Merge branch 'master' into gh-550-streaming-starvation-recovery-tests

Author: urfeex

.github/workflows/check_links.yml

@@ -29,11 +29,11 @@ jobs:
             --cache
             --cache-exclude-status '429, 403, 404, 502'
             --max-cache-age 2d
+            --exclude '^https?://(www\.)?stackoverflow\.com'
             --exclude '^http://192\.168\.56\.101'
             --exclude 'kernel\.org\/pub\/linux\/kernel'
             --exclude 'releases/download/v\$%7BURCAP_VERSION%7D/externalcontrol-\$%7BURCAP_VERSION%7D\.jar'
             --exclude '^http://rosin-project\.eu'
-            --exclude '2013181\/gdb-causes-sem-wait-to-fail-with-eintr-error'
             --exclude 'https:\/\/lists\.apple\.com\/archives\/darwin-kernel\/2009\/Apr\/msg00010\.html'
             --exclude 'https:\/\/wiki\.linuxfoundation\.org\/realtime\/preempt_rt_versions'
             --exclude 'https:\/\/en\.cppreference\.com\/w\/cpp\/string\/basic_string\/to_string'

.github/workflows/ci.yml

@@ -75,18 +75,25 @@ jobs:
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
           - ROBOT_MODEL: 'ur7e'
             URSIM_VERSION: '10.13.0'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
+            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
       - name: start ursim
         run: |
-          scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d -f DISABLED
+          CITADEL_DB_ARG=""
+          if [ -n "$CITADEL_DB_FOLDER" ]; then
+            CITADEL_DB_ARG="-c $CITADEL_DB_FOLDER"
+          fi
+          scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER $CITADEL_DB_ARG -d -f DISABLED
         env:
           DOCKER_RUN_OPTS: --network ursim_net
           ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
           URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
           PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
+          CITADEL_DB_FOLDER: ${{matrix.env.CITADEL_DB_FOLDER || ''}}
       - id: check_polyscopex
         run: |
           if [[ "${{matrix.env.URSIM_VERSION}}" == "10."* ]]; then
@@ -103,18 +110,27 @@ jobs:
       - name: Extract CMake build directory
         run: tar -xzf build.tar.gz
       - name: Create folder for test artifacts
-        run: mkdir -p test_artifacts
+        run: mkdir -p test_artifacts/screenshots
       - name: Access PolyScope
         if: ${{ steps.check_polyscopex.outputs.is_polyscopex  == 'true' }}
         run: chrome --no-sandbox --disable-settuid-sandbox --headless=new 192.168.56.101 &
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
       - name: Install Python dependencies
-        run: sudo apt-get update && sudo apt-get install -y python3-pandas python3-lxml
+        run: pip install pandas lxml
+      - name: Install Playwright for PolyScope X screenshots
+        if: ${{ steps.check_polyscopex.outputs.is_polyscopex == 'true' }}
+        run: pip install playwright && playwright install chromium
       - name: Generate rtde outputs lists
         run: python3 tests/resources/generate_rtde_outputs.py 
       - name: test
         run: cd build && ctest --output-on-failure --output-junit junit.xml
         env:
           URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
+          POLYSCOPE_X_TESTS_WITH_REMOTE_CONTROL: ${{matrix.env.POLYSCOPE_X_WITH_REMOTE_CONTROL || ''}}
+          POLYSCOPE_X_SCREENSHOT_DIR: ${{github.workspace}}/test_artifacts/screenshots
       - name: Upload test results to Codecov
         uses: codecov/codecov-action@v7
         with:
@@ -168,6 +184,25 @@ jobs:
           path: test_artifacts
           if-no-files-found: error
           retention-days: 10
+      - name: Capture PolyScope X URSim logs
+        if: ${{ always() && steps.check_polyscopex.outputs.is_polyscopex == 'true' }}
+        run: docker logs ursim > test_artifacts/ursim_docker.log 2>&1
+      - name: Upload PolyScope X URSim logs
+        uses: actions/upload-artifact@v7
+        if: ${{ always() && steps.check_polyscopex.outputs.is_polyscopex == 'true' }}
+        with:
+          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs
+          path: test_artifacts/ursim_docker.log
+          if-no-files-found: error
+          retention-days: 10
+      - name: Upload PolyScope X screenshots
+        uses: actions/upload-artifact@v7
+        if: ${{ failure() && steps.check_polyscopex.outputs.is_polyscopex == 'true' }}
+        with:
+          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_screenshots
+          path: test_artifacts/screenshots
+          if-no-files-found: ignore
+          retention-days: 10
       - name: Upload generated scripts
         uses: actions/upload-artifact@v6
         if: ${{ always() }}

