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Add support for the g-Series 48V T2 tool connector - #592
Connector T2 is only available on robots that report Tool Flange V2 through the
RTDE robot properties, which requires PolyScope X 10.15.0 or later. PolyScope 5
does not support it.
- Add ToolVoltage::_48V and SET_TOOL_T2_VOLTAGE (13) to the script command
interface and external_control.urscript, using set_power_output("T2_V", ...).
- UrDriver::setToolVoltageT2() checks the flange type from the RTDE writer before
using the script command interface or the plain script fallback.
- ScriptCommandInterface::setToolVoltage() and setToolVoltageT2() reject
voltages that are not valid for the connector.
- Add the tool_output_voltage_2 / tool_output_current_2 fields to the fake RTDE
server and cover the writer flange reset on reconnect.
On a robot that reports Tool Flange V2, set connector T2 to 24 V, 48 V and 0 V
through the script command interface, and to 24 V and 0 V through the plain
script fallback. Each step is checked against RTDE tool_output_voltage_2, read
by a separate RTDE client because older controllers reject that field.
tool_output_voltage_2 is a measured value: on a 10.16.0 robot it read 23 V for
24 V and took about a second to decay after switching off. The check therefore
accepts 5 V around the setpoint and waits up to 5 s.
Robots that do not report Tool Flange V2 must refuse the command.
Verified on a 10.16.0 robot with Tool Flange V2. The 10.15.0 URSim tested so far
reports 0 V on tool_output_voltage_2 for every setpoint, so the V2 tests fail
there.
❌ Patch coverage is 95.83333% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.39%. Comparing base (525e107) to head (2af6e0e). ⚠️ Report is 1 commits behind head on master.
✅ All tests successful. No failed tests found.
ToolCommSetup::setToolVoltage now rejects voltages connector T0 does not
support, so the UrDriver startup script can no longer render
set_tool_voltage(48). ToolCommSetup also gets an optional T2 voltage
(0, 24 or 48 V) which UrDriver applies at startup with
set_power_output("T2_V", ...) when the robot reports Tool Flange V2, and
throws otherwise.
Run UrDriver against the fake primary and RTDE servers to cover the tool
voltage paths no CI URSim reaches: the T2 voltage in the startup program,
the startup check for Tool Flange V2, and setToolVoltage /
setToolVoltageT2 through the script command interface and the script
fallback. The fake RTDE server can now report the tool flange type and
the URControl version. The tests skip if the default robot ports are in
use.
Include software version in T2 voltage capability check
examples/script_command_interface.cpp:148
This capability flag checks only the flange, despite T2 voltage also requiring PolyScope X 10.15.0. A V2 robot on an older version will enter the loop and repeatedly advertise attempts to run unsupported commands. Include the already-read software version in this check.
Replace the extra RTDE client with a recipe on the driver and wait
with urcl::waitFor. Fail the robot-free tests when the default ports
are already in use.
Wait for startup tail marker before clearing capture
tests/test_ur_driver_tool_voltage.cpp:179
startDriver() only finishes writing the startup program to the socket; FakePrimaryServer consumes it asynchronously in 4096-byte chunks. Clearing here can therefore happen before the later T2_V handler is received, making the negative assertions in this fixture observe leftover startup text and fail nondeterministically. Wait for the script's tail marker before clearing the capture.
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