Fixed issue #3 - added tags

Fixed issue #2 - added setup.py and setup.cfg to release package Fixed issue #1 - removed depenency on VERSION file - Readme file update with instructions for running inside venv, and with dockerized ursim - Removed dev package intended only for internal UR use
UniversalRobots · Dec 20, 2022 · 99a94ac · 99a94ac
1 parent 46093a0
commit 99a94ac
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diff --git a/README.md b/README.md
@@ -28,7 +28,16 @@ Some require additional libraries.
 python record.py -h
 python record.py --host 192.168.0.1 --frequency 10
 ```
-### Using robot simulator in VirtualBox
+# Using robot simulator in Docker
+RTDE can connect from host system to controller running in Docker
+when RTDE port 30004 is forwarded.
+1. Get latest ursim docker image: docker pull universalrobots/ursim_e-series
+2. Run docker container: docker run --rm -dit -p 30004:30004 -p 5900:5900 -p 6080:6080 universalrobots/ursim_e-series
+3. open vnc client in browser, and confirm safet: http://localhost:6080/vnc.html?host=docker_ip&port=6080
+
+More information about ursim docker image is available on [Dockerhub](https://hub.docker.com/r/universalrobots/ursim_e-series)
+
+# Using robot simulator in VirtualBox
 RTDE can connect from host system to controller running in VirtualBox
 when RTDE port 30004 is forwarded.
 1. Download simulator from [Universal Robots support site](https://www.universal-robots.com/support/)
@@ -45,8 +54,20 @@ Library is compatible with Python 2.7+, and Python 3.6+
 
 # Build release package
 ```
-mvn deploy
+mvn package
+```
+## Using with virtual environment
+Create virtual environment, and install wheel package
 ```
+python -m venv venv
+source venv/bin/activate
+pip install wheel
+```
+Install rtde package
+```
+pip install target/rtde-<version>-release.zip
+```
+
 # Contributor guidelines
 Code is formatted with [black](https://github.com/psf/black).
 Run code formatter before submitting pull request.

diff --git a/assembly-dev.xml b/assembly-dev.xml
diff --git a/assembly-release.xml b/assembly-release.xml
@@ -7,15 +7,11 @@
     <includeBaseDirectory>false</includeBaseDirectory>
     <fileSets>
         <fileSet>
-            <directory>${project.build.directory}/dev</directory>
+            <directory>${project.build.directory}/release</directory>
             <outputDirectory>/rtde-${version}/</outputDirectory>
             <includes>
                 <include>**/*</include>
             </includes>
-            <excludes>
-                <exclude>setup.py</exclude>
-                <exclude>setup.cfg</exclude>
-            </excludes>
         </fileSet>
     </fileSets>
 </assembly>
diff --git a/examples/example_control_loop.py b/examples/example_control_loop.py
@@ -23,27 +23,28 @@
 # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 import sys
-sys.path.append('..')
+
+sys.path.append("..")
 import logging
 
 import rtde.rtde as rtde
 import rtde.rtde_config as rtde_config
 
 
-#logging.basicConfig(level=logging.INFO)
+# logging.basicConfig(level=logging.INFO)
 
-ROBOT_HOST = 'localhost'
+ROBOT_HOST = "localhost"
 ROBOT_PORT = 30004
-config_filename = 'control_loop_configuration.xml'
+config_filename = "control_loop_configuration.xml"
 
 keep_running = True
 
 logging.getLogger().setLevel(logging.INFO)
 
 conf = rtde_config.ConfigFile(config_filename)
-state_names, state_types = conf.get_recipe('state')
-setp_names, setp_types = conf.get_recipe('setp')
-watchdog_names, watchdog_types = conf.get_recipe('watchdog')
+state_names, state_types = conf.get_recipe("state")
+setp_names, setp_types = conf.get_recipe("setp")
+watchdog_names, watchdog_types = conf.get_recipe("watchdog")
 
 con = rtde.RTDE(ROBOT_HOST, ROBOT_PORT)
 con.connect()
@@ -66,38 +67,41 @@
 setp.input_double_register_3 = 0
 setp.input_double_register_4 = 0
 setp.input_double_register_5 = 0
-  
+
 # The function "rtde_set_watchdog" in the "rtde_control_loop.urp" creates a 1 Hz watchdog
 watchdog.input_int_register_0 = 0
 
+
 def setp_to_list(setp):
     list = []
-    for i in range(0,6):
+    for i in range(0, 6):
         list.append(setp.__dict__["input_double_register_%i" % i])
     return list
 
+
 def list_to_setp(setp, list):
-    for i in range (0,6):
+    for i in range(0, 6):
         setp.__dict__["input_double_register_%i" % i] = list[i]
     return setp
 
-#start data synchronization
+
+# start data synchronization
 if not con.send_start():
     sys.exit()
 
 # control loop
 while keep_running:
     # receive the current state
     state = con.receive()
-    
+
     if state is None:
-        break;
