cleanup

urx/__init__.py

@@ -5,4 +5,5 @@ Python library to control an UR robot through its TCP/IP interface
 
 
 from .urx import Robot, RobotException, URScript
+from .tracker import Tracker
 

urx/tracker.py

@@ -1,7 +1,7 @@
 import time
 from multiprocessing import Process, Queue, Event
 
-from urx.urrtmon import URRTMonitor
+from urx import urrtmon
 
 
 class Tracker(Process):
@@ -18,7 +18,7 @@ class Tracker(Process):
 
     def run(self):
         self._log("Running")
-        rtmon = URRTMonitor(self.host)
+        rtmon = urrtmon.URRTMonitor(self.host)
         rtmon.start()
         while not self._stop.is_set():
             data = rtmon.get_all_data(wait=True)
@@ -36,7 +36,7 @@ class Tracker(Process):
     def get_result(self):
         self._stop.set()
         while not self._finished.is_set():
-            time.sleep(0.1)
+            time.sleep(0.01)
         return self._queue.get()
 
     def shutdown(self, join=True):

urx/urrtmon.py

@@ -19,7 +19,6 @@ import socket
 import struct 
 import time
 import threading
-import datetime
 
 import numpy as np
 
@@ -47,6 +46,7 @@ class URRTMonitor(threading.Thread):
         self._qTarget = None
         self._tcp = None
         self._tcp_force = None 
+        self.__recvTime = 0
 
     def __recv_bytes(self, nBytes):
         ''' Facility method for receiving exactly "nBytes" bytes from
@@ -178,17 +178,7 @@ class URRTMonitor(threading.Thread):
             self.__recv_rt_data()
         self._rtSock.close()
 
-i = 1
-def dumptcp():
-    global i
-    tcf = urRTMon.getTcp()
-    pos = tcf[:3]
-    rot = tcf[3:]
-    filename = 'robot%d.txt'%i
-    print('Dumping file: %s (at time %s)' % (filename, str(datetime.datetime.now())))
-    f = file(filename,'w')
-    f.write((3*'%.5f ' + '\n' + 3*'%.5f ') % tuple(tcf))
-    i += 1
+
 
 
 def startupInteractive():

urx/urx.py

@@ -75,8 +75,9 @@ except ImportError:
     MATH3D = False
     print("pymath3d library could not be found on this computer, disabling use of matrices")
 
-#import urrtmon #temproarely disabled
-import urx.urparser as urparser
+from urx import urrtmon 
+from urx import urparser
+from urx import tracker
 
 
 class RobotException(Exception):
@@ -622,6 +623,12 @@ class Robot(object):
     def cleanup(self):
         self.robot.cleanup()
 
+    def get_tracker(self):
+        """
+        return an object able to track robot move for logging
+        """
+        return tracker.Tracker(self.robot.host)
+
 
 
 if not MATH3D: