Add more RobotAPI commands to PolyScope X Dashboard Client

.github/workflows/ci.yml

@@ -29,6 +29,12 @@ jobs:
           - ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '10.7.0'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
+          - ROBOT_MODEL: 'ur5e'
+            URSIM_VERSION: '10.11.0'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
+          - ROBOT_MODEL: 'ur5e'
+            URSIM_VERSION: '10.12.0'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
 
     steps:
       - uses: actions/checkout@v6
@@ -74,8 +80,15 @@ jobs:
           fail_ci_if_error: true
           token: ${{ secrets.CODECOV_TOKEN }}
           flags: ${{ matrix.env.ROBOT_MODEL }}-${{ matrix.env.URSIM_VERSION }}
+      - id: check_polyscopex
+        run: |
+          if [[ "${{matrix.env.URSIM_VERSION}}" == "10."* ]]; then
+            echo "is_polyscopex=true" >> $GITHUB_OUTPUT
+          else
+            echo "is_polyscopex=false" >> $GITHUB_OUTPUT
+          fi
       - name: Generate URSim log files
-        if: always() && matrix.env.URSIM_VERSION != '10.7.0'
+        if: ${{ always() &&  steps.check_polyscopex.outputs.is_polyscopex  == 'false' }}
         run: |
           nc -q 1 192.168.56.101 29999 <<END
           saveLog
@@ -85,21 +98,21 @@ jobs:
           docker cp ursim:/ursim/polyscope.log ursim_logs/polyscope.log
           docker cp ursim:/ursim/log_history.txt ursim_logs/log_history.txt
       - name: Copy flight reports
-        if: failure() && matrix.env.URSIM_VERSION != '10.7.0'
+        if: ${{ failure() &&  steps.check_polyscopex.outputs.is_polyscopex  == 'false' }}
         run: |
           mkdir -p ursim_logs/flightreports
           docker cp ursim:/ursim/flightreports/. ursim_logs/flightreports/
       - name: Upload logfiles
         uses: actions/upload-artifact@v6
-        if: always() && matrix.env.URSIM_VERSION != '10.7.0'
+        if: ${{ always() &&  steps.check_polyscopex.outputs.is_polyscopex  == 'false' }}
         with:
           name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs
           path: ursim_logs
           if-no-files-found: error
           retention-days: 10
       - name: Upload test artifacts
         uses: actions/upload-artifact@v6
-        if: always() && matrix.env.URSIM_VERSION != '10.7.0'
+        if: ${{ always() &&  steps.check_polyscopex.outputs.is_polyscopex  == 'false' }}
         with:
           name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_test_artifacts
           path: test_artifacts

doc/polyscope_compatibility.rst

@@ -45,6 +45,7 @@ table below or checkout the latest tag before the breaking changes were introduc
      - 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.
      - 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>`_

examples/dashboard_example.cpp

@@ -70,9 +70,10 @@ int main(int argc, char* argv[])
   {
     policy = DashboardClient::ClientPolicy::G5;
   }
-  else if (version_information->minor < 11)
+  else if (version_information->minor < 12)
   {
-    URCL_LOG_ERROR("DashboardClient examples require PolyScope version 10.11.0 or higher. Exiting now.");
+    // We need isInRemoteControl for PolyScope X, which is only supported from version 10.12.0 on.
+    URCL_LOG_ERROR("DashboardClient examples require PolyScope version 10.12.0 or higher. Exiting now.");
     return 0;
   }
 
@@ -84,6 +85,13 @@ int main(int argc, char* argv[])
     return 1;
   }
 
+  bool robot_in_remote_control = false;
+  // CB3 doesn't have remote control
+  if (version_information->major >= 5)
+  {
+    robot_in_remote_control = my_dashboard->commandIsInRemoteControl();
+  }
+
   // Bring the robot to a defined state being powered off.
   if (version_information->major < 10)
   {
@@ -99,106 +107,110 @@ int main(int argc, char* argv[])
 
     my_dashboard->commandCloseSafetyPopup();
   }
-  else
+  else if (robot_in_remote_control)
   {
     // We're ignoring errors here since
     // powering off an already powered off robot will return an error.
     my_dashboard->commandPowerOff();
+    my_dashboard->setPolyscopeVersion(*version_information);
   }
 
