@@ -26,6 +26,6 @@
 setup(
     name="UrRtde",
     packages=["rtde"],
-    version="2.7.2",
+    version="2.7.12",
     description="Real-Time Data Exchange (RTDE) python client + examples",
 )