From e1f78ce203dcc8c4f1ed45ccf51e8a105f103912 Mon Sep 17 00:00:00 2001 From: Moritz Fey Date: Fri, 10 Aug 2018 11:07:23 +0200 Subject: [PATCH] add support for polyscope versions >= 3.5, UR added a byte for internal use to the RobotModeData struct --- urx/ursecmon.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/urx/ursecmon.py b/urx/ursecmon.py index 502a56c..e7b3189 100644 --- a/urx/ursecmon.py +++ b/urx/ursecmon.py @@ -71,6 +71,9 @@ class ParserUtils(object): elif psize == 46: # It's 46 bytes in 3.2 self.version = (3, 2) allData['RobotModeData'] = self._get_data(pdata, "!IBQ???????BBdd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "controlMode", "speedFraction", "speedScaling", "speedFractionLimit")) + elif psize == 47: + self.version = (3, 5) + allData['RobotModeData'] = self._get_data(pdata, "!IBQ???????BBddc", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "controlMode", "speedFraction", "speedScaling", "speedFractionLimit", "reservedByUR")) else: allData["RobotModeData"] = self._get_data(pdata, "!iBQ???????Bd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "speedFraction")) elif ptype == 1: