adeck/python-urx-getl-rt
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

theoretical fix for version3 format

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
urx/ursecmon.py
View File

@ -262,29 +262,24 @@ class SecondaryMonitor(Thread):
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):
"""