adeck/python-urx-getl-rt
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fixed error in events, fixed bug in logging

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This commit is contained in:
Olivier R-D
2013-02-08 14:07:23 +01:00
parent 4ab7fd882c
commit cbbce72b18
2 changed files with 41 additions and 23 deletions
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28
urx/ursecmon.py
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@@ -193,7 +193,7 @@ class SecondaryMonitor(Thread):
self._dataEvent = Condition()
self.start()
self._dataEvent.wait() # make sure we got some data before someone calls us
self.wait()# make sure we got some data before someone calls us
def sendProgram(self, prog):
"""
@@ -226,7 +226,7 @@ class SecondaryMonitor(Thread):
with self._dictLock:
self._dict = self._parser.parse(data)
except ParsingException as ex:
self.logger.warn("Error parsing data from urrobot: " + str(ex) )
self.logger.warn("Error parsing one packet from urrobot: " + str(ex) )
continue
if "RobotModeData" not in self._dict:
@@ -244,7 +244,8 @@ class SecondaryMonitor(Thread):
if self.running == True:
self.logger.error("Robot not running: " + str( self._dict["RobotModeData"]))
self.running = False
self._dataEvent.notifyAll()
with self._dataEvent:
self._dataEvent.notifyAll()
def _get_data(self):
"""
@@ -259,33 +260,46 @@ class SecondaryMonitor(Thread):
tmp = self._s_secondary.recv(1024)
self._dataqueue += tmp
def getCartesianInfo(self):
def wait(self):
"""
wait for next data packet from robot
"""
def getCartesianInfo(self, wait=False):
if wait:
self.wait()
with self._dictLock:
if "CartesianInfo" in self._dict:
return self._dict["CartesianInfo"]
else:
return None
def getAllData(self):
def getAllData(self, wait=False):
"""
return last data obtained from robot in dictionnary format
"""
if wait:
self.wait()
with self._dictLock:
return self._dict.copy()
def getJointData(self):
def getJointData(self, wait=False):
if wait:
self.wait()
with self._dictLock:
if "JointData" in self._dict:
return self._dict["JointData"]
else:
return None
def isProgramRunning(self):
def isProgramRunning(self, wait=False):
"""
return True if robot is executing a program
Rmq: The refresh rate is only 10Hz so the information may be outdated
"""
if wait:
self.wait()
with self._dictLock:
return self._dict["RobotModeData"]["isProgramRunning"]