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gac-S_Changer
2017-03-29 15:47:35 +02:00
parent ca1666815a
commit 11007fb261
1 changed files with 17 additions and 5 deletions
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22
script/RobotTCP.py
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@@ -20,7 +20,7 @@ class RobotTCP(TcpDevice, Stoppable):
self.lock = threading.Lock()
self.joint_forces = None
self.current_task = None
self.high_level_tasks = []
self.high_level_tasks = []
def _sendReceive(self, msg_id, msg = "", timeout = None):
tx = self.header if (self.header != None) else ""
@@ -344,6 +344,12 @@ class RobotTCP(TcpDevice, Stoppable):
#self.setState(State.Busy if self.status=="move" else State.Ready)
if self.state==State.Offline:
print "Communication resumed"
for task in self.high_level_tasks:
if self.get_task_status(task)[0]>=0:
print "Ongoing task: " + task
self.current_task = task
if (not self.settled) or (self.current_task is not None): self.setState(State.Busy)
if not self.empty: self.setState(State.Paused)
else: self.setState(State.Ready)
@@ -380,16 +386,22 @@ class RobotTCP(TcpDevice, Stoppable):
#High-level, exclusive motion task.
def start_task(self, program, *args, **kwargs):
for task in (self.high_level_tasks + [program]):
if (task is not None) and (self.get_task_status(task)[0]>=0):
tasks = [t fot t in self.high_level_tasks]
if not program in tasks:
tasks.append(pro)
for task in task:
if self.get_task_status(task)[0]>=0:
raise Exception("Ongoing high-level task: " + task)
print "Setting ", program
self.current_task = program
self.task_create(program, *args, **kwargs)
def stop_task(self):
for task in (self.high_level_tasks + [self.current_task]):
if (task is not None) and (self.get_task_status(task)[0]>=0):
tasks = [t fot t in self.high_level_tasks]
if (self.current_task is not None) and (not self.current_task in tasks):
tasks.append(pro)
for task in task:
if self.get_task_status(task)[0]>=0:
self.task_kill(task)
def on_event(self,ev):