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theoretical fix for version3 format

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This commit is contained in:
Olivier R-D 2015-05-17 11:39:52 +02:00
parent c1e808c272
commit d6f1408c2c
1 changed files with 17 additions and 22 deletions
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39
urx/ursecmon.py
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@ -261,30 +261,25 @@ class SecondaryMonitor(Thread):
continue continue
self.lastpacket_timestamp = time.time() self.lastpacket_timestamp = time.time()
rmode = 0
if self._parser.is_v30: if self._parser.is_v30:
if self._dict["RobotModeData"]["robotMode"] == 7 \ rmode = 7
and self._dict["RobotModeData"]["isRealRobotEnabled"] == True \
and self._dict["RobotModeData"]["isEmergencyStopped"] == False \ if self._dict["RobotModeData"]["robotMode"] == rmode \
and self._dict["RobotModeData"]["isSecurityStopped"] == False \ and self._dict["RobotModeData"]["isRealRobotEnabled"] == True \
and self._dict["RobotModeData"]["isRobotConnected"] == True \ and self._dict["RobotModeData"]["isEmergencyStopped"] == False \
and self._dict["RobotModeData"]["isPowerOnRobot"] == True: and self._dict["RobotModeData"]["isSecurityStopped"] == False \
self.running = True and self._dict["RobotModeData"]["isRobotConnected"] == True \
and self._dict["RobotModeData"]["isPowerOnRobot"] == True:
self.running = True
else: else:
if self._dict["RobotModeData"]["robotMode"] == 0 \ if self.running:
and self._dict["RobotModeData"]["isRealRobotEnabled"] == True \ self.logger.error("Robot not running: " + str(self._dict["RobotModeData"]))
and self._dict["RobotModeData"]["isEmergencyStopped"] == False \ self.running = False
and self._dict["RobotModeData"]["isSecurityStopped"] == False \ with self._dataEvent:
and self._dict["RobotModeData"]["isRobotConnected"] == True \ #print("X: new data")
and self._dict["RobotModeData"]["isPowerOnRobot"] == True: self._dataEvent.notifyAll()
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()
def _get_data(self): def _get_data(self):
""" """