Primary client script execution feedback#484
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Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## master #484 +/- ##
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- Coverage 77.08% 76.49% -0.60%
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Files 113 113
Lines 6045 6199 +154
Branches 2637 2745 +108
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+ Hits 4660 4742 +82
- Misses 1049 1095 +46
- Partials 336 362 +26
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urfeex
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First, very high-level overview.
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There seems to be an error somewhere in the logic. When I run the example with a robot that is not break-released, it releases breaks correctly, but then not all following commands are executed. I don't know whether there are some messages being lost due to the frequency things are called with or if there are flags that would need to be reset on the way.
This could be related with the error code handling. One example output is
[1776862206.490350] INFO /home/feex/git/ur_client_library/src/primary/primary_client.cpp 74: Starting primary client pipeline
Client connected
[1776862212.575126] INFO /home/feex/git/ur_client_library/include/ur_client_library/primary/primary_consumer.h 147: Logging an ErrorCodeMessage from the UR Controller Box: C100A7
[1776862212.581287] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 237: Robot encountered error(s) during script execution, stopping program
[1776862212.581336] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581351] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581362] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581385] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581397] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581407] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581426] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581438] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581453] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581466] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581488] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581505] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581516] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C304A4
[1776862212.581537] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C100A7
[1776862212.684815] INFO /home/feex/git/ur_client_library/src/primary/primary_client.cpp 262: Script with name cool_function_name started
[1776862212.684926] INFO /home/feex/git/ur_client_library/src/primary/primary_client.cpp 256: Script with name cool_function_name executed successfully
[1776862212.685579] INFO /home/feex/git/ur_client_library/src/primary/primary_client.cpp 68: Stopping primary client pipeline
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Adds function definition (if missing) and gives the function a name.
to use dashboard client, as the new implementation of sendScript is not compatible with the structure it has.
sendScript now fails when runtime exception is thrown
and add script_type to ScriptInfo struct
Reinstate the old sendScript functionality
Secondary programs are still fully supported, but the input script has to be defined as one beforehand. Relatively few things can be called in a secondary program, so if one should be executed, the user should know enough to define it as such beforehand.
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try to fix the ones not working in CI
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This is not quite done yet, but the main logic and the test cases are there
Still missing documentation and example also needs to be finished.