Expose diagnostic error codes #225

jessica-chen-ocado · 2024-11-14T18:48:32Z

PR to parse UR10 error codes from diagnostic logs that are streamed on the Primary Interface port 30001

src/primary/robot_message/error_code_message.cpp

urfeex · 2024-11-15T08:24:39Z

Thank you very much for your contribution! I've wanted to extract parts of #186 since a long time, since that one got too big at some point. I'll have a deeper look at this ASAP.

jessica-chen-ocado · 2024-11-21T15:02:21Z

@urfeex Any updates on this?

urfeex

Thank you again for tackling this. If we could restructure things a bit (and rename the ErrorCodeClient) so it could potentially be reused as a primary client with more features in future, I think we could get this merged.

include/ur_client_library/primary/robot_message/error_code_message.h

src/primary/robot_message/error_code_message.cpp

include/ur_client_library/ur/error_code_client.h

tests/test_ur_driver.cpp

urfeex · 2025-01-14T08:30:30Z

@jessica-chen-ocado as you just rebased on current master: Do you plan to continue working on this based on our discussions previously?

jessica-chen-ocado · 2025-01-15T21:02:00Z

@jessica-chen-ocado as you just rebased on current master: Do you plan to continue working on this based on our discussions previously?

There is a change in priority with my assigned tasks but yes I intend to work on this when I'm free and finish this PR.

urfeex

This is looking almost good. It would be good to sort out the license headers before merging and I have a couple of suggestions. Thank you for following up on this. This should give us a solid base to implement more features from #186 in the future.

src/primary/primary_client.cpp

urfeex · 2025-01-17T14:31:18Z

src/primary/primary_client.cpp

Please add license headers for new files, preferably BSD-3-Clause ones.

Sorry for the late response, could you please clarify if you would like to me to

Replace the entire Apache 2.0 license with the entire BSD-3 clause for the new files?

Copyright <YEAR> <COPYRIGHT HOLDER> Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

OR

Include clause 3 from the BSD license along side the Apache 2.0 license for the new files
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

Every file should have a license header. Currently, we have both, Apache 2.0 and BSD-3-Clause licensed file in our codebase. We strive towards having new contributions licensed under BSD-3-Clause. So, every new file added should have a BSD-3-Clause license header:

// -- BEGIN LICENSE BLOCK ---------------------------------------------- // Copyright 2025 <copyright owner> // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions are met: // // * Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // // * Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // // * Neither the name of the {copyright_holder} nor the names of its // contributors may be used to endorse or promote products derived from // this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE // POSSIBILITY OF SUCH DAMAGE. // -- END LICENSE BLOCK ------------------------------------------------

src/primary/robot_message/error_code_message.cpp

urfeex · 2025-01-17T14:35:23Z

include/ur_client_library/primary/primary_client.h

Please add license headers for new files, preferably BSD-3-Clause ones.

include/ur_client_library/primary/abstract_primary_consumer.h

include/ur_client_library/primary/primary_client.h

src/primary/primary_client.cpp

src/ur/ur_driver.cpp

tests/test_ur_driver.cpp

include/ur_client_library/primary/primary_client.h

src/primary/primary_client.cpp

include/ur_client_library/primary/primary_client.h

codecov · 2025-01-17T17:00:01Z

Codecov Report

Attention: Patch coverage is 75.23810% with 26 lines in your changes missing coverage. Please review.

Project coverage is 72.93%. Comparing base (2c12bee) to head (53f4613).
Report is 13 commits behind head on master.

Files with missing lines	Patch %	Lines
...clude/ur_client_library/primary/primary_consumer.h	70.73%	11 Missing and 1 partial ⚠️
include/ur_client_library/comm/pipeline.h	16.66%	10 Missing ⚠️
src/primary/primary_client.cpp	86.66%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #225      +/-   ##
==========================================
+ Coverage   71.71%   72.93%   +1.21%     
==========================================
  Files          71       79       +8     
  Lines        2786     2978     +192     
  Branches      353      368      +15     
==========================================
+ Hits         1998     2172     +174     
- Misses        596      609      +13     
- Partials      192      197       +5

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

Older versions of PolyScope seem to require that.

If URsim's time in the container is running a bit slower than the caller's time, we raise an error.

This reverts commit 04b7ebf.

urfeex · 2025-01-24T13:19:48Z

@jessica-chen-ocado If you could add license headers to the files you've added, I think we would be good to merge this.

Since I've created the file while working at FZI, I left the copyright owner and the license as is.

jessica-chen-ocado marked this pull request as ready for review November 14, 2024 18:53

jessica-chen-ocado commented Nov 14, 2024

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src/primary/robot_message/error_code_message.cpp Show resolved Hide resolved

urfeex requested changes Nov 22, 2024

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jessica-chen-ocado force-pushed the expose-diagnostic-error-codes branch from 5a65f3e to 93b0933 Compare January 13, 2025 20:02

jessica-chen-ocado added 9 commits January 16, 2025 15:02

Exposed error code messages

ebd0677

Log all ReportLevel::DEVL_* as debug

8345d71

Changed data_type to uint32_t

ce2a473

Added integration test

868cbc6

Increased wait before clearing PStop

8cf7956

Lint

56d5bee

Addressed PR comments

ba7bab1

Cleanup

2e92bb7

Minor cleanup

b264b21

jessica-chen-ocado force-pushed the expose-diagnostic-error-codes branch from af13b93 to b264b21 Compare January 16, 2025 20:03

urfeex requested changes Jan 17, 2025

View reviewed changes

urfeex reviewed Jan 17, 2025

View reviewed changes

include/ur_client_library/primary/primary_client.h Outdated Show resolved Hide resolved

urfeex added 2 commits January 17, 2025 17:20

Apply suggestions from code review

1cecc87

Code formatting

2ff598e

urfeex added 5 commits January 20, 2025 15:15

Revert shorting the wait after clearing PSTOP

0f2d473

Older versions of PolyScope seem to require that.

Merge branch 'master' into expose-diagnostic-error-codes

b4bbabf

REVERT_ME: Add color to default log handler

04b7ebf

Sleep 6 seconds before unlocking PSTOP

915f5ae

If URsim's time in the container is running a bit slower than the caller's time, we raise an error.

Revert "REVERT_ME: Add color to default log handler"

a8917a9

This reverts commit 04b7ebf.

urfeex added 2 commits January 24, 2025 14:29

Clang-tidy fixes

9041542

Update license header for error_code_message

53f4613

Since I've created the file while working at FZI, I left the copyright owner and the license as is.

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Expose diagnostic error codes #225

Expose diagnostic error codes #225

jessica-chen-ocado commented Nov 14, 2024 •

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urfeex commented Jan 24, 2025

Expose diagnostic error codes #225

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Expose diagnostic error codes #225

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