add prototype fake robot, more debug logging

tools/fakerobot.py

@@ -0,0 +1,65 @@
+import socket
+import threading
+import socketserver
+import time
+
+class RequestHandler(socketserver.BaseRequestHandler):
+    #def __init__(self, *args, **kwargs):
+        #print(self, *args, **kwargs)
+        #print("Got connection from {}".format( self.client_address[0]) )
+        #socketserver.BaseRequestHandler.__init__(self, *args, **kwargs)
+
+    def handle(self):
+        try:
+            data = str(self.request.recv(1024), 'ascii')
+        except Exception as ex:
+            print("Got exception", ex)
+        else:
+            cur_thread = threading.current_thread()
+            print(cur_thread.name, "received: ", data, )
+
+    def setup(self):
+        print("Got new connection from {}".format( self.client_address) )
+        self.server.handlers.append(self)
+
+    def finish(self):
+        print("Connection from {} lost".format( self.client_address) )
+        self.server.handlers.remove(self)
+
+class Server(socketserver.ThreadingMixIn, socketserver.TCPServer):
+    def init(self):
+        """
+        __init__ should not be overriden
+        """
+        self.handlers = []
+
+    def cleanup(self):
+        for handler in self.handlers:
+            handler.request.shutdown(socket.SHUT_RDWR)
+            handler.request.close()
+        self.shutdown()
+
+
+
+
+if __name__ == "__main__":
+    # Port 0 means to select an arbitrary unused port
+    host, port = "localhost", 30002 # this is the standard secondary port for a UR robot
+
+    server = Server((host, port), RequestHandler)
+    server.init()
+    server_thread = threading.Thread(target=server.serve_forever)
+    server_thread.daemon = True
+    server_thread.start()
+    print("Fake Universal robot running at ", host, port)
+    try:
+        f = open("packet.bin", "rb")
+        packet = f.read()
+        f.close()
+        while True:
+            time.sleep(0.09) #The real robot published data 10 times a second
+            for handler in server.handlers:
+                handler.request.sendall(packet)
+    finally:
+        print("Shutting down server")
+        server.cleanup()

tools/get_rob.py

@@ -0,0 +1,17 @@
+#!/usr/bin/env python
+from urx import Robot
+import math3d
+from math import pi
+import logging
+
+if __name__ == "__main__":
+    try:
+        robot = Robot( 'localhost')#, logLevel=logging.DEBUG, parserLogLevel=logging.DEBUG)
+        r = robot
+        from IPython.frontend.terminal.embed import InteractiveShellEmbed
+        ipshell = InteractiveShellEmbed( banner1="\nStarting IPython shell, robot object is available\n")
+        ipshell(local_ns=locals())
+    finally:
+        if "robot" in dir():
+            robot.cleanup()
+