I have two UR3e robots that I am representing in a VR space. I am using a modified code to show the position of the robot arms and I am running into issues. For what seems at random, the position will stop recording and after i exit the program I will receive this error.
System.Net.Sockets.Socket.Receive (System.Byte[] buffer, System.Int32 offset, System.Int32 size, System.Net.Sockets.SocketFlags socketFlags) (at <ef151b6abb5d474cb2c1cb8906a8b5a4>:0)
System.Net.Sockets.NetworkStream.Read (System.Byte[] buffer, System.Int32 offset, System.Int32 size) (at <ef151b6abb5d474cb2c1cb8906a8b5a4>:0)
Rethrow as IOException: Unable to read data from the transport connection: A blocking operation was interrupted by a call to WSACancelBlockingCall.
System.Net.Sockets.NetworkStream.Read (System.Byte[] buffer, System.Int32 offset, System.Int32 size) (at <ef151b6abb5d474cb2c1cb8906a8b5a4>:0)
ur_data_processing+UR_Stream.UR_Stream_Thread () (at Assets/Everything DigitalTwin/All_digitslTwin/script/UR3/ur_data_processing.cs:274)
System.Threading.ThreadHelper.ThreadStart_Context (System.Object state) (at <eae584ce26bc40229c1b1aa476bfa589>:0)
System.Threading.ExecutionContext.RunInternal (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <eae584ce26bc40229c1b1aa476bfa589>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <eae584ce26bc40229c1b1aa476bfa589>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state) (at <eae584ce26bc40229c1b1aa476bfa589>:0)
System.Threading.ThreadHelper.ThreadStart () (at <eae584ce26bc40229c1b1aa476bfa589>:0)
UnityEngine.<>c:<RegisterUECatcher>b__0_0(Object, UnhandledExceptionEventArgs)
I suspect the socket is not being properly disposed when I press a button to connect to the Ur3e robot, at least I think before it started to disconnect after a few seconds of starting it. I will attach both codes I use. If any more information is needed please let me know.
/****************************************************************************
MIT License
Copyright(c) 2020 Roman Parak
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*****************************************************************************
Author : Roman Parak
Email : Roman.Parak @outlook.com
Github : https://github.com/rparak
File Name: main_ui_control.cs
****************************************************************************/
// System
using System;
using System.Text;
// Unity
using UnityEngine;
using UnityEngine.UI;
// TM
using TMPro;
public class main_ui_control : MonoBehaviour
{
// -------------------- GameObject -------------------- //
public GameObject camera_obj;
// -------------------- Image -------------------- //
public Image connection_panel_img, diagnostic_panel_img, joystick_panel_img;
public Image connection_info_img;
// -------------------- TMP_InputField -------------------- //
//public TMP_InputField ip_address_txt;
// -------------------- Dropdown -------------------- //
//public TMP_Dropdown ipAddressDropdown;
// -------------------- Buttons -------------------- //
public Button connectToIp1Button;
public Button connectToIp2Button;
// -------------------- Float -------------------- //
private float ex_param = 100f;
// -------------------- TextMeshProUGUI -------------------- //
public TextMeshProUGUI position_x_txt, position_y_txt, position_z_txt;
public TextMeshProUGUI position_rx_txt, position_ry_txt, position_rz_txt;
public TextMeshProUGUI position_j1_txt, position_j2_txt, position_j3_txt;
public TextMeshProUGUI position_j4_txt, position_j5_txt, position_j6_txt;
public TextMeshProUGUI connectionInfo_txt;
// -------------------- UTF8Encoding -------------------- //
private UTF8Encoding utf8 = new UTF8Encoding();
private string[] ipAddresses = { "...", "..." };
//private string selectedIPAddress;
// ------------------------------------------------------------------------------------------------------------------------ //
// ------------------------------------------------ INITIALIZATION {START} ------------------------------------------------ //
// ------------------------------------------------------------------------------------------------------------------------ //
void Start()
{
// Initialize to the first IP by default
//selectedIPAddress = ipAddresses[0];
// Connection information {image} -> Connect/Disconnect
connection_info_img.GetComponent<Image>().color = new Color32(255, 0, 48, 50);
// Connection information {text} -> Connect/Disconnect
connectionInfo_txt.text = "Disconnected";
// Panel Initialization -> Connection/Diagnostic/Joystick Panel
connection_panel_img.transform.localPosition = new Vector3(1215f + (ex_param), 0f, 0f);
diagnostic_panel_img.transform.localPosition = new Vector3(780f + (ex_param), 0f, 0f);
joystick_panel_img.transform.localPosition = new Vector3(1550f + (ex_param), 0f, 0f);
// Position {Cartesian} -> X..Z
position_x_txt.text = "0.00";
position_y_txt.text = "0.00";
position_z_txt.text = "0.00";
// Position {Rotation} -> EulerAngles(RX..RZ)
position_rx_txt.text = "0.00";
position_ry_txt.text = "0.00";
position_rz_txt.text = "0.00";
// Position Joint -> 1 - 6
position_j1_txt.text = "0.00";
position_j2_txt.text = "0.00";
position_j3_txt.text = "0.00";
position_j4_txt.text = "0.00";
position_j5_txt.text = "0.00";
position_j6_txt.text = "0.00";
// Robot IP Address
//ipAddressDropdown.value = 0; // default to first IP
// Auxiliary first command -> Write initialization position/rotation with acceleration/time to the robot controller
ur_data_processing.UR_Control_Data.aux_command_str = "speedl([0.0,0.0,0.0,0.0,0.0,0.0], a = 0.15, t = 0.03)" + "\n";
ur_data_processing.UR_Control_Data.command = utf8.GetBytes(ur_data_processing.UR_Control_Data.aux_command_str);
// Listen to dropdown value changes
//ipAddressDropdown.onValueChanged.AddListener(OnIPDropdownValueChanged);
connectToIp1Button.onClick.AddListener(() => ConnectToIP(ipAddresses[0]));
connectToIp2Button.onClick.AddListener(() => ConnectToIP(ipAddresses[1]));
}
// ------------------------------------------------------------------------------------------------------------------------ //
// ------------------------------------------------ MAIN FUNCTION {Cyclic} ------------------------------------------------ //
// ------------------------------------------------------------------------------------------------------------------------ //
void FixedUpdate()
{
// Robot IP Address (Read/Write) -> TCP/IP based on dropdown selection
//ur_data_processing.UR_Stream_Data.ip_address = selectedIPAddress;
//ur_data_processing.UR_Control_Data.ip_address = selectedIPAddress;
// ------------------------ Connection Information ------------------------//
// If the button (connect/disconnect) is pressed, change the color and text
if (ur_data_processing.GlobalVariables_Main_Control.connect == true)
{
// green color
connection_info_img.GetComponent<Image>().color = new Color32(135, 255, 0, 50);
connectionInfo_txt.text = "Connected";
}
else if(ur_data_processing.GlobalVariables_Main_Control.disconnect == true)
{
// red color
connection_info_img.GetComponent<Image>().color = new Color32(255, 0, 48, 50);
connectionInfo_txt.text = "Disconnected";
}
// ------------------------ Cyclic read parameters {diagnostic panel} ------------------------ //
// Position {Cartesian} -> X..Z
position_x_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.C_Position[0] * (1000f), 2)).ToString();
position_y_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.C_Position[1] * (1000f), 2)).ToString();
position_z_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.C_Position[2] * (1000f), 2)).ToString();
// Position {Rotation} -> EulerAngles(RX..RZ)
position_rx_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.C_Orientation[0] * (180 / Math.PI), 2)).ToString();
position_ry_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.C_Orientation[1] * (180 / Math.PI), 2)).ToString();
position_rz_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.C_Orientation[2] * (180 / Math.PI), 2)).ToString();
// Position Joint -> 1 - 6
position_j1_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.J_Orientation[0] * (180 / Math.PI), 2)).ToString();