   // Power it on
-  if (!my_dashboard->commandPowerOn())
-  {
-    URCL_LOG_ERROR("Could not send Power on command");
-    return 1;
-  }
-
-  // Release the brakes
-  if (!my_dashboard->commandBrakeRelease())
+  if (version_information->major < 10 || robot_in_remote_control)
   {
-    URCL_LOG_ERROR("Could not send BrakeRelease command");
-    return 1;
-  }
-
-  // Load existing program
-  std::string program_file_name_to_be_loaded("wait_program.urp");
-  if (version_information->major >= 10)
-  {
-    // For PolyScope X, the program doesn't have an ending
-    program_file_name_to_be_loaded = "wait_program";
-  }
-  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());
-    return 1;
-  }
-
-  std::this_thread::sleep_for(std::chrono::seconds(1));
-
-  // Play loaded program
-  if (!my_dashboard->commandPlay())
-  {
-    URCL_LOG_ERROR("Could not play program");
-    return 1;
-  }
+    if (!my_dashboard->commandPowerOn())
+    {
+      URCL_LOG_ERROR("Could not send Power on command");
+      return 1;
+    }
 
-  // Pause running program
-  if (!my_dashboard->commandPause())
-  {
-    URCL_LOG_ERROR("Could not pause program");
-    return 1;
-  }
+    // Release the brakes
+    if (!my_dashboard->commandBrakeRelease())
+    {
+      URCL_LOG_ERROR("Could not send BrakeRelease command");
+      return 1;
+    }
 
-  // Continue
-  if (version_information->major >= 10)
-  {
-    // For PolyScope X, the command is called "resume"
-    if (!my_dashboard->commandResume())
+    // Load existing program
+    std::string program_file_name_to_be_loaded("wait_program.urp");
+    if (version_information->major >= 10)
+    {
+      // For PolyScope X, the program doesn't have an ending
+      program_file_name_to_be_loaded = "wait_program";
+    }
+    if (!my_dashboard->commandLoadProgram(program_file_name_to_be_loaded))
     {
-      URCL_LOG_ERROR("Could not resume program");
+      URCL_LOG_ERROR("Could not load %s program", program_file_name_to_be_loaded.c_str());
       return 1;
     }
-  }
-  else
-  {
-    // For e-Series, the command is called "play"
+
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // Play loaded program
     if (!my_dashboard->commandPlay())
     {
-      URCL_LOG_ERROR("Could not resume program");
+      URCL_LOG_ERROR("Could not play program");
       return 1;
     }
-  }
 
-  // Stop program
-  if (!my_dashboard->commandStop())
-  {
-    URCL_LOG_ERROR("Could not stop program");
-    return 1;
-  }
+    // Pause running program
+    if (!my_dashboard->commandPause())
+    {
+      URCL_LOG_ERROR("Could not pause program");
+      return 1;
+    }
 
-  // Power it off
-  if (!my_dashboard->commandPowerOff())
-  {
-    URCL_LOG_ERROR("Could not send Power off command");
-    return 1;
-  }
+    // Continue
+    if (version_information->major >= 10)
+    {
+      // For PolyScope X, the command is called "resume"
+      if (!my_dashboard->commandResume())
+      {
+        URCL_LOG_ERROR("Could not resume program");
+        return 1;
+      }
+    }
+    else
+    {
+      // For e-Series, the command is called "play"
+      if (!my_dashboard->commandPlay())
+      {
+        URCL_LOG_ERROR("Could not resume program");
+        return 1;
+      }
+    }
 
-  if (version_information->major < 10)
-  {
-    // Flush the log
-    if (!my_dashboard->commandSaveLog())
+    // Stop program
+    if (!my_dashboard->commandStop())
     {
-      URCL_LOG_ERROR("Could not send the save log command");
+      URCL_LOG_ERROR("Could not stop program");
       return 1;
     }
 
-    // Make a raw request and save the response
-    std::string program_state = my_dashboard->sendAndReceive("programState");
-    URCL_LOG_INFO("Program state: %s", program_state.c_str());
+    // Power it off
+    if (!my_dashboard->commandPowerOff())
+    {
+      URCL_LOG_ERROR("Could not send Power off command");
+      return 1;
+    }
 
-    // The response can be checked with a regular expression
-    bool success = my_dashboard->sendRequest("power off", "Powering off");
-    URCL_LOG_INFO("Power off command success: %d", success);
+    if (version_information->major < 10)
+    {
+      // Flush the log
+      if (!my_dashboard->commandSaveLog())
+      {
+        URCL_LOG_ERROR("Could not send the save log command");
+        return 1;
+      }
+
+      // Make a raw request and save the response
+      std::string program_state = my_dashboard->sendAndReceive("programState");
+      URCL_LOG_INFO("Program state: %s", program_state.c_str());
+
+      // The response can be checked with a regular expression
+      bool success = my_dashboard->sendRequest("power off", "Powering off");
+      URCL_LOG_INFO("Power off command success: %d", success);
+    }
   }
 
   return 0;

include/ur_client_library/ur/dashboard_client.h

@@ -721,6 +721,50 @@ class DashboardClient
    */
   DashboardResponse commandSaveLogWithResponse();
 
+  /*!
+   * \brief Get the list of programs on the robot
+   *
+   * Stores the following entries in the data field:
+   *
+   *   - 'programs': std::vector<ProgramInformation>
+   */
+  DashboardResponse commandGetProgramListWithResponse();
+
+  /*!
+   * \brief Upload a new program to the robot
+   *
+   * \param file_path The path to the program file on the machine where the dashboard client is running. The file will
+   * be uploaded to the root of the programs directory on the robot.
+   *
+   * Stores the following entries in the data field:
+   *
+   *   - 'program_name': std::string
+   */
+  DashboardResponse commandUploadProgramWithResponse(const std::string& file_path);
+
+  /*!
+   * \brief Update an existing program on the robot
+   *
+   * \param file_path The path to the program file on the machine where the dashboard client is running. The file will
+   * be uploaded to the root of the programs directory on the robot and override an already existing file with the same
+   * name.
+   *
+   * Stores the following entries in the data field:
+   *
+   *   - 'program_name': std::string
+   */
+  DashboardResponse commandUpdateProgramWithResponse(const std::string& file_path);
+
+  /*!
+   * \brief Download a program from the robot
+   *
+   * \param filename The name of the program file on the robot. This is the name as returned by
+   * commandGetProgramListWithResponse. \param save_path The path where the program file should be saved on the machine
+   * where the dashboard client is running.
+   *
+   */
+  DashboardResponse commandDownloadProgramWithResponse(const std::string& filename, const std::string& save_path);
+
   /*!
    * \brief Makes sure that the dashboard_server's version is above the required version
    *
@@ -748,6 +792,19 @@ class DashboardClient
    */
   void setReceiveTimeout(const timeval& timeout);
 
+  /*!
+   * \brief Sets the polyscope version manually.
+   *
+   * If the dashboard client implementation is not able to query the version from the robot
+   * automatically, this function can be used to set it manually.
+   *
+   * \param version The version string as returned by the robot
+   */
+  void setPolyscopeVersion(const VersionInformation& version)
+  {
+    impl_->setPolyscopeVersion(version);
+  }
+
 protected:
   std::shared_ptr<DashboardClientImpl> impl_;
 };