adeck/python-urx-getl-rt
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Use flake8 tool to clean up file to pep8 standards

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This commit is contained in:
Chris Gilmer
2017-01-26 11:33:35 -08:00
committed by ORD
parent 606ecd5fa3
commit e711a1e929
5 changed files with 79 additions and 81 deletions
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24
urx/urrtmon.py
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@@ -4,13 +4,6 @@ Confer http://support.universal-robots.com/Technical/RealTimeClientInterface
Note: The packet lenght given in the web-page is 740. What is actually received from the controller is 692. It is assumed that the motor currents, the last group of 48 bytes, are not send.
Originally Written by Morten Lind
'''
__author__ = "Morten Lind, Olivier Roulet-Dubonnet"
__copyright__ = "Copyright 2011, NTNU/SINTEF Raufoss Manufacturing AS"
__credits__ = ["Morten Lind, Olivier Roulet-Dubonnet"]
__license__ = "LGPLv3"
import logging
import socket
import struct
@@ -22,6 +15,11 @@ import numpy as np
import math3d as m3d
__author__ = "Morten Lind, Olivier Roulet-Dubonnet"
__copyright__ = "Copyright 2011, NTNU/SINTEF Raufoss Manufacturing AS"
__credits__ = ["Morten Lind, Olivier Roulet-Dubonnet"]
__license__ = "LGPLv3"
class URRTMonitor(threading.Thread):
@@ -51,7 +49,7 @@ class URRTMonitor(threading.Thread):
self._tcp_force = None
self.__recvTime = 0
self._last_ctrl_ts = 0
#self._last_ts = 0
# self._last_ts = 0
self._buffering = False
self._buffer_lock = threading.Lock()
self._buffer = []
@@ -138,7 +136,7 @@ class URRTMonitor(threading.Thread):
timestamp = self.__recvTime
pkgsize = struct.unpack('>i', head)[0]
self.logger.debug(
'Received header telling that package is %s bytes long',
'Received header telling that package is %s bytes long',
pkgsize)
payload = self.__recv_bytes(pkgsize - 4)
if pkgsize >= 692:
@@ -155,14 +153,14 @@ class URRTMonitor(threading.Thread):
self._timestamp = timestamp
# it seems that packet often arrives packed as two... maybe TCP_NODELAY is not set on UR controller??
# if (self._timestamp - self._last_ts) > 0.010:
#self.logger.warning("Error the we did not receive a packet for {}s ".format( self._timestamp - self._last_ts))
#self._last_ts = self._timestamp
# self.logger.warning("Error the we did not receive a packet for {}s ".format( self._timestamp - self._last_ts))
# self._last_ts = self._timestamp
self._ctrlTimestamp = np.array(unp[0])
if self._last_ctrl_ts != 0 and (
self._ctrlTimestamp -
self._last_ctrl_ts) > 0.010:
self.logger.warning(
"Error the controller failed to send us a packet: time since last packet %s s ",
"Error the controller failed to send us a packet: time since last packet %s s ",
self._ctrlTimestamp - self._last_ctrl_ts)
self._last_ctrl_ts = self._ctrlTimestamp
self._qActual = np.array(unp[31:37])
@@ -239,7 +237,7 @@ class URRTMonitor(threading.Thread):
tcp_force=self._tcp_force)
def stop(self):
#print(self.__class__.__name__+': Stopping')
# print(self.__class__.__name__+': Stopping')
self._stop_event = True
def close(self):