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

add support for polyscope versions >= 3.5, UR added a byte for internal use to the RobotModeData struct

Browse Source
This commit is contained in:
Moritz Fey 2018-08-10 11:07:23 +02:00 committed by oroulet
parent fa466b3cc9
commit e1f78ce203
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
urx/ursecmon.py
View File

@ -71,6 +71,9 @@ class ParserUtils(object):
elif psize == 46: # It's 46 bytes in 3.2 elif psize == 46: # It's 46 bytes in 3.2
self.version = (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")) 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: else:
allData["RobotModeData"] = self._get_data(pdata, "!iBQ???????Bd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "speedFraction")) allData["RobotModeData"] = self._get_data(pdata, "!iBQ???????Bd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "speedFraction"))
elif ptype == 1: elif ptype == 1: