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Updated Masterboard data format for 3.x UR firmware

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This commit is contained in:
Alvaro Capellan 2016-07-04 14:45:21 +02:00
parent e4b102b706
commit 3b0e38868b
1 changed files with 3 additions and 1 deletions
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4
urx/ursecmon.py
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@ -88,7 +88,9 @@ class ParserUtils(object):
elif ptype == 5:
allData["LaserPointer(OBSOLETE)"] = self._get_data(pdata, "iBddd", ("size", "type"))
elif ptype == 3:
allData["MasterBoardData"] = self._get_data(pdata, "iBhhbbddbbddffffBBb", ("size", "type", "digitalInputBits", "digitalOutputBits", "analogInputRange0", "analogInputRange1", "analogInput0", "analogInput1", "analogInputDomain0", "analogInputDomain1", "analogOutput0", "analogOutput1", "masterBoardTemperature", "robotVoltage48V", "robotCurrent", "masterIOCurrent")) # , "masterSafetyState" ,"masterOnOffState", "euromap67InterfaceInstalled" ))
#fmt = "iBhhbbddbbddffffBBb" # firmware 1.6, 1.7, 1.8
fmt = "iBiibbddbbddffffBBb" # firmware 3.0, 3.1, 3.2
allData["MasterBoardData"] = self._get_data(pdata, fmt, ("size", "type", "digitalInputBits", "digitalOutputBits", "analogInputRange0", "analogInputRange1", "analogInput0", "analogInput1", "analogInputDomain0", "analogInputDomain1", "analogOutput0", "analogOutput1", "masterBoardTemperature", "robotVoltage48V", "robotCurrent", "masterIOCurrent")) # , "masterSafetyState" ,"masterOnOffState", "euromap67InterfaceInstalled" ))
elif ptype == 2:
allData["ToolData"] = self._get_data(pdata, "iBbbddfBffB", ("size", "type", "analoginputRange2", "analoginputRange3", "analogInput2", "analogInput3", "toolVoltage48V", "toolOutputVoltage", "toolCurrent", "toolTemperature", "toolMode"))
elif ptype == 9: