Robot api 10.14

.github/workflows/ci.yml

@@ -78,6 +78,11 @@ jobs:
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex/10.13.0/ur7e'
             POLYSCOPE_X_WITH_REMOTE_CONTROL: 'true'
             CITADEL_DB_FOLDER: 'tests/resources/dockerursim/citadelDB'
+          - ROBOT_MODEL: 'ur7e'
+            URSIM_VERSION: '10.14.0-0.10.703-preview-1'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex/10.13.0/ur7e'
+            POLYSCOPE_X_WITH_REMOTE_CONTROL: 'true'
+            CITADEL_DB_FOLDER: 'tests/resources/dockerursim/citadelDB'
 
     steps:
       - uses: actions/checkout@v7

doc/architecture/dashboard_client.rst

@@ -80,3 +80,10 @@ Internally, the dashboard client makes calls against a RESTful (**Re**\ presenta
 .. code-block:: json
 
     {"state":"PAUSED","message":"Program state changed: PAUSED","details":"Pause successful"}
+
+The following commands are only available for PolyScope X robots and will throw a
+``NotImplementedException`` when called on G5 (CB3 / PolyScope 5) robots:
+
+- ``commandDownloadSupportFiles(save_path)``: Downloads support files from the robot as a zip
+  archive and saves them to the given path on the local machine. Available from PolyScope X
+  10.14.0 onward.

doc/polyscope_compatibility.rst

@@ -42,10 +42,47 @@ table below or checkout the latest tag before the breaking changes were introduc
    |polyscope| X doesn't support all features supported by this library for |polyscope| 5.
    Currently, the following components are known not to be supported:
 
-     - Dashboard client -- |polyscope| X received the first implementation of the Robot API
-       replacing the Dashboard Server in version 10.11.0. It covers robot state control and loading
-       and playing programs.
-       From version 10.12, it also supports uploading programs to the robot and downloading programs from the robot, as well as listing existing programs on the robot.
+     - Dashboard client -- |polyscope| X does not have a Dashboard server, but in version 10.11.0 introduced the Robot API, that fulfills some of the same purposes. The robot API has not yet reached feature parity with the Dashboard server.
+
+      - Implemented features, and their version requirements:
+
+        .. list-table::
+          :header-rows: 1
+
+          * - Introduced in |polyscope| version
+            - Functionality group
+            - examples
+          * - 10.11.0
+            - Robot state control
+            - power on, power off, brake release, etc
+          * - 10.11.0
+            - Load and play programs
+            - load program, play, pause, etc
+          * - 10.12.0
+            - Robot Program interactions
+            - Upload/update program, download program, list programs, etc
+          * - 10.12.0
+            - Get robot modes
+            - Robot mode, safety mode, operational mode, remote control
+          * - 10.14.0
+            - Popup interactions
+            - open, close, close safety popup
+          * - 10.14.0
+            - Get robot information
+            - Polyscope version, robot model, serial number
+          * - 10.14.0
+            - System control
+            - Shut down robot
+          * - 10.14.0
+            - Logging
+            - Add entry to system log
+          * - 10.14.0
+            - Flight reports
+            - Generating and downloading flight reports
+
+     - Using external control on |polyscope| X requires another URCapX for making external control
+       work. This is currently in the process of being created.
+       See `Universal Robots External Control URCapX <https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCapX>`_
 
 .. |polyscope| replace:: PolyScope
 

include/ur_client_library/ur/dashboard_client.h

@@ -405,12 +405,12 @@ class DashboardClient
    *
    * \return True succeeded
    */
-  bool commandPopup(const std::string& popup_text);
+  bool commandPopup(const std::string& popup_text, const std::string& popup_title = "");
 
   /*!
    * \brief Send popup command
    */
-  DashboardResponse commandPopupWithResponse(const std::string& popup_text);
+  DashboardResponse commandPopupWithResponse(const std::string& popup_text, const std::string& popup_title = "");
 
   /*!
    * \brief Send text to log
@@ -676,7 +676,7 @@ class DashboardClient
    *
    * \return True succeeded
    */
-  bool commandGenerateFlightReport(const std::string& report_type);
+  bool commandGenerateFlightReport(const std::string& report_type = "");
 
   /*!
    * \brief Send Generate flight report command
@@ -685,7 +685,7 @@ class DashboardClient
    *
    * \param report_type The report type to set for the flight report
    */
-  DashboardResponse commandGenerateFlightReportWithResponse(const std::string& report_type);
+  DashboardResponse commandGenerateFlightReportWithResponse(const std::string& report_type = "");
 
   /*!
    * \brief Send Generate support file command
@@ -709,6 +709,28 @@ class DashboardClient
    */
   DashboardResponse commandGenerateSupportFileWithResponse(const std::string& dir_path);
 
+  /*!
+   * \brief Download support files from the robot as a zip archive
+   *
+   * \note Only available for PolyScope X robots.
+   *
+   * \param save_path Filepath where the downloaded support file archive should be saved on the machine where the
+   * dashboard client is running.
+   *
+   * \return True on success
+   */
+  bool commandDownloadSupportFiles(const std::string& save_path);
+
+  /*!
+   * \brief Download support files from the robot as a zip archive
+   *
+   * \note Only available for PolyScope X robots.
+   *
+   * \param save_path Filepath where the downloaded support file archive should be saved on the machine where the
+   * dashboard client is running.
+   */
+  DashboardResponse commandDownloadSupportFilesWithResponse(const std::string& save_path);
+
   /*!
    * \brief Flush the polyscope log to the log_history.txt file
    *

include/ur_client_library/ur/dashboard_client_implementation.h

@@ -61,8 +61,7 @@ struct ProgramInformation
 
 inline std::ostream& operator<<(std::ostream& os, const ProgramInformation& pi)
 {
-  os << "Program Information: { "
-     << "\nCreated Date: " << pi.createdDate << "\nDescription: " << pi.description
+  os << "Program Information: { " << "\nCreated Date: " << pi.createdDate << "\nDescription: " << pi.description
      << "\nLast Modified Date: " << pi.lastModifiedDate << "\nLast Saved Date: " << pi.lastSavedDate
      << "\nName: " << pi.name << "\nProgram State: " << pi.programState << "\n} \n";
   return os;
@@ -250,14 +249,14 @@ class DashboardClientImpl
   /*!
    * \brief Send Close popup command
    *
-   * \throws an NotImplementedException when called on PolyScope X robots
+   * \throws an NotImplementedException when called on PolyScope X robots with version lower than 10.14.0
    */
   virtual DashboardResponse commandClosePopup() = 0;
 
   /*!
    * \brief Send Close safety popup command
    *
-   * \throws an NotImplementedException when called on PolyScope X robots
+   * \throws an NotImplementedException when called on PolyScope X robots with version lower than 10.14.0
    */
   virtual DashboardResponse commandCloseSafetyPopup() = 0;
 
@@ -274,7 +273,7 @@ class DashboardClientImpl
   /*!
    * \brief Send Shutdown command
    *
-   * \throws an NotImplementedException when called on PolyScope X robots
+   * \throws an NotImplementedException when called on PolyScope X robots with version lower than 10.14.0
    */
   virtual DashboardResponse commandShutdown() = 0;
 
@@ -320,17 +319,19 @@ class DashboardClientImpl
    * \brief Send popup command
    *
    * \param popup_text The text to be shown in the popup
+   * \param popup_title The title of the popup. This is optional and only used on PolyScope X
+   * robots.
    *
-   * \throws an NotImplementedException when called on PolyScope X robots
+   * \throws an NotImplementedException when called on PolyScope X robots with software version lower than 10.14.0
    */
-  virtual DashboardResponse commandPopup(const std::string& popup_text) = 0;
+  virtual DashboardResponse commandPopup(const std::string& popup_text, const std::string& popup_title = "") = 0;
 
   /*!
    * \brief Send text to log
    *
    * \param log_text The text to be sent to the log
    *
-   * \throws an NotImplementedException when called on PolyScope X robots
+   * \throws an NotImplementedException when called on PolyScope X robots with software version lower than 10.14.0
    */
   virtual DashboardResponse commandAddToLog(const std::string& log_text) = 0;
 
@@ -341,7 +342,7 @@ class DashboardClientImpl
    *
    *   - 'polyscope_version': std::string
    *
-   * \throws an NotImplementedException when called on PolyScope X robots
+   * \throws an NotImplementedException when called on PolyScope X robots with software version lower than 10.14.0
    */
   virtual DashboardResponse commandPolyscopeVersion() = 0;
 
@@ -352,7 +353,7 @@ class DashboardClientImpl
    *
    *   - 'robot_model': std::string
    *
-   * \throws an NotImplementedException when called on PolyScope X robots
+   * \throws an NotImplementedException when called on PolyScope X robots with software version lower than 10.14.0
    */
   virtual DashboardResponse commandGetRobotModel() = 0;
 
@@ -363,7 +364,7 @@ class DashboardClientImpl
    *
    *   - 'serial_number': std::string
    *
-   * \throws an NotImplementedException when called on PolyScope X robots
+   * \throws an NotImplementedException when called on PolyScope X robots with software version lower than 10.14.0
    */
   virtual DashboardResponse commandGetSerialNumber() = 0;
 
@@ -470,9 +471,10 @@ class DashboardClientImpl
    *
    * \param report_type The report type to set for the flight report
    *
-   * \throws an NotImplementedException when called on PolyScope X robots
+   * \throws an NotImplementedException when called on PolyScope X robots with software version
+   * lower than 10.14.0
    */
-  virtual DashboardResponse commandGenerateFlightReport(const std::string& report_type) = 0;
+  virtual DashboardResponse commandGenerateFlightReport(const std::string& report_type = "") = 0;
 
   /*!
    * \brief Send Generate support file command
@@ -484,6 +486,18 @@ class DashboardClientImpl
    */
   virtual DashboardResponse commandGenerateSupportFile(const std::string& dir_path) = 0;
 
+  /*!
+   * \brief Download support files from the robot as a zip archive
+   *
+   * \param save_path Filepath where the downloaded support file archive should be saved on the user's computer
+   *
+   * \throws an NotImplementedException when called on G5 robots
+   */
+  virtual DashboardResponse commandDownloadSupportFiles([[maybe_unused]] const std::string& save_path)
+  {
+    throw NotImplementedException("commandDownloadSupportFiles is not implemented for this dashboard client.");
+  }
+
   /*!
    * \brief Flush the polyscope log to the log_history.txt file
    *
@@ -544,7 +558,7 @@ class DashboardClientImpl
   }
 
 protected:
-  virtual void assertHasCommand(const std::string& command) const = 0;
+  virtual void assertHasCommand(const std::string& command) = 0;
 
   VersionInformation polyscope_version_;
   std::string host_;

include/ur_client_library/ur/dashboard_client_implementation_g5.h

@@ -131,8 +131,9 @@ class DashboardClientImplG5 : public DashboardClientImpl, comm::TCPSocket
   DashboardResponse commandClearOperationalMode() override;
   DashboardResponse commandClosePopup() override;
   DashboardResponse commandCloseSafetyPopup() override;
-  DashboardResponse commandGenerateFlightReport(const std::string& report_type) override;
+  DashboardResponse commandGenerateFlightReport(const std::string& report_type = "") override;
   DashboardResponse commandGenerateSupportFile(const std::string& dir_path) override;
+  DashboardResponse commandDownloadSupportFiles(const std::string& save_path) override;
   DashboardResponse commandGetLoadedProgram() override;
   DashboardResponse commandGetOperationalMode() override;
   DashboardResponse commandGetRobotModel() override;
@@ -146,7 +147,7 @@ class DashboardClientImplG5 : public DashboardClientImpl, comm::TCPSocket
   DashboardResponse commandResume() override;
   DashboardResponse commandPlay() override;
   DashboardResponse commandPolyscopeVersion() override;
-  DashboardResponse commandPopup(const std::string& popup_text) override;
+  DashboardResponse commandPopup(const std::string& popup_text, const std::string& popup_title = "") override;
   DashboardResponse commandPowerOff() override;
   DashboardResponse commandPowerOn(const std::chrono::duration<double> timeout = std::chrono::seconds(300)) override;
   DashboardResponse commandProgramState() override;
@@ -175,7 +176,7 @@ class DashboardClientImplG5 : public DashboardClientImpl, comm::TCPSocket
 
 protected:
   virtual VersionInformation queryPolyScopeVersion();
-  void assertHasCommand(const std::string& command) const override;
+  void assertHasCommand(const std::string& command) override;
   static std::string replacePayload(const std::string& command, const std::string& payload);
   std::string retryCommandString(const std::string& requestCommand, const std::string& requestExpectedResponse,
                                  const std::string& waitRequest, const std::string& waitExpectedResponse,

include/ur_client_library/ur/dashboard_client_implementation_x.h

@@ -28,6 +28,9 @@
 
 #pragma once
 
+#include <atomic>
+#include <unordered_map>
+
 #include <ur_client_library/ur/dashboard_client_implementation.h>
 #include "ur_client_library/ur/version_information.h"
 
@@ -42,6 +45,13 @@ class Result;
 namespace urcl
 {
 
+struct RobotAPICommand
+{
+  std::string endpoint;
+  VersionInformation robotAPIVersion;
+  VersionInformation marketingVersion;
+};
+
 class DashboardClientImplX : public DashboardClientImpl
 {
 public:
@@ -126,7 +136,8 @@ class DashboardClientImplX : public DashboardClientImpl
   DashboardResponse commandClearOperationalMode() override;
   DashboardResponse commandClosePopup() override;
   DashboardResponse commandCloseSafetyPopup() override;
-  DashboardResponse commandGenerateFlightReport(const std::string& report_type) override;
+  DashboardResponse commandGenerateFlightReport(const std::string& report_type = "") override;
+  DashboardResponse commandDownloadSupportFiles(const std::string& save_path) override;
   DashboardResponse commandGenerateSupportFile(const std::string& dir_path) override;
   DashboardResponse commandGetLoadedProgram() override;
   DashboardResponse commandGetOperationalMode() override;
@@ -141,7 +152,7 @@ class DashboardClientImplX : public DashboardClientImpl
   DashboardResponse commandResume() override;
   DashboardResponse commandPlay() override;
   DashboardResponse commandPolyscopeVersion() override;
-  DashboardResponse commandPopup(const std::string& popup_text) override;
+  DashboardResponse commandPopup(const std::string& popup_text, const std::string& popup_title = "") override;
   DashboardResponse commandPowerOff() override;
   DashboardResponse commandPowerOn(const std::chrono::duration<double> timeout = std::chrono::seconds(300)) override;
   DashboardResponse commandProgramState() override;
@@ -179,15 +190,22 @@ class DashboardClientImplX : public DashboardClientImpl
   DashboardResponse put(const std::string& endpoint, const httplib::UploadFormDataItems& form_data,
                         const bool debug = true);
   DashboardResponse get(const std::string& endpoint, const bool debug = true);
+
+  DashboardResponse del(const std::string& endpoint, const bool debug = true);
+
   virtual VersionInformation queryPolyScopeVersion();
-  void assertHasCommand(const std::string& command) const override;
+  void assertHasCommand(const std::string& command) override;
 
   const std::string base_url_ = "/universal-robots/robot-api";
 
   std::unique_ptr<httplib::Client> cli_;
   VersionInformation robot_api_version_;
+
   timeval recv_timeout_ = { 10, 0 };
   timeval send_timeout_ = { 10, 0 };
+
+  static std::unordered_map<std::string, RobotAPICommand> g_command_list;
+  std::atomic<bool> is_connected_{ false };
 };
 
 }  // namespace urcl

src/ur/dashboard_client.cpp

@@ -318,14 +318,15 @@ DashboardResponse DashboardClient::commandIsInRemoteControlWithResponse()
   return impl_->commandIsInRemoteControl();
 }
 
-bool DashboardClient::commandPopup(const std::string& popup_text)
+bool DashboardClient::commandPopup(const std::string& popup_text, const std::string& popup_title)
 {
-  return commandPopupWithResponse(popup_text).ok;
+  return commandPopupWithResponse(popup_text, popup_title).ok;
 }
 
-DashboardResponse DashboardClient::commandPopupWithResponse(const std::string& popup_text)
+DashboardResponse DashboardClient::commandPopupWithResponse(const std::string& popup_text,
+                                                            const std::string& popup_title)
 {
-  return impl_->commandPopup(popup_text);
+  return impl_->commandPopup(popup_text, popup_title);
 }
 
 bool DashboardClient::commandAddToLog(const std::string& log_text)
@@ -537,6 +538,16 @@ DashboardResponse DashboardClient::commandGenerateSupportFileWithResponse(const
   return impl_->commandGenerateSupportFile(dir_path);
 }
 
+bool DashboardClient::commandDownloadSupportFiles(const std::string& save_path)
+{
+  return commandDownloadSupportFilesWithResponse(save_path).ok;
+}
+
+DashboardResponse DashboardClient::commandDownloadSupportFilesWithResponse(const std::string& save_path)
+{
+  return impl_->commandDownloadSupportFiles(save_path);
+}
+
 bool DashboardClient::commandSaveLog()
 {
   return commandSaveLogWithResponse().ok;