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Added RTDEClient constructor with vector recipes #143

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merged 5 commits into from
Aug 29, 2023
Merged

Added RTDEClient constructor with vector recipes #143

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f700356
Added RTDEClient constructor with vector recipes
Aug 5, 2021
3957455
Adds test of new vectorized constructor
Mar 22, 2023
ad89905
Producer_fifo_scheduling should be set to true, such that it looks id…
urmahp Aug 22, 2023
65db944
Added timestamp check and documentation for constructor
urmahp Aug 29, 2023
45965ce
Fix input_recipe param
urmahp Aug 29, 2023
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13 changes: 13 additions & 0 deletions include/ur_client_library/rtde/rtde_client.h
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,19 @@ class RTDEClient
*/
RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::string& output_recipe_file,
const std::string& input_recipe_file, double target_frequency = 0.0);

/*!
* \brief Creates a new RTDEClient object, including a used URStream and Pipeline to handle the
* communication with the robot.
*
* \param robot_ip The IP of the robot
* \param notifier The notifier to use in the pipeline
* \param output_recipe Vector containing the output recipe
* \param input_recipe Vector containing the input recipe
* \param target_frequency Frequency to run at. Defaults to 0.0 which means maximum frequency.
*/
RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::vector<std::string>& output_recipe,
const std::vector<std::string>& input_recipe, double target_frequency = 0.0);
~RTDEClient();
/*!
* \brief Sets up RTDE communication with the robot. The handshake includes negotiation of the
Expand Down
15 changes: 15 additions & 0 deletions src/rtde/rtde_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,21 @@ RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const st
{
}

RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::vector<std::string>& output_recipe,
const std::vector<std::string>& input_recipe, double target_frequency)
: stream_(robot_ip, UR_RTDE_PORT)
, output_recipe_(ensureTimestampIsPresent(output_recipe))
, input_recipe_(input_recipe)
, parser_(output_recipe_)
, prod_(stream_, parser_)
, pipeline_(prod_, PIPELINE_NAME, notifier, true)
, writer_(&stream_, input_recipe_)
, max_frequency_(URE_MAX_FREQUENCY)
, target_frequency_(target_frequency)
, client_state_(ClientState::UNINITIALIZED)
{
}

RTDEClient::~RTDEClient()
{
disconnect();
Expand Down
151 changes: 94 additions & 57 deletions tests/test_rtde_client.cpp
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Expand Up @@ -40,7 +40,7 @@ class RTDEClientTest : public ::testing::Test
protected:
void SetUp()
{
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_, input_recipe_));
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_));
}

void TearDown()
Expand All @@ -50,10 +50,52 @@ class RTDEClientTest : public ::testing::Test
std::this_thread::sleep_for(std::chrono::seconds(1));
}

std::string output_recipe_ = "resources/rtde_output_recipe.txt";
std::string input_recipe_ = "resources/rtde_input_recipe.txt";
std::string output_recipe_file_ = "resources/rtde_output_recipe.txt";
std::string input_recipe_file_ = "resources/rtde_input_recipe.txt";
comm::INotifier notifier_;
std::unique_ptr<rtde_interface::RTDEClient> client_;

std::vector<std::string> resources_output_recipe_ = { "timestamp",
"actual_q",
"actual_qd",
"speed_scaling",
"target_speed_fraction",
"runtime_state",
"actual_TCP_force",
"actual_TCP_pose",
"actual_digital_input_bits",
"actual_digital_output_bits",
"standard_analog_input0",
"standard_analog_input1",
"standard_analog_output0",
"standard_analog_output1",
"analog_io_types",
"tool_mode",
"tool_analog_input_types",
"tool_analog_input0",
"tool_analog_input1",
"tool_output_voltage",
"tool_output_current",
"tool_temperature",
"robot_mode",
"safety_mode",
"robot_status_bits",
"safety_status_bits",
"actual_current",
"tcp_offset" };

std::vector<std::string> resources_input_recipe_ = { "speed_slider_mask",
"speed_slider_fraction",
"standard_digital_output_mask",
"standard_digital_output",
"configurable_digital_output_mask",
"configurable_digital_output",
"tool_digital_output_mask",
"tool_digital_output",
"standard_analog_output_mask",
"standard_analog_output_type",
"standard_analog_output_0",
"standard_analog_output_1" };
};

TEST_F(RTDEClientTest, rtde_handshake)
Expand All @@ -63,36 +105,40 @@ TEST_F(RTDEClientTest, rtde_handshake)

TEST_F(RTDEClientTest, no_recipe)
{
std::string output_recipe = "";
std::string input_recipe = "";
EXPECT_THROW(client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe, input_recipe)),
UrException);
std::string output_recipe_file = "";
std::string input_recipe_file = "";
EXPECT_THROW(
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file, input_recipe_file)),
UrException);

// Only input recipe is unconfigured
EXPECT_THROW(client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_, input_recipe)),
UrException);
EXPECT_THROW(
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file)),
UrException);
}

TEST_F(RTDEClientTest, empty_recipe)
TEST_F(RTDEClientTest, empty_recipe_file)
{
std::string output_recipe = "resources/empty.txt";
std::string input_recipe = "resources/empty.txt";
EXPECT_THROW(client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe, input_recipe)),
UrException);
std::string output_recipe_file = "resources/empty.txt";
std::string input_recipe_file = "resources/empty.txt";
EXPECT_THROW(
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file, input_recipe_file)),
UrException);

// Only input recipe is empty
EXPECT_THROW(client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_, input_recipe)),
UrException);
EXPECT_THROW(
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file)),
UrException);
}

TEST_F(RTDEClientTest, invalid_target_frequency)
{
// Setting target frequency below 0 or above 500, should throw an exception
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_, input_recipe_, -1.0));
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_, -1.0));

EXPECT_THROW(client_->init(), UrException);

client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_, input_recipe_, 1000));
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_, 1000));

EXPECT_THROW(client_->init(), UrException);
}
Expand All @@ -111,7 +157,7 @@ TEST_F(RTDEClientTest, unconfigured_target_frequency)

TEST_F(RTDEClientTest, set_target_frequency)
{
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_, input_recipe_, 1));
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_, 1));
client_->init();

// Maximum frequency should still be equal to the robot's maximum frequency
Expand Down Expand Up @@ -196,45 +242,29 @@ TEST_F(RTDEClientTest, pause_client)
EXPECT_TRUE(client_->pause());
}

TEST_F(RTDEClientTest, output_recipe)
TEST_F(RTDEClientTest, output_recipe_file)
{
std::vector<std::string> expected_output_recipe = { "timestamp",
"actual_q",
"actual_qd",
"speed_scaling",
"target_speed_fraction",
"runtime_state",
"actual_TCP_force",
"actual_TCP_pose",
"actual_digital_input_bits",
"actual_digital_output_bits",
"standard_analog_input0",
"standard_analog_input1",
"standard_analog_output0",
"standard_analog_output1",
"analog_io_types",
"tool_mode",
"tool_analog_input_types",
"tool_analog_input0",
"tool_analog_input1",
"tool_output_voltage",
"tool_output_current",
"tool_temperature",
"robot_mode",
"safety_mode",
"robot_status_bits",
"safety_status_bits",
"actual_current",
"tcp_offset" };

std::vector<std::string> actual_output_recipe = client_->getOutputRecipe();
// Verify that the size is the same
ASSERT_EQ(expected_output_recipe.size(), actual_output_recipe.size());
ASSERT_EQ(resources_output_recipe_.size(), actual_output_recipe.size());

// Verify that the order and contect is equal
for (unsigned int i = 0; i < expected_output_recipe.size(); ++i)
for (unsigned int i = 0; i < resources_output_recipe_.size(); ++i)
{
EXPECT_EQ(expected_output_recipe[i], actual_output_recipe[i]);
EXPECT_EQ(resources_output_recipe_[i], actual_output_recipe[i]);
}
}

TEST_F(RTDEClientTest, recipe_compairson)
{
// Check that vectorized constructor provides same recipes as from file
auto client = rtde_interface::RTDEClient(ROBOT_IP, notifier_, resources_output_recipe_, resources_input_recipe_);

std::vector<std::string> output_recipe_from_file = client_->getOutputRecipe();
std::vector<std::string> output_recipe_from_vector = client.getOutputRecipe();
for (unsigned int i = 0; i < output_recipe_from_file.size(); ++i)
{
EXPECT_EQ(output_recipe_from_file[i], output_recipe_from_vector[i]);
}
}

Expand Down Expand Up @@ -300,13 +330,20 @@ TEST_F(RTDEClientTest, write_rtde_data)

TEST_F(RTDEClientTest, output_recipe_without_timestamp)
{
std::string output_recipe = "resources/rtde_output_recipe_without_timestamp.txt";
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe, input_recipe_));
std::string output_recipe_file = "resources/rtde_output_recipe_without_timestamp.txt";
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file, input_recipe_file_));

std::vector<std::string> actual_output_recipe = client_->getOutputRecipe();
std::vector<std::string> actual_output_recipe_from_file = client_->getOutputRecipe();
const std::string timestamp = "timestamp";
auto it = std::find(actual_output_recipe.begin(), actual_output_recipe.end(), timestamp);
EXPECT_FALSE(it == actual_output_recipe.end());
auto it = std::find(actual_output_recipe_from_file.begin(), actual_output_recipe_from_file.end(), timestamp);
EXPECT_FALSE(it == actual_output_recipe_from_file.end());

// Verify that timestamp is added to the recipe when using the vectorized constructor
std::vector<std::string> output_recipe = { "actual_q", "actual_qd" };
auto client = rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe, resources_input_recipe_);
std::vector<std::string> actual_output_recipe_from_vector = client.getOutputRecipe();
it = std::find(actual_output_recipe_from_vector.begin(), actual_output_recipe_from_vector.end(), timestamp);
EXPECT_FALSE(it == actual_output_recipe_from_vector.end());
}

int main(int argc, char* argv[])
Expand Down