Doc examples

.github/helpers/check_urls.sh

@@ -38,6 +38,7 @@ urls=$(grep -oP '(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))(
 fail_counter=0
 
 FAILED_LINKS=()
+CHECKED_LINKS=()
 for item in $urls; do
 #     echo $item
     skip=0
@@ -53,15 +54,18 @@ for item in $urls; do
     filename=$(echo "$item" | cut -d':' -f1)
     url=$(echo "$item" | cut -d':' -f2-)
     echo -n "Checking $url from file $filename"
-    if ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
-        echo -e " \033[0;31mNOT FOUND\033[32m\n"
+    if [[ $(echo ${CHECKED_LINKS[@]} | fgrep -w $url) ]]; then
+      echo -e " \033[36malready checked\033[0m"
+    elif ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
+        echo -e " \033[0;31mNOT FOUND\033[0m"
         FAILED_LINKS+=("$url from file $filename")
         ((fail_counter=fail_counter+1))
     else
-        printf " \033[32mok\033[0m\n"
+        echo -e " \033[32mok\033[0m"
     fi
+    CHECKED_LINKS+=("$url")
 done
 
 echo "Failed files:"
 printf '%s\n' "${FAILED_LINKS[@]}"
-exit $fail_counter
+exit $fail_counter

doc/architecture/instruction_executor.rst

@@ -1,3 +1,5 @@
+.. _instruction_executor:
+
 Instruction Executor
 ====================
 
@@ -21,12 +23,4 @@ for sending motion instructions to the robot. Hence, it requires a :ref:`ur_driv
    Therefore, all parameters and restrictions of these functions apply. For example, velocity and
    acceleration parameters will be ignored if there is a time > 0 given.
 
-As a minimal working example, please see ``examples/instruction_executor.cpp`` example:
-
-.. literalinclude:: ../../examples/instruction_executor.cpp
-   :language: c++
-   :caption: examples/instruction_executor.cpp
-   :linenos:
-   :lineno-match:
-   :start-at: g_my_driver.reset
-   :end-at: g_my_driver->stopControl();
+As a minimal working example, please see the :ref:`instruction_executor_example`.

doc/architecture/script_sender.rst

@@ -13,15 +13,7 @@ corresponding request when starting a program on the robot that contains the **E
 program node. In order to work properly, make sure that the IP address and script sender port are
 configured correctly on the robot.
 
-The following example creates a ``ScriptSender`` listening on port ``12345`` and sends the script
-``textmsg("Hello, World!")`` when requested. A fully compilable example can be found in `script_sender.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/script_sender.cpp>`_
-
-.. literalinclude:: ../../examples/script_sender.cpp
-   :language: c++
-   :caption: examples/script_sender.cpp
-   :linenos:
-   :lineno-match:
-   :start-at: constexpr uint32_t PORT
+An example of how to use the ``ScriptSender`` class can be found in the :ref:`script_sender_example`.
 
 .. note::
    PolyScope X users cannot use the URCap linked above. There is a development version of a URCapX

doc/examples.rst

@@ -0,0 +1,28 @@
+Usage examples
+==============
+
+This library contains a number of examples how this library can be used. You can use them as a
+starting point for your own applications.
+
+All examples take a robot's IP address as a first argument and some of them take a maximum run
+duration (in seconds) as second argument. If the second argument is omitted, some of the examples
+may be running forever until manually stopped.
+
+.. note:: Most of these examples use the driver's headless mode. Therefore, on an e-Series (PolyScope 5) robot, the robot has to be
+   in *remote control mode* to work.
+
+.. toctree::
+   :maxdepth: 1
+
+   examples/dashboard_client
+   examples/force_mode
+   examples/freedrive
+   examples/instruction_executor
+   examples/primary_pipeline
+   examples/primary_pipeline_calibration
+   examples/rtde_client
+   examples/script_sender
+   examples/spline_example
+   examples/tool_contact_example
+   examples/trajectory_point_interface
+   examples/ur_driver