position_j2_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.J_Orientation[1] * (180 / Math.PI), 2)).ToString();
position_j3_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.J_Orientation[2] * (180 / Math.PI), 2)).ToString();
position_j4_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.J_Orientation[3] * (180 / Math.PI), 2)).ToString();
position_j5_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.J_Orientation[4] * (180 / Math.PI), 2)).ToString();
position_j6_txt.text = ((float)Math.Round(ur_data_processing.UR_Stream_Data.J_Orientation[5] * (180 / Math.PI), 2)).ToString();
}
// ------------------------------------------------------------------------------------------------------------------------//
// -------------------------------------------------------- FUNCTIONS -----------------------------------------------------//
// ------------------------------------------------------------------------------------------------------------------------//
// -------------------- Destroy Blocks -------------------- //
void OnApplicationQuit()
{
// Destroy all
Destroy(this);
}
// -------------------- Connection Panel -> Visible On -------------------- //
public void TaskOnClick_ConnectionBTN()
{
// visible on
connection_panel_img.transform.localPosition = new Vector3(0f, 0f, 0f);
// visible off
diagnostic_panel_img.transform.localPosition = new Vector3(780f + (ex_param), 0f, 0f);
joystick_panel_img.transform.localPosition = new Vector3(1550f + (ex_param), 0f, 0f);
}
// -------------------- Connection Panel -> Visible off -------------------- //
public void TaskOnClick_EndConnectionBTN()
{
connection_panel_img.transform.localPosition = new Vector3(1215f + (ex_param), 0f, 0f);
}
// -------------------- Diagnostic Panel -> Visible On -------------------- //
public void TaskOnClick_DiagnosticBTN()
{
// visible on
diagnostic_panel_img.transform.localPosition = new Vector3(0f, 0f, 0f);
// visible off
connection_panel_img.transform.localPosition = new Vector3(1215f + (ex_param), 0f, 0f);
joystick_panel_img.transform.localPosition = new Vector3(1550f + (ex_param), 0f, 0f);
}
// -------------------- Diagnostic Panel -> Visible Off -------------------- //
public void TaskOnClick_EndDiagnosticBTN()
{
diagnostic_panel_img.transform.localPosition = new Vector3(780f + (ex_param), 0f, 0f);
}
// -------------------- Joystick Panel -> Visible On -------------------- //
public void TaskOnClick_JoystickBTN()
{
// visible on
joystick_panel_img.transform.localPosition = new Vector3(-265f, -129f, 0f);
// visible off
connection_panel_img.transform.localPosition = new Vector3(1215f + (ex_param), 0f, 0f);
diagnostic_panel_img.transform.localPosition = new Vector3(780f + (ex_param), 0f, 0f);
}
// -------------------- Joystick Panel -> Visible Off -------------------- //
public void TaskOnClick_EndJoystickBTN()
{
joystick_panel_img.transform.localPosition = new Vector3(1550f + (ex_param), 0f, 0f);
}
// -------------------- Camera Position -> Right -------------------- //
public void TaskOnClick_CamViewRBTN()
{
camera_obj.transform.localPosition = new Vector3(0.114f, 2.64f, -2.564f);
camera_obj.transform.localEulerAngles = new Vector3(10f, -30f, 0f);
}
// -------------------- Camera Position -> Left -------------------- //
public void TaskOnClick_CamViewLBTN()
{
camera_obj.transform.localPosition = new Vector3(-3.114f, 2.64f, -2.564f);
camera_obj.transform.localEulerAngles = new Vector3(10f, 30f, 0f);
}
// -------------------- Camera Position -> Home (in front) -------------------- //
public void TaskOnClick_CamViewHBTN()
{
camera_obj.transform.localPosition = new Vector3(-1.5f, 2.2f, -3.5f);
camera_obj.transform.localEulerAngles = new Vector3(0f, 0f, 0f);
}
// -------------------- Camera Position -> Top -------------------- //
public void TaskOnClick_CamViewTBTN()
{
camera_obj.transform.localPosition = new Vector3(-1.2f, 4f, 0f);
camera_obj.transform.localEulerAngles = new Vector3(90f, 0f, 0f);
}
// -------------------- Connect Button -> is pressed -------------------- //
public void TaskOnClick_ConnectBTN()
{
ur_data_processing.GlobalVariables_Main_Control.connect = true;
ur_data_processing.GlobalVariables_Main_Control.disconnect = false;
}
// -------------------- Disconnect Button -> is pressed -------------------- //
public void TaskOnClick_DisconnectBTN()
{
ur_data_processing.GlobalVariables_Main_Control.connect = false;
ur_data_processing.GlobalVariables_Main_Control.disconnect = true;
//ClearPositionData();
}
// private void ClearPositionData()
// {
// position_x_txt.text = "0.00";
// position_y_txt.text = "0.00";
// position_z_txt.text = "0.00";
// position_rx_txt.text = "0.00";
// position_ry_txt.text = "0.00";
// position_rz_txt.text = "0.00";
// position_j1_txt.text = "0.00";
// position_j2_txt.text = "0.00";
// position_j3_txt.text = "0.00";
// position_j4_txt.text = "0.00";
// position_j5_txt.text = "0.00";
// position_j6_txt.text = "0.00";
// }
// void OnIPDropdownValueChanged(int index)
// {
// Debug.Log("Selected IP Address: " + ipAddresses[index]);
// }
// public void SelectIP1()
// {
// selectedIPAddress = ipAddresses[0];
// Debug.Log("Selected IP Address: " + selectedIPAddress);
// }
// public void SelectIP2()
// {
// selectedIPAddress = ipAddresses[1];
// Debug.Log("Selected IP Address: " + selectedIPAddress);
// }
void ConnectToIP(string ipAddress)
{
ur_data_processing.UR_Stream_Data.ip_address = ipAddress;
ur_data_processing.UR_Control_Data.ip_address = ipAddress;
// Trigger connection (simulate connecting action)
ur_data_processing.GlobalVariables_Main_Control.connect = true;
ur_data_processing.GlobalVariables_Main_Control.disconnect = false;
Debug.Log("Connecting to IP: " + ipAddress);
}
}
/****************************************************************************
MIT License
Copyright(c) 2021 Roman Parak
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*****************************************************************************
Author : Roman Parak
Email : Roman.Parak @outlook.com
Github : https://github.com/rparak
File Name: ur_data_processing.cs
****************************************************************************/
// System
using System;
using System.Diagnostics;
using System.Net.Sockets;
using System.Threading;
using System.Collections;
// Unity
using UnityEngine;
using Debug = UnityEngine.Debug;
public class ur_data_processing : MonoBehaviour
{
public static class GlobalVariables_Main_Control
{
public static bool connect, disconnect;
}
public static class UR_Stream_Data
{
// IP Port Number and IP Address
public static string ip_address;
// Real-time (Read Only)
public const ushort port_number = 30013;
// Comunication Speed (ms)
public static int time_step;
// Joint Space:
// Orientation {J1 .. J6} (rad)
public static double[] J_Orientation = new double[6];
// Cartesian Space:
// Position {X, Y, Z} (mm)
public static double[] C_Position = new double[3];
// Orientation {Euler Angles} (rad):
public static double[] C_Orientation = new double[3];
// Class thread information (is alive or not)
public static bool is_alive = false;
}
public static class UR_Control_Data
{
// IP Port Number and IP Address
public static string ip_address;
// Real-time (Read/Write)
public const ushort port_number = 30003;
// Comunication Speed (ms)
public static int time_step;
// Control Parameters UR3/UR3e:
public static string aux_command_str;
public static byte[] command;
public static bool[] button_pressed = new bool[12];
public static bool joystick_button_pressed;
// Class thread information (is alive or not)
public static bool is_alive = false;
}
// Class Stream / Control {Universal Robots TCP/IP}
private UR_Stream ur_stream_robot;
private UR_Control ur_ctrl_robot;
//Dashboard control for both robots
private UR_Control_Dashboard ur_dashboard_robot_1;
private UR_Control_Dashboard ur_dashboard_robot_2;
// Other variables
private int main_ur3_state = 0;
private int aux_counter_pressed_btn = 0;
public UR_Control_Dashboard URDashboardRobot1 => ur_dashboard_robot_1;
public UR_Control_Dashboard URDashboardRobot2 => ur_dashboard_robot_2;
// Start is called before the first frame update
void Start()
{
// Initialization {TCP/IP Universal Robots}
// Read Data:
UR_Stream_Data.ip_address = "...";
// Communication speed: CB-Series 125 Hz (8 ms), E-Series 500 Hz (2 ms)
UR_Stream_Data.time_step = 8;
// Write Data:
UR_Control_Data.ip_address = "...";
// Communication speed: CB-Series 125 Hz (8 ms), E-Series 500 Hz (2 ms)
UR_Control_Data.time_step = 8;
// Initialization Stream {Universal Robots TCP/IP}
ur_stream_robot = new UR_Stream();
// Start Control {Universal Robots TCP/IP}
ur_ctrl_robot = new UR_Control();
// Dashboard control for Robot 1
ur_dashboard_robot_1 = gameObject.AddComponent<UR_Control_Dashboard>();
UR_Control_Data.ip_address = "..."; // IP for Robot 1
ur_dashboard_robot_1.programName = "test"; // Example program
ur_dashboard_robot_1.Start(); // Start Robot 1
// Dashboard control for Robot 2
ur_dashboard_robot_2 = gameObject.AddComponent<UR_Control_Dashboard>();
UR_Control_Data.ip_address = "..."; // IP for Robot 2
ur_dashboard_robot_2.programName = "robottestnew"; // Example program
ur_dashboard_robot_2.Start(); // Start Robot 2
}
// Update is called once per frame
void FixedUpdate()
{
switch (main_ur3_state)
{
case 0:
{
// ------------------------ Wait State {Disconnect State} ------------------------//
if (GlobalVariables_Main_Control.connect == true)
{
// Start Stream {Universal Robots TCP/IP}
ur_stream_robot.Start();
// Start Control {Universal Robots TCP/IP}
ur_ctrl_robot.Start();
// go to connect state
main_ur3_state = 1;
}
}
break;
case 1:
{
// ------------------------ Data Processing State {Connect State} ------------------------//
for (int i = 0; i < UR_Control_Data.button_pressed.Length; i++)
{
// check the pressed button in joystick control mode
if (UR_Control_Data.button_pressed[i] == true)
{
aux_counter_pressed_btn++;
}
}
// at least one button pressed
if (aux_counter_pressed_btn > 0)
{
// start move -> speed control
UR_Control_Data.joystick_button_pressed = true;
}
else
{
// stop move -> speed control
UR_Control_Data.joystick_button_pressed = false;
}
// null auxiliary variable
aux_counter_pressed_btn = 0;
if (GlobalVariables_Main_Control.disconnect == true)
{
// Stop threading block {TCP/Ip -> read data}
if (UR_Stream_Data.is_alive == true)
{
ur_stream_robot.Stop();
}
// Stop threading block {TCP/Ip -> write data}
if (UR_Control_Data.is_alive == true)
{
ur_ctrl_robot.Stop();
}
if (UR_Stream_Data.is_alive == false && UR_Control_Data.is_alive == false)
{
// go to initialization state {wait state -> disconnect state}
main_ur3_state = 0;
}
}
}
break;
}
}
void OnApplicationQuit()
{
try
{
// Check if objects are not null before calling Destroy
if (ur_stream_robot != null)
{
ur_stream_robot.Destroy();
}
if (ur_ctrl_robot != null)
{
ur_ctrl_robot.Destroy();
}
if (ur_dashboard_robot_1 != null)
{
ur_dashboard_robot_1.Destroy();
}
if (ur_dashboard_robot_2 != null)
{
ur_dashboard_robot_2.Destroy();
}
// Finally, destroy the current MonoBehaviour (this script)
Destroy(this);
}
catch (Exception e)
{
Debug.LogException(e);
}
}
class UR_Stream
{
// Initialization of Class variables
// Thread
private Thread robot_thread = null;
private bool exit_thread = false;
// TCP/IP Communication
private TcpClient tcp_client = new TcpClient();
private NetworkStream network_stream = null;
// Packet Buffer (Read)
private byte[] packet = new byte[1116];
// Offset:
// Size of first packet in bytes (Integer)
private const byte first_packet_size = 4;
// Size of other packets in bytes (Double)
private const byte offset = 8;
// Total message length in bytes
private const UInt32 total_msg_length = 3288596480;
public void UR_Stream_Thread()
{
try
{
if (tcp_client.Connected == false)
{
// Connect to controller -> if the controller is disconnected
tcp_client.Connect(UR_Stream_Data.ip_address, UR_Stream_Data.port_number);
}
// Initialization TCP/IP Communication (Stream)
network_stream = tcp_client.GetStream();
// Initialization timer
var t = new Stopwatch();
while (exit_thread == false)
{
// Get the data from the robot
if (network_stream.Read(packet, 0, packet.Length) != 0)
{
if (BitConverter.ToUInt32(packet, first_packet_size - 4) == total_msg_length)
{
// t_{0}: Timer start.