-    
+        break
+
     # do something...
     if state.output_int_register_0 != 0:
         new_setp = setp1 if setp_to_list(setp) == setp2 else setp2
         list_to_setp(setp, new_setp)
-        # send new setpoint        
+        # send new setpoint
         con.send(setp)
 
     # kick watchdog

diff --git a/pom.xml b/pom.xml
@@ -6,14 +6,8 @@
   <modelVersion>4.0.0</modelVersion>
   <groupId>com.ur.rtde.client</groupId>
   <artifactId>python</artifactId>
-  <version>2.7.0</version>
+  <version>2.7.1</version>
   <packaging>pom</packaging>
-  <parent>
-    <groupId>com.ur</groupId>
-    <artifactId>parent-universal</artifactId>
-    <version>1.0.3</version>
-    <relativePath/>
-  </parent>
 
   <properties>
     <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
@@ -47,31 +41,13 @@
                   <directory>${project.basedir}</directory>
                   <includes>
                     <include>examples/**</include>
-                  </includes>
-                </resource>
-              </resources>
-            </configuration>
-          </execution>
-
-          <execution>
-            <id>copy python files for dev / internal usage</id>
-            <goals>
-              <goal>copy-resources</goal>
-            </goals>
-            <phase>generate-sources</phase>
-            <configuration>
-              <overwrite>true</overwrite>
-              <outputDirectory>${project.basedir}/target/dev</outputDirectory>
-              <resources>
-                <resource>
-                  <directory>${project.basedir}</directory>
-                  <includes>
-                    <include>/**/*</include>
+                    <include>README.md</include>
+                    <include>LICENSE</include>
+                    <include>setup.py</include>
+                    <include>setup.cfg</include>
                   </includes>
                   <excludes>
-                    <exclude>pom.xml</exclude>
-                    <exclude>assembly*.xml</exclude>
-                    <exclude>target/**</exclude>
+                    <exclude>**/*pyc</exclude>
                   </excludes>
                 </resource>
               </resources>
@@ -98,19 +74,6 @@
               </descriptors>
             </configuration>
           </execution>
-          <execution>
-            <id>Create development tar.gz</id>
-            <phase>package</phase>
-            <goals>
-              <goal>single</goal>
-            </goals>
-            <configuration>
-              <appendAssemblyId>true</appendAssemblyId>
-              <descriptors>
-                <descriptor>assembly-dev.xml</descriptor>
-              </descriptors>
-            </configuration>
-          </execution>
         </executions>
       </plugin>
     </plugins>

diff --git a/setup.py b/setup.py
@@ -23,15 +23,9 @@
 # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 from setuptools import setup
 
-
-with open("../VERSION", "rb") as f:
-    version = f.read().decode("utf-8")
-    version = version.split("-")[0]
-
-
 setup(
     name="UrRtde",
     packages=["rtde"],
-    version=version,
+    version="2.7.1",
     description="Real-Time Data Exchange (RTDE) python client + examples",
 )