adeck/python-urx-getl-rt
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Olivier R-D 2013-08-21 14:28:44 +02:00
parent e9014ccb92
commit f4e23b0b67
2 changed files with 6 additions and 3 deletions
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5
urx/ursecmon.py
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@ -277,13 +277,14 @@ class SecondaryMonitor(Thread):
returns something that looks like a packet, nothing is guaranted returns something that looks like a packet, nothing is guaranted
""" """
while True: 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[:]) ans = self._parser.find_first_packet(self._dataqueue[:])
if ans: if ans:
self._dataqueue = ans[1] self._dataqueue = ans[1]
#self.logger.debug("found packet of size {}".format(len(ans[0])))
return ans[0] return ans[0]
else: 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) tmp = self._s_secondary.recv(1024)
self._dataqueue += tmp self._dataqueue += tmp

4
urx/urx.py
View File

@ -229,6 +229,7 @@ class URRobot(object):
""" """
# it is important to sleep since robot may takes a while to get into running state, # 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 # for a physical move 0.5s is very short
self.logger.debug("Waiting for move completion")
for i in range(3): for i in range(3):
self.secmon.wait() self.secmon.wait()
while True: while True:
@ -239,10 +240,11 @@ class URRobot(object):
for i in range(0, 6): for i in range(0, 6):
#Rmq: q_target is an interpolated target we have no control over #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: 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 finished = False
break break
if finished and not self.secmon.is_program_running(): if finished and not self.secmon.is_program_running():
self.logger.debug("move has ended")
return return
def getj(self, wait=False): def getj(self, wait=False):