t.Start();
// Reverses the order of elements in a one-dimensional array or part of an array.
Array.Reverse(packet);
// Note:
// For more information on values 32... 37, etc., see the UR Client Interface document.
// Read Joint Values in radians
UR_Stream_Data.J_Orientation[0] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (32 * offset));
UR_Stream_Data.J_Orientation[1] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (33 * offset));
UR_Stream_Data.J_Orientation[2] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (34 * offset));
UR_Stream_Data.J_Orientation[3] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (35 * offset));
UR_Stream_Data.J_Orientation[4] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (36 * offset));
UR_Stream_Data.J_Orientation[5] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (37 * offset));
// Read Cartesian (Positon) Values in metres
UR_Stream_Data.C_Position[0] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (56 * offset));
UR_Stream_Data.C_Position[1] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (57 * offset));
UR_Stream_Data.C_Position[2] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (58 * offset));
// Read Cartesian (Orientation) Values in metres
UR_Stream_Data.C_Orientation[0] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (59 * offset));
UR_Stream_Data.C_Orientation[1] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (60 * offset));
UR_Stream_Data.C_Orientation[2] = BitConverter.ToDouble(packet, packet.Length - first_packet_size - (61 * offset));
// t_{1}: Timer stop.
t.Stop();
// Recalculate the time: t = t_{1} - t_{0} -> Elapsed Time in milliseconds
if (t.ElapsedMilliseconds < UR_Stream_Data.time_step)
{
Thread.Sleep(UR_Stream_Data.time_step - (int)t.ElapsedMilliseconds);
}
// Reset (Restart) timer.
t.Restart();
}
}
}
}
catch (SocketException e)
{
Debug.LogException(e);
}
}
public void Start()
{
// Start thread
exit_thread = false;
// Start a thread and listen to incoming messages
robot_thread = new Thread(new ThreadStart(UR_Stream_Thread));
robot_thread.IsBackground = true;
robot_thread.Start();
// Thread is active
UR_Stream_Data.is_alive = true;
}
public void Stop()
{
exit_thread = true;
// Stop a thread
Thread.Sleep(100);
UR_Stream_Data.is_alive = robot_thread.IsAlive;
robot_thread.Abort();
}
public void Destroy()
{
if (tcp_client.Connected == true)
{
// Disconnect communication
network_stream.Dispose();
tcp_client.Close();
}
Thread.Sleep(100);
}
}
class UR_Control
{
// Initialization of Class variables
// Thread
private Thread robot_thread = null;
private bool exit_thread = false;
// TCP/IP Communication
private TcpClient tcp_client = new TcpClient();
private NetworkStream network_stream = null;
public void UR_Control_Thread()
{
try
{
if (tcp_client.Connected != true)
{
// Connect to controller -> if the controller is disconnected
tcp_client.Connect(UR_Control_Data.ip_address, UR_Control_Data.port_number);
}
// Initialization TCP/IP Communication (Stream)
network_stream = tcp_client.GetStream();
// Initialization timer
var t = new Stopwatch();
while (exit_thread == false)
{
// t_{0}: Timer start.
t.Start();
// Note:
// For more information about commands, see the URScript Programming Language document
if (UR_Control_Data.joystick_button_pressed == true)
{
// Send command (byte) -> speed control of the robot (X,Y,Z and EA{RX, RY, RZ})
network_stream.Write(UR_Control_Data.command, 0, UR_Control_Data.command.Length);
}
// t_{1}: Timer stop.
t.Stop();
// Recalculate the time: t = t_{1} - t_{0} -> Elapsed Time in milliseconds
if (t.ElapsedMilliseconds < UR_Stream_Data.time_step)
{
Thread.Sleep(UR_Stream_Data.time_step - (int)t.ElapsedMilliseconds);
}
// Reset (Restart) timer.
t.Restart();
}
}
catch (SocketException e)
{
Debug.LogException(e);
}
}
public void Start()
{
// Start thread
exit_thread = false;
// Start a thread and listen to incoming messages
robot_thread = new Thread(new ThreadStart(UR_Control_Thread));
robot_thread.IsBackground = true;
robot_thread.Start();
// Thread is active
UR_Control_Data.is_alive = true;
}
public void Stop()
{
exit_thread = true;
// Stop a thread
Thread.Sleep(100);
UR_Control_Data.is_alive = robot_thread.IsAlive;
robot_thread.Abort();
}
public void Destroy()
{
if (tcp_client.Connected == true)
{
// Disconnect communication
network_stream.Dispose();
tcp_client.Close();
}
Thread.Sleep(100);
}
}
}
public class UR_Control_Dashboard : MonoBehaviour
{
// TCP/IP Communication for Dashboard Server
private TcpClient dashboard_client = new TcpClient();
private NetworkStream dashboard_stream = null;
private bool exit_thread = false;
public string programName;
// Method to send a command to the Dashboard Server
public void SendDashboardCommand(string command)
{
try
{
if (dashboard_client.Connected == false)
{
// Connect to the robot's Dashboard Server on port 29999
dashboard_client.Connect(ur_data_processing.UR_Control_Data.ip_address, 29999);
}
// Send the command
dashboard_stream = dashboard_client.GetStream();
byte[] command_bytes = System.Text.Encoding.ASCII.GetBytes(command + "\n");
dashboard_stream.Write(command_bytes, 0, command_bytes.Length);
// Read the response (optional, can be omitted if you don't need the response)
byte[] response = new byte[256];
dashboard_stream.Read(response, 0, response.Length);
string response_str = System.Text.Encoding.ASCII.GetString(response);
Debug.Log("Dashboard Response: " + response_str);
}
catch (SocketException e)
{
Debug.LogException(e);
}
}
// Method to load and run a program
public void RunProgram(string programName)
{
// Load the program
SendDashboardCommand("load " + programName + ".urp");
//Debug.LogWarning("Loaded Program");
// Start the program
SendDashboardCommand("robotmode");
StartCoroutine(PlayProgramAfterDelay());
}
public void CheckRobotStatus()
{
SendDashboardCommand("robotmode");
// You should get a response from the robot that indicates if it's ready
// Adjust the logic sbased on the response to ensure it's ready to run the next program
}
private IEnumerator PlayProgramAfterDelay()
{
yield return new WaitForSeconds(1);
SendDashboardCommand("robotmode"); // Adjust delay if necessary
SendDashboardCommand("play");
SendDashboardCommand("robotmode");
}
public void OnRunRobot1()
{
SendDashboardCommand("stop");
SendDashboardCommand("robotmode");
RunProgram("test");
}
public void OnRunRobot2()
{
//SendDashboardCommand("set operational mode automatic");
SendDashboardCommand("stop");
SendDashboardCommand("robotmode");
RunProgram("robottestnew");
}
public void Start()
{
// Start thread or any other control logic
exit_thread = false;
// Example to run a program from Unity
//RunProgram("robotblocktestnew");
}
public void Destroy()
{
if (dashboard_client.Connected == true)
{
// Disconnect communication
dashboard_stream.Dispose();
dashboard_client.Close();
}
Thread.Sleep(100);
}
}