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Update package parsing for secmon on 3.2

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This commit is contained in:
Johann Bauer 2016-04-27 16:24:24 +02:00 committed by ORD
parent eb394d4ebc
commit 77ef7b079d
1 changed files with 17 additions and 6 deletions
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23
urx/ursecmon.py
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@ -49,7 +49,7 @@ class ParserUtils(object):
def __init__(self):
self.logger = logging.getLogger("ursecmon")
self.is_v30 = False
self.version = (0, 0)
def parse(self, data):
"""
@ -66,8 +66,11 @@ class ParserUtils(object):
elif ptype == 0:
# this parses RobotModeData for versions >=3.0 (i.e. 3.0)
if psize == 38:
self.is_v30 = True
self.version = (3, 0)
allData['RobotModeData'] = self._get_data(pdata, "!IBQ???????BBdd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "controlMode", "speedFraction", "speedScaling"))
elif psize == 46: # It's 46 bytes in 3.2
self.version = (3,2)
allData['RobotModeData'] = self._get_data(pdata, "!IBQ???????BBdd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "controlMode", "speedFraction", "speedScaling", "speedFractionLimit"))
else:
allData["RobotModeData"] = self._get_data(pdata, "!iBQ???????Bd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "speedFraction"))
elif ptype == 1:
@ -78,14 +81,22 @@ class ParserUtils(object):
allData["JointData"] = self._get_data(pdata, "!iB dddffffB dddffffB dddffffB dddffffB dddffffB dddffffB", tmpstr)
elif ptype == 4:
allData["CartesianInfo"] = self._get_data(pdata, "iBdddddd", ("size", "type", "X", "Y", "Z", "Rx", "Ry", "Rz"))
if self.version < (3, 2):
allData["CartesianInfo"] = self._get_data(pdata, "iBdddddd", ("size", "type", "X", "Y", "Z", "Rx", "Ry", "Rz"))
else:
allData["CartesianInfo"] = self._get_data(pdata, "iBdddddddddddd", ("size", "type", "X", "Y", "Z", "Rx", "Ry", "Rz", "tcpOffsetX", "tcpOffsetY", "tcpOffsetZ", "tcpOffsetRx", "tcpOffsetRy", "tcpOffsetRz"))
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" ))
elif ptype == 2:
allData["ToolData"] = self._get_data(pdata, "iBbbddfBffB", ("size", "type", "analoginputRange2", "analoginputRange3", "analogInput2", "analogInput3", "toolVoltage48V", "toolOutputVoltage", "toolCurrent", "toolTemperature", "toolMode"))
elif ptype == 9:
continue # This package has a length of 53 bytes. It is used internally by Universal Robots software only and should be skipped.
elif ptype == 8 and self.version >= (3, 2):
allData["AdditionalInfo"] = self._get_data(pdata, "iB??", ("size", "type", "teachButtonPressed", "teachButtonEnabled"))
elif ptype == 7 and self.version >= (3, 2):
allData["ForceModeData"] = self._get_data(pdata, "iBddddddd", ("size", "type", "x", "y", "z", "rx", "ry", "rz", "robotDexterity"))
# elif ptype == 8:
#allData["varMessage"] = self._get_data(pdata, "!iBQbb iiBAcAc", ("size", "type", "timestamp", "source", "robotMessageType", "code", "argument", "titleSize", "messageTitle", "messageText"))
# elif ptype == 7:
@ -280,9 +291,9 @@ class SecondaryMonitor(Thread):
continue
self.lastpacket_timestamp = time.time()
rmode = 0
if self._parser.is_v30:
if self._parser.version >= (3, 0):
rmode = 7
if self._dict["RobotModeData"]["robotMode"] == rmode \