.github/workflows/industrial-ci.yml

@@ -23,7 +23,7 @@ jobs:
           - NAME: kilted
             DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#kilted"
           - NAME: lyrical
-            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main"
+            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#lyrical"
           - NAME: rolling
             DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main"
             CLANG_TIDY: pedantic
@@ -58,7 +58,7 @@ jobs:
         env:
           IMMEDIATE_TEST_OUTPUT: true
           DOWNSTREAM_CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
-          ADDITIONAL_DEBS: docker.io netcat-openbsd  # Needed for integration tests
+          ADDITIONAL_DEBS: docker.io netcat-openbsd curl # Needed for integration tests
           DOWNSTREAM_WORKSPACE: ${{matrix.ROS_DISTRO.DOWNSTREAM_WORKSPACE}}
           ROS_DISTRO: ${{matrix.ROS_DISTRO.NAME}}
           ROS_REPO: ${{matrix.ROS_REPO}}

doc/architecture/trajectory_point_interface.rst

@@ -57,11 +57,11 @@ representations in 22 datafields. The data fields have the following meaning:
           - For all MOVEC variants this field contains the via point (same
             joint-vs-pose interpretation as the target at indices 0-5, see the motion type at
             index 20).
-          - trajectory point velocities (multiplied by ``MULT_JOINTSTATE``) for spline joint types
+          - trajectory point velocities (multiplied by ``MULT_VEL_ACC``) for spline joint types
 
    12-17  Depending on the motion type, this represents either
 
-          - trajectory point accelerations (multiplied by ``MULT_JOINTSTATE``) for spline joint
+          - trajectory point accelerations (multiplied by ``MULT_VEL_ACC``) for spline joint
             types.
 
           - for all other motion types
@@ -121,12 +121,23 @@ where
 
 - ``MULT_JOINTSTATE``: 1000000
 - ``MULT_TIME``: 1000000
+- ``MULT_VEL_ACC``: 100000000
 
 .. note::
    With ``MULT_TIME`` being 1000000, the maximum duration that can be sent is 2147 seconds, while
    precision is cut off at 1 microsecond. (The same applies to the blend radius, respectively being
    max 2147 m and 1 μm precision.)
 
+.. note::
+   Spline point velocities and accelerations use the finer ``MULT_VEL_ACC`` scaling, giving 1e-8
+   resolution with a maximum magnitude of ~21.47 rad/s (rad/s²). The coarser ``MULT_JOINTSTATE``
+   scaling quantizes near-zero accelerations, causing reconstructed acceleration
+   profile to become jagged, which can trigger controller faults. Values exceeding the maximum magnitude are rejected by the library.
+
+   Finer scaling is only used when the control script defines the matching multiplier through
+   the ``{{VEL_ACC_REPLACE}}`` placeholder. For user-supplied scripts without that placeholder the
+   library falls back to encoding spline velocities and accelerations with ``MULT_JOINTSTATE``.
+
 .. note::
    The ``*_POSE`` / ``*_JOINT`` motion-type variants let callers mix joint-space and Cartesian
    targets freely through the high-level APIs (see :ref:`instruction_executor` and the

include/ur_client_library/control/script_reader.h

@@ -87,6 +87,14 @@ class ScriptReader
    */
   static bool evaluateExpression(const std::string& expression, const DataDict& data);
 
+  /*!
+   * \brief Checks whether a variable placeholder was substituted during the last script read.
+   * This allows detecting which features a user-supplied script supports.
+   * \param key The variable name to check.
+   * \return True if the last read script, including its includes, contained the placeholder.
+   */
+  bool isVariableRegistered(const std::string& key) const;
+
 private:
   enum BlockType
   {
@@ -108,11 +116,13 @@ class ScriptReader
   std::filesystem::path current_dir_;
   std::unordered_set<std::string> include_stack_;
   std::size_t include_depth_ = 0;
+  std::unordered_set<std::string> variable_registry_;
 
   std::string readScriptFileImpl(const std::filesystem::path& canonical_path, const DataDict& data);
   static std::string readFileContent(const std::string& file_path);
   void replaceIncludes(std::string& script_code, const DataDict& data);
-  static void replaceVariables(std::string& script_code, const DataDict& data);
+  static void replaceVariables(std::string& script_code, const DataDict& data,
+                               std::unordered_set<std::string>& variable_registry);
   static void replaceConditionals(std::string& script_code, const DataDict& data);
 };
 

include/ur_client_library/control/trajectory_point_interface.h

@@ -65,6 +65,9 @@ class TrajectoryPointInterface : public ReverseInterface
 {
 public:
   static const int MESSAGE_LENGTH = 22;
+  // Spline vel/acc need finer resolution: quantising near-zero values at 1e-6 causes controller faults.
+  static constexpr int32_t MULT_VEL_ACC = 100000000;
+
 
   TrajectoryPointInterface() = delete;
   /*!
@@ -134,6 +137,28 @@ class TrajectoryPointInterface : public ReverseInterface
    */
   bool writeMotionPrimitive(const std::shared_ptr<control::MotionPrimitive> primitive);
 
+  /*!
+   * \brief Sets the multiplier used to encode spline point velocities and accelerations.
+   *
+   * Spline velocities and accelerations in legacy scripts have a coarser multiplier
+   * so the encoding has to match the running script. Defaults to the modern
+   * multiplier.
+   *
+   * \param multiplier The multiplier the running control script uses to decode spline velocities
+   * and accelerations.
+   *
+   * \throws std::invalid_argument if the multiplier is not positive.
+   */
+  void setVelAccMultiplier(const int32_t multiplier);
+
+  /*!
+   * \brief Returns the multiplier used to encode spline point velocities and accelerations.
+   */
+  int32_t getVelAccMultiplier() const
+  {
+    return mult_vel_acc_;
+  }
+
   void setTrajectoryEndCallback(std::function<void(TrajectoryResult)> callback);
 
   uint32_t addTrajectoryEndCallback(const std::function<void(TrajectoryResult)>& callback);
@@ -165,6 +190,8 @@ class TrajectoryPointInterface : public ReverseInterface
 private:
   const double MAX_GOAL_TIME_ = static_cast<double>(std::numeric_limits<int32_t>::max()) / MULT_TIME;
 
+  int32_t mult_vel_acc_ = MULT_VEL_ACC;
+
   std::list<HandlerFunction<void(TrajectoryResult)>> trajectory_end_callbacks_;
   uint32_t next_done_callback_id_ = 0;
 

include/ur_client_library/helpers.h

@@ -186,5 +186,7 @@ RobotSeries robotSeriesFromTypeAndVersion(const RobotType type, const VersionInf
  */
 RobotType robotTypeFromString(const std::string& robot_type_str);
 
+std::string stringFromMotionTarget(const MotionTarget& target);
+
 }  // namespace urcl
 #endif  // ifndef UR_CLIENT_LIBRARY_HELPERS_H_INCLUDED

include/ur_client_library/types.h

@@ -29,6 +29,7 @@
 #include <optional>
 #include <variant>
 #include <vector>
+#include <string>
 
 namespace urcl
 {
@@ -59,6 +60,8 @@ class Q
   void setValues(const vector6d_t& values);
   void setValues(const std::vector<double>& values);
 
+  std::string toString() const;
+
 private:
   std::vector<double> values_;
 };
@@ -89,6 +92,8 @@ class Pose
 
   void setPose(const double x, const double y, const double z, const double rx, const double ry, const double rz);
 
+  std::string toString() const;
+
   double x;
   double y;
   double z;

include/ur_client_library/ur/ur_driver.h

@@ -976,6 +976,14 @@ class UrDriver
     trajectory_interface_->removeTrajectoryEndCallback(handler_id);
   }
 
+  /*!
+   * \brief Returns the multiplier used to encode spline point velocities and accelerations.
+   */
+  int32_t getVelAccMultiplier() const
+  {
+    return trajectory_interface_->getVelAccMultiplier();
+  }
+
   /*!
    * \brief Register a callback for the robot-based tool contact execution completion.
    *

resources/external_control.urscript

@@ -7,6 +7,7 @@ steptime = get_steptime()
 textmsg("ExternalControl: steptime=", steptime)
 MULT_jointstate = {{JOINT_STATE_REPLACE}}
 MULT_time = {{TIME_REPLACE}}
+MULT_velacc = {{VEL_ACC_REPLACE}}
 
 DEBUG = False
 
@@ -698,16 +699,16 @@ thread trajectoryThread():
 
         # Cubic spline
         if raw_point[INDEX_SPLINE_TYPE] == SPLINE_CUBIC:
-          qd = [ raw_point[7] / MULT_jointstate, raw_point[8] / MULT_jointstate, raw_point[9] / MULT_jointstate, raw_point[10] / MULT_jointstate, raw_point[11] / MULT_jointstate, raw_point[12] / MULT_jointstate]
+          qd = [ raw_point[7] / MULT_velacc, raw_point[8] / MULT_velacc, raw_point[9] / MULT_velacc, raw_point[10] / MULT_velacc, raw_point[11] / MULT_velacc, raw_point[12] / MULT_velacc]
           is_robot_moving = cubicSplineRun(q, qd, tmptime, is_last_point, is_first_point)
 
           # reset old acceleration
           spline_qdd = [0, 0, 0, 0, 0, 0]
 
           # Quintic spline
         elif raw_point[INDEX_SPLINE_TYPE] == SPLINE_QUINTIC:
-          qd = [ raw_point[7] / MULT_jointstate, raw_point[8] / MULT_jointstate, raw_point[9] / MULT_jointstate, raw_point[10] / MULT_jointstate, raw_point[11] / MULT_jointstate, raw_point[12] / MULT_jointstate]
-          qdd = [ raw_point[13]/ MULT_jointstate, raw_point[14]/ MULT_jointstate, raw_point[15]/ MULT_jointstate, raw_point[16]/ MULT_jointstate, raw_point[17]/ MULT_jointstate, raw_point[18]/ MULT_jointstate]
+          qd = [ raw_point[7] / MULT_velacc, raw_point[8] / MULT_velacc, raw_point[9] / MULT_velacc, raw_point[10] / MULT_velacc, raw_point[11] / MULT_velacc, raw_point[12] / MULT_velacc]
+          qdd = [ raw_point[13]/ MULT_velacc, raw_point[14]/ MULT_velacc, raw_point[15]/ MULT_velacc, raw_point[16]/ MULT_velacc, raw_point[17]/ MULT_velacc, raw_point[18]/ MULT_velacc]
           is_robot_moving = quinticSplineRun(q, qd, qdd, tmptime, is_last_point, is_first_point)
         else:
           textmsg("Unknown spline type given:", raw_point[INDEX_POINT_TYPE])