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add and comment debug code

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Olivier R-D 2013-08-30 12:35:37 +02:00
parent 73f876c825
commit 91de03a46f
1 changed files with 9 additions and 4 deletions
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13
urx/urrtmon.py
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@ -53,7 +53,8 @@ class URRTMonitor(threading.Thread):
self._tcp = None self._tcp = None
self._tcp_force = None self._tcp_force = None
self.__recvTime = 0 self.__recvTime = 0
self._last_ts = 0 self._last_ctrl_ts = 0
#self._last_ts = 0
self._buffering = False self._buffering = False
self._buffer_lock = threading.Lock() self._buffer_lock = threading.Lock()
self._buffer = [] self._buffer = []
@ -151,10 +152,14 @@ class URRTMonitor(threading.Thread):
with self._dataAccess: with self._dataAccess:
self._timestamp = timestamp self._timestamp = timestamp
# it seems that packet often arrives packed as two... maybe TCP_NODELAY is not set on UR controller??
#if (self._timestamp - self._last_ts) > 0.010:
#self.logger.warning("Error the we did not receive a packet for {}s ".format( self._timestamp - self._last_ts))
#self._last_ts = self._timestamp
self._ctrlTimestamp = np.array(unp[0]) self._ctrlTimestamp = np.array(unp[0])
if (self._ctrlTimestamp - self._last_ts) > 0.010: if self._last_ctrl_ts != 0 and (self._ctrlTimestamp - self._last_ctrl_ts) > 0.010:
self.logger.warning("Error the controller failed to send us a packet", self._ctrlTimestamp - self._last_ts) self.logger.warning("Error the controller failed to send us a packet: time since last packet {}s ".format( self._ctrlTimestamp - self._last_ctrl_ts))
self._last_ts = self._ctrlTimestamp self._last_ctrl_ts = self._ctrlTimestamp
self._qActual = np.array(unp[31:37]) self._qActual = np.array(unp[31:37])
self._qTarget = np.array(unp[1:7]) self._qTarget = np.array(unp[1:7])
self._tcp_force = np.array(unp[67:73]) self._tcp_force = np.array(unp[67:73])