From d6f1408c2ccfe88cfc06f38a2076cef0f3e028e1 Mon Sep 17 00:00:00 2001
From: Olivier R-D <olivier.roulet@gmail.com>
Date: Sun, 17 May 2015 11:39:52 +0200
Subject: [PATCH] theoretical fix for version3 format

---
 urx/ursecmon.py | 39 +++++++++++++++++----------------------
 1 file changed, 17 insertions(+), 22 deletions(-)

diff --git a/urx/ursecmon.py b/urx/ursecmon.py
index b202c0c..aab7110 100644
--- a/urx/ursecmon.py
+++ b/urx/ursecmon.py
@@ -261,30 +261,25 @@ class SecondaryMonitor(Thread):
                 continue
 
             self.lastpacket_timestamp = time.time()
-
+            
+            rmode = 0
             if self._parser.is_v30:
-                if self._dict["RobotModeData"]["robotMode"] == 7 \
-                        and self._dict["RobotModeData"]["isRealRobotEnabled"] == True \
-                        and self._dict["RobotModeData"]["isEmergencyStopped"] == False \
-                        and self._dict["RobotModeData"]["isSecurityStopped"] == False \
-                        and self._dict["RobotModeData"]["isRobotConnected"] == True \
-                        and self._dict["RobotModeData"]["isPowerOnRobot"] == True:
-                    self.running = True
+                rmode = 7
+
+            if self._dict["RobotModeData"]["robotMode"] == rmode \
+                    and self._dict["RobotModeData"]["isRealRobotEnabled"] == True \
+                    and self._dict["RobotModeData"]["isEmergencyStopped"] == False \
+                    and self._dict["RobotModeData"]["isSecurityStopped"] == False \
+                    and self._dict["RobotModeData"]["isRobotConnected"] == True \
+                    and self._dict["RobotModeData"]["isPowerOnRobot"] == True:
+                self.running = True
             else:
-                if self._dict["RobotModeData"]["robotMode"] == 0 \
-                        and self._dict["RobotModeData"]["isRealRobotEnabled"] == True \
-                        and self._dict["RobotModeData"]["isEmergencyStopped"] == False \
-                        and self._dict["RobotModeData"]["isSecurityStopped"] == False \
-                        and self._dict["RobotModeData"]["isRobotConnected"] == True \
-                        and self._dict["RobotModeData"]["isPowerOnRobot"] == True:
-                    self.running = True
-                else:
-                    if self.running:
-                        self.logger.error("Robot not running: " + str(self._dict["RobotModeData"]))
-                    self.running = False
-                with self._dataEvent:
-                    #print("X: new data")
-                    self._dataEvent.notifyAll()
+                if self.running:
+                    self.logger.error("Robot not running: " + str(self._dict["RobotModeData"]))
+                self.running = False
+            with self._dataEvent:
+                #print("X: new data")
+                self._dataEvent.notifyAll()
 
     def _get_data(self):
         """