From 92a7c1812e9527180e9dff36d6543157ccd7aeee Mon Sep 17 00:00:00 2001
From: Olivier R-D <olivier.roulet@gmail.com>
Date: Fri, 10 Apr 2015 12:39:19 +0200
Subject: [PATCH] renamed cleanup to close, this is more common

---
 examples/joystick_control.py |  6 ++---
 examples/matrices.py         |  2 +-
 examples/simple.py           |  2 +-
 examples/spnav_control.py    |  2 +-
 examples/test_all.py         |  4 +--
 examples/test_movep.py       |  2 +-
 tools/fakerobot.py           |  4 +--
 tools/get_rob.py             |  4 +--
 urx/robot.py                 |  5 ++--
 urx/urrtmon.py               | 48 +++++-------------------------------
 urx/ursecmon.py              |  8 +++---
 11 files changed, 25 insertions(+), 62 deletions(-)

diff --git a/examples/joystick_control.py b/examples/joystick_control.py
index 0e3367c..9987e5f 100644
--- a/examples/joystick_control.py
+++ b/examples/joystick_control.py
@@ -114,7 +114,7 @@ class Service(object):
 
             time.sleep(0.12)#URX secondday port accepts command at 10Hz, no need to go faster
 
-    def cleanup(self):
+    def close(self):
         if self.joystick:
             self.joystick.quit()
 
@@ -135,5 +135,5 @@ if __name__ == "__main__":
     try:
         service.loop() 
     finally: 
-        robot.cleanup()
-        service.cleanup()
+        robot.close()
+        service.close()
diff --git a/examples/matrices.py b/examples/matrices.py
index 1abc791..1a86809 100644
--- a/examples/matrices.py
+++ b/examples/matrices.py
@@ -33,5 +33,5 @@ if __name__ == "__main__":
 
 
     finally:
-        rob.cleanup()
+        rob.close()
 
diff --git a/examples/simple.py b/examples/simple.py
index 12d1e7f..1b57a68 100644
--- a/examples/simple.py
+++ b/examples/simple.py
@@ -23,5 +23,5 @@ if __name__ == "__main__":
         rob.translate_tool((0, 0, -l), acc=a, vel=v)
         rob.translate_tool((0, 0, l), acc=a, vel=v)
     finally:
-        rob.cleanup()
+        rob.close()
 
diff --git a/examples/spnav_control.py b/examples/spnav_control.py
index 3676e98..d9899da 100644
--- a/examples/spnav_control.py
+++ b/examples/spnav_control.py
@@ -87,7 +87,7 @@ if __name__ == '__main__':
     try:
         service.loop()
     finally:
-        robot.cleanup()
+        robot.close()
         spnav.spnav_close()
 
 
diff --git a/examples/test_all.py b/examples/test_all.py
index 6824faf..1259c68 100644
--- a/examples/test_all.py
+++ b/examples/test_all.py
@@ -23,7 +23,7 @@ if __name__ == "__main__":
     else:
         do_wait = True
 
-    rob = urx.Robot("192.168.1.6", logLevel=logging.INFO)
+    rob = urx.Robot("192.168.1.6")
     rob.set_tcp((0, 0, 0, 0, 0, 0))
     rob.set_payload(0.5, (0, 0, 0))
     try:
@@ -99,5 +99,5 @@ if __name__ == "__main__":
 
 
     finally:
-        rob.cleanup()
+        rob.close()
 
diff --git a/examples/test_movep.py b/examples/test_movep.py
index f60ab82..7be7748 100644
--- a/examples/test_movep.py
+++ b/examples/test_movep.py
@@ -36,5 +36,5 @@ if __name__ == "__main__":
         rob.movep(pose, acc=a, vel=v, radius=0, wait=True)
 
     finally:
-        rob.cleanup()
+        rob.close()
 
diff --git a/tools/fakerobot.py b/tools/fakerobot.py
index 66aeb21..2d5df78 100644
--- a/tools/fakerobot.py
+++ b/tools/fakerobot.py
@@ -34,7 +34,7 @@ class Server(socketserver.ThreadingMixIn, socketserver.TCPServer):
         """
         self.handlers = []
 
-    def cleanup(self):
+    def close(self):
         for handler in self.handlers:
             handler.request.shutdown(socket.SHUT_RDWR)
             handler.request.close()
@@ -63,4 +63,4 @@ if __name__ == "__main__":
                 handler.request.sendall(packet)
     finally:
         print("Shutting down server")
-        server.cleanup()
+        server.close()
diff --git a/tools/get_rob.py b/tools/get_rob.py
index f198d41..417497d 100644
--- a/tools/get_rob.py
+++ b/tools/get_rob.py
@@ -13,10 +13,10 @@ if __name__ == "__main__":
     else:
         host = 'localhost'
     try:
-        robot = Robot( host )#, logLevel=logging.DEBUG, parserLogLevel=logging.DEBUG)
+        robot = Robot(host)
         r = robot
         embed()
     finally:
         if "robot" in dir():
-            robot.cleanup()
+            robot.close()
 
diff --git a/urx/robot.py b/urx/robot.py
index da1bd40..16d1d80 100644
--- a/urx/robot.py
+++ b/urx/robot.py
@@ -360,15 +360,14 @@ class URRobot(object):
     def stop(self):
         self.stopj()
 
-    def cleanup(self):
+    def close(self):
         """
         close connection to robot and stop internal thread
         """
         self.logger.info("Closing sockets to robot")
-        self.secmon.cleanup()
+        self.secmon.close()
         if self.rtmon:
             self.rtmon.stop()
-    shutdown = cleanup  # this might be wrong since we could also shutdown the robot hardware from this script
 
     def set_freedrive(self, val):
         """
diff --git a/urx/urrtmon.py b/urx/urrtmon.py
index 5441084..ac87966 100644
--- a/urx/urrtmon.py
+++ b/urx/urrtmon.py
@@ -32,12 +32,9 @@ class URRTMonitor(threading.Thread):
     # pose is not included!
     rtstruct540 = struct.Struct('>d6d6d6d6d6d6d6d6d18d')
 
-    def __init__(self, urHost, loglevel=logging.WARNING):
+    def __init__(self, urHost):
         threading.Thread.__init__(self)
         self.logger = logging.getLogger(self.__class__.__name__)
-        if len(logging.root.handlers) == 0:  # dirty hack
-            logging.basicConfig()
-        self.logger.setLevel(loglevel)
         self.daemon = True
         self._stop_event = True
         self._dataEvent = threading.Condition()
@@ -141,7 +138,7 @@ class URRTMonitor(threading.Thread):
         timestamp = self.__recvTime
         pkgsize = struct.unpack('>i', head)[0]
         self.logger.debug(
-            'Received header telling that package is %d bytes long' %
+            'Received header telling that package is %s bytes long', 
             pkgsize)
         payload = self.__recv_bytes(pkgsize - 4)
         if pkgsize >= 692:
@@ -150,7 +147,7 @@ class URRTMonitor(threading.Thread):
             unp = self.rtstruct540.unpack(payload[:self.rtstruct540.size])
         else:
             self.logger.warning(
-                'Error, Received packet of length smaller than 540: ',
+                'Error, Received packet of length smaller than 540: %s ',
                 pkgsize)
             return
 
@@ -165,9 +162,8 @@ class URRTMonitor(threading.Thread):
                     self._ctrlTimestamp -
                     self._last_ctrl_ts) > 0.010:
                 self.logger.warning(
-                    "Error the controller failed to send us a packet: time since last packet {}s ".format(
-                        self._ctrlTimestamp -
-                        self._last_ctrl_ts))
+                    "Error the controller failed to send us a packet: time since last packet %s s ", 
+                    self._ctrlTimestamp - self._last_ctrl_ts)
             self._last_ctrl_ts = self._ctrlTimestamp
             self._qActual = np.array(unp[31:37])
             self._qTarget = np.array(unp[1:7])
@@ -246,7 +242,7 @@ class URRTMonitor(threading.Thread):
         #print(self.__class__.__name__+': Stopping')
         self._stop_event = True
 
-    def cleanup(self):
+    def close(self):
         self.stop()
         self.join()
 
@@ -258,35 +254,3 @@ class URRTMonitor(threading.Thread):
         self._rtSock.close()
 
 
-def startupInteractive():
-    from optparse import OptionParser
-    from IPython import embed
-    # Require the urhost arg.
-    parser = OptionParser()
-    parser.add_option(
-        '--debug',
-        action='store_true',
-        default=False,
-        dest='debug')
-    parser.add_option(
-        '--start',
-        action='store_true',
-        default=False,
-        dest='start')
-    opts, args = parser.parse_args()
-    if len(args) != 1:
-        raise Exception('Must have argument with ur-host name or ip!')
-    urHost = args[0]
-    print('Connecting to UR real-time socket inteface on "%s"' % urHost)
-    # # Start the connectors
-    urRTMon = URRTMonitor(urHost, debug=opts.debug)
-    # # Register for hard shutdown
-    try:
-        if opts.start:
-            urRTMon.start()
-        embed()
-    finally:
-        urRTMon.stop()
-
-if __name__ == '__main__':
-    startupInteractive()
diff --git a/urx/ursecmon.py b/urx/ursecmon.py
index 57494e0..b202c0c 100644
--- a/urx/ursecmon.py
+++ b/urx/ursecmon.py
@@ -99,7 +99,7 @@ class ParserUtils(object):
                 else:
                     self.logger.debug("Message type parser not implemented %s", tmp)
             else:
-                self.logger.debug("Unknown packet type %s with size %s" % (ptype, psize))
+                self.logger.debug("Unknown packet type %s with size %s", ptype, psize)
 
         return allData
 
@@ -178,12 +178,12 @@ class ParserUtils(object):
                     counter += 1
                     if counter > limit:
                         self.logger.warn("tried %s times to find a packet in data, advertised packet size: %s, type: %s", counter, psize, ptype)
-                        self.logger.warn("Data length: {}".format(len(data)))
+                        self.logger.warn("Data length: %s", len(data))
                         limit = limit * 10
                 elif len(data) >= psize:
                     self.logger.debug("Got packet with size %s and type %s", psize, ptype)
                     if counter:
-                        self.logger.info("Remove {0} bytes of garbage at begining of packet".format(counter))
+                        self.logger.info("Remove %s bytes of garbage at begining of packet", counter)
                     # ok we we have somehting which looks like a packet"
                     return (data[:psize], data[psize:])
                 else:
@@ -389,7 +389,7 @@ class SecondaryMonitor(Thread):
         with self._dictLock:
             return self._dict["RobotModeData"]["isProgramRunning"]
 
-    def cleanup(self):
+    def close(self):
         self._trystop = True
         self.join()
         # with self._dataEvent: #wake up any thread that may be waiting for data before we close. Should we do that?