From f4e23b0b67237617a4214aab8cb9ab0b0a7f1420 Mon Sep 17 00:00:00 2001
From: Olivier R-D <olivier@dummy.com>
Date: Wed, 21 Aug 2013 14:28:44 +0200
Subject: [PATCH] debug changes

---
 urx/ursecmon.py | 5 +++--
 urx/urx.py      | 4 +++-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/urx/ursecmon.py b/urx/ursecmon.py
index 592016a..41bd445 100644
--- a/urx/ursecmon.py
+++ b/urx/ursecmon.py
@@ -277,13 +277,14 @@ class SecondaryMonitor(Thread):
         returns something that looks like a packet, nothing is guaranted
         """
         while True:
-            self.logger.debug("data queue size is: {}".format(len(self._dataqueue)))
+            #self.logger.debug("data queue size is: {}".format(len(self._dataqueue)))
             ans = self._parser.find_first_packet(self._dataqueue[:])
             if ans:
                 self._dataqueue = ans[1]
+                #self.logger.debug("found packet of size {}".format(len(ans[0])))
                 return ans[0]
             else:
-                self.logger.debug("Could not find packet in received data")
+                #self.logger.debug("Could not find packet in received data")
                 tmp = self._s_secondary.recv(1024)
                 self._dataqueue += tmp
 
diff --git a/urx/urx.py b/urx/urx.py
index f649fc9..b36f290 100644
--- a/urx/urx.py
+++ b/urx/urx.py
@@ -229,6 +229,7 @@ class URRobot(object):
         """
         # it is important to sleep since robot may takes a while to get into running state, 
         # for a physical move 0.5s is very short
+        self.logger.debug("Waiting for move completion")
         for i in range(3):
             self.secmon.wait()
         while True:
@@ -239,10 +240,11 @@ class URRobot(object):
             for i in range(0, 6):
                 #Rmq: q_target is an interpolated target we have no control over
                 if abs(jts["q_actual%s"%i] - jts["q_target%s"%i]) > self.joinEpsilon:
-                    #print("Waiting for end move, q_actual is {}, q_target is {}, diff is {}, epsilon is {}".format( jts["q_actual%s"%i], jts["q_target%s"%i]  , jts["q_actual%s"%i] - jts["q_target%s"%i], self.radialEpsilon))
+                    print("Waiting for end move, q_actual is {}, q_target is {}, diff is {}, epsilon is {}".format( jts["q_actual%s"%i], jts["q_target%s"%i]  , jts["q_actual%s"%i] - jts["q_target%s"%i], self.radialEpsilon))
                     finished = False
                     break
             if finished and not self.secmon.is_program_running():
+                self.logger.debug("move has ended")
                 return
 
     def getj(self, wait=False):