doc/examples/dashboard_client.rst

@@ -0,0 +1,82 @@
+:github_url: https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/examples/dashboard_client.rst
+
+Dashboard client example
+========================
+
+This example shows how to use the builtin `Dashboard server <https://www.universal-robots.com/articles/ur-articles/dashboard-server-e-series-port-29999/>`_ to communicate with a robot.
+
+.. note::
+
+   The Dashboard Server is only available on CB3 and e-Series robots. It is not available on
+   PolyScope X.
+
+
+The `dashboard_example.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/dashboard_example.cpp>`_ shows how to use this class:
+
+.. note:: For the following example to work on an e-Series (PolyScope 5) robot, the robot has to be
+   in *remote control mode*.
+
+.. literalinclude:: ../../examples/dashboard_example.cpp
+   :language: c++
+   :caption: examples/dashboard_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: std::make_unique<DashboardClient>
+   :end-at: my_dashboard->commandCloseSafetyPopup();
+
+At first, a ``DashboardClient`` object is created with the IP address of the robot. Then, the
+client is connected to the robot. After that, the client sends a command to the robot and receives
+the answer.
+
+Some commands support getting the response from the robot. For example, the
+``commandPolyScopeVersion()`` function:
+
+.. literalinclude:: ../../examples/dashboard_example.cpp
+   :language: c++
+   :caption: examples/dashboard_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: // Get the PolyScope version
+   :end-at: URCL_LOG_INFO(version.c_str());
+
+
+The ``DashboardClient`` can easily be used to cycle through the robot's states, for example for
+initialization:
+
+.. literalinclude:: ../../examples/dashboard_example.cpp
+   :language: c++
+   :caption: examples/dashboard_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: // Power it on
+   :end-at: // Load existing program
+
+All commands are blocking and will wait for the necessary action being done. The dashboard server's
+response will be compared with an expected response. For example, when calling
+``commandPowerOn(timeout)``, it is checked that the dashboard server is answering ``"Powering on"`` and
+then it is queried until the robot reports ``"Robotmode: IDLE"`` or until the timeout is reached.
+The example contains more commands that follow the same scheme.
+
+
+If you want to send a query / command to the dashboard server and only want to receive the
+response, you can use the ``sendAndReceive()`` function:
+
+.. literalinclude:: ../../examples/dashboard_example.cpp
+   :language: c++
+   :caption: examples/dashboard_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: // Make a raw request and save the response
+   :end-at: URCL_LOG_INFO("Program state: %s", program_state.c_str());
+
+For checking the response against an expected regular expression use ``sendRequest()``:
+
+.. literalinclude:: ../../examples/dashboard_example.cpp
+   :language: c++
+   :caption: examples/dashboard_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: // The response can be checked with a regular expression
+   :end-at: URCL_LOG_INFO("Power off command success: %d", success);
+
+

doc/examples/force_mode.rst

@@ -0,0 +1,63 @@
+:github_url: https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/examples/force_mode.rst
+
+Force Mode example
+==================
+
+The ``ur_client_library`` supports leveraging the robot's force mode directly. An example on how to
+use it can be found in `force_mode_example.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/force_mode_example.cpp>`_.
+
+In order to utilize force mode, we'll have to create and initialize a full ``UrDriver`` object
+first:
+
+.. literalinclude:: ../../examples/force_mode_example.cpp
+   :language: c++
+   :caption: examples/force_mode_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: // Now the robot is ready to receive a program
+   :end-at: // End of initialization
+
+Start force mode
+----------------
+
+After that, we can start force mode by calling the ``startForceMode()`` function:
+
+.. literalinclude:: ../../examples/force_mode_example.cpp
+   :language: c++
+   :caption: examples/force_mode_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: // Start force mode
+   :end-at: if (!success)
+
+All parameters for the force mode are included into the ``startForceMode()`` function call. If you
+want to change the parameters, e.g. change the forces applied, you can simply call
+``startForceMode()`` again with the new parameters.
+
+.. note::
+   CB3 robots don't support specifying force_mode's ``gain_scaling``, so there are two different
+   functions available.
+
+Once force mode is started successfully, we'll have to send keepalive messages to the robot in
+order to keep the communication active:
+
+.. literalinclude:: ../../examples/force_mode_example.cpp
+   :language: c++
+   :caption: examples/force_mode_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: std::chrono::duration<double> time_done(0);
+   :end-at: URCL_LOG_INFO("Timeout reached.");
+
+Stop force mode
+---------------
+
+Once finished, force_mode can be stopped by calling ``endForceMode()``.
+
+.. literalinclude:: ../../examples/force_mode_example.cpp
+   :language: c++
+   :caption: examples/force_mode_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: endForceMode()
+   :end-at: endForceMode()

doc/examples/freedrive.rst

@@ -0,0 +1,70 @@
+:github_url: https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/examples/freedrive.rst
+
+Freedrive Mode example
+======================
+
+`Freedrive
+<https://www.universal-robots.com/manuals/EN/HTML/SW5_20/Content/prod-scriptmanual/G5/freedrive_mode.htm>`_
+allows the robot arm to be manually pulled into desired positions and/or poses. The joints move
+with little resistance because the brakes are released.
+
+An example to utilize the freedrive mode can be found in the `freedrive_example.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/freedrive_example.cpp>`_.
+
+.. note:: For the following example to work on an e-Series (PolyScope 5) robot, the robot has to be
+   in *remote control mode*.
+
+At first, we create a ``ExampleRobotWrapper`` object in order to initialize communication with the
+robot.
+
+.. literalinclude:: ../../examples/freedrive_example.cpp
+   :language: c++
+   :caption: examples/freedrive_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: bool headless_mode = true;
+   :end-before: URCL_LOG_INFO("Starting freedrive mode");
+
+
+Start freedrive mode
+--------------------
+
+The ``UrDriver`` provides a method to start freedrive mode directly:
+
+.. literalinclude:: ../../examples/freedrive_example.cpp
+   :language: c++
+   :caption: examples/freedrive_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: URCL_LOG_INFO("Starting freedrive mode");
+   :end-at: sendFreedriveMessageOrDie(control::FreedriveControlMessage::FREEDRIVE_START);
+
+As it is potentially dangerous to leave the robot in freedrive mode, the robot program expect
+frequent keepalive messages to verify that the remote connection is still available and freedrive
+mode is being expected to be active.
+
+Freedrive mode will be active from this point on until it is either stopped, or no keepalive
+message is received by the robot anymore.
+
+Therefore, we have to make sure to send regular keepalive messages to the robot. The following
+section will keep freedrive mode active for a period of time defined in ``seconds_to_run``.
+
+.. literalinclude:: ../../examples/freedrive_example.cpp
+   :language: c++
+   :caption: examples/freedrive_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: std::chrono::duration<double> time_done(0);
+   :end-before: sendFreedriveMessageOrDie(control::FreedriveControlMessage::FREEDRIVE_STOP);
+
+Stop force Mode
+---------------
+
+To stop force mode either stop sending keepalive signals or request deactivating it explicitly:
+
+.. literalinclude:: ../../examples/freedrive_example.cpp
+   :language: c++
+   :caption: examples/freedrive_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: sendFreedriveMessageOrDie(control::FreedriveControlMessage::FREEDRIVE_STOP);
+   :end-at: sendFreedriveMessageOrDie(control::FreedriveControlMessage::FREEDRIVE_STOP);

doc/examples/instruction_executor.rst

@@ -0,0 +1,66 @@
+:github_url: https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/examples/instruction_executor.rst
+
+.. _instruction_executor_example:
+
+Instruction Executor example
+============================
+
+This example shows how to use the :ref:`instruction_executor` class. It can be used for easily
+executing a sequence of instructions such as motions on the robot using the built-in URScript functions.
+
+The `instruction_executor.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/instruction_executor.cpp>`_ shows how to use this class:
+
+.. note:: For the instruciton executor to work there has to be an established connection to the
+   :ref:`reverse_interface`. That means, the respective program has to be running on the robot. The
+   example below will do that automatically, if the connected robot is in *remote_control* mode.
+
+
+.. literalinclude:: ../../examples/instruction_executor.cpp
+   :language: c++
+   :caption: examples/instruction_executor.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup;
+   :end-at: auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_driver);
+
+At first, a ``InstructionExecutor`` object is created with the URDriver object as it needs that
+for communication with the robot.
+
+Currently, the ``InstructionExecutor`` can either be used to run sequences of motions or single motions.
+
+Execute a sequence of motions
+-----------------------------
+
+To run a sequence of motions, create an
+``std::vector<std::shared_ptr<urcl::cointrol::MotionPrimitive>>`` and pass it to the
+``executeMotion`` function:
+
+.. literalinclude:: ../../examples/instruction_executor.cpp
+   :language: c++
+   :caption: examples/instruction_executor.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: // Trajectory definition
+   :end-at: instruction_executor->executeMotion(motion_sequence);
+
+Each element in the motion sequence can be a different motion type. In the example, there are two
+``MoveJ`` motions and two ``MoveL`` motion. The primitives' parameters are directly forwarded to
+the underlying script functions, so the parameter descriptions for them apply, as well.
+Particularly, you may want to choose between either a time-based execution speed or an acceleration
+/ velocity parametrization. The latter will be ignored if a time > 0 is given.
+
+Execute a single motion
+-----------------------
+
+To run a single motion, the ``InstructionExecutor`` provides the methods ``moveJ(...)`` and
+``moveL(...)``:
+
+.. literalinclude:: ../../examples/instruction_executor.cpp
+   :language: c++
+   :caption: examples/instruction_executor.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: double goal_time_sec = 2.0;
+   :end-before: g_my_driver->stopControl();
+
+Again, time parametrization has priority over acceleration / velocity parameters.