Accessing Services - URCap Web Contribution

This project is an Angular-based URCap Web Contribution that demonstrates how to access and monitor Universal Robots' Tool I/O signals in real-time. The application provides a comprehensive interface for viewing analog inputs (AI), digital inputs (DI), and digital outputs (DO) from the robot's tool interface.

⚠️ Version Compatibility Notice
This URCap is compatible with Polyscope 10.11.

What it does

The Accessing Services URCap provides a real-time monitoring dashboard for Universal Robots' Tool I/O signals. It displays:

• Analog Inputs (AI 0, AI 1): Shows voltage/current values with proper scaling and domain information
• Digital Inputs (DI 0, DI 1): Displays boolean on/off states
• Digital Outputs (DO 0, DO 1): Shows boolean on/off states for outputs

How it works

Architecture

• Framework: Angular 19 with TypeScript
• UI Components: Uses Universal Robots' UI Angular Components library
• Signal Processing: Implements real-time signal monitoring via the Contribution API
• State Management: Utilizes Angular Signals for reactive state management

Key Components

AccessServicesComponent

The main component that:

• Implements the ApplicationPresenter interface for URCap integration
• Manages real-time signal subscriptions through the sourceService
• Organizes signals into computed properties for display
• Handles different signal types (boolean, float, analog domain)

Signal Processing

• Real-time Updates: Subscribes to ur-robot-io and ur-tool-io source updates
• Signal Filtering: Intelligently filters signal types based on I/O type (digital vs analog)
• Value Processing: Converts raw signal events into displayable values
• State Tracking: Maintains a reactive map of all signal states

UI Features

• Status Indicator: Shows connection status (🟢 Tracking / 🔴 Not Tracking)
• Responsive Grid: 4-column layout that adapts to screen size
• UR Components: Uses specialized UR components for signal display:
  • ur-analog-signal-display for analog inputs
  • ur-digital-signal-display for digital I/O
  • ur-card for fallback display

Signal Types Handled

• signal_boolean_value: For digital inputs/outputs
• signal_float_value: For analog input values
• signal_analog_domain: For analog input domain information (voltage/current)

Installation

To install the contribution type:

$ npm install

Build

To build the contribution type:

$ npm run build

Deploy

To deploy the contribution to the simulator type:

$ npm run install-urcap

Further help

Get more help from the included SDK documentation.