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Script execution

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This commit is contained in:
gac-S_Changer
2017-02-24 14:46:20 +01:00
parent 46b3afd087
commit 2a5b1b68fc
1 changed files with 12 additions and 8 deletions
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20
script/RobotTCP.py
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@@ -134,6 +134,10 @@ class RobotTCP(TcpDevice, Stoppable):
self.evaluate("b=" + cmd)
return self.get_bool()
def eval_str(self, cmd):
self.evaluate("s=" + cmd)
return self.get_str()
def eval_jnt(self, cmd):
self.evaluate("j=" + cmd)
return self.get_jnt()
@@ -272,33 +276,33 @@ class RobotTCP(TcpDevice, Stoppable):
def position(self, point, frame):
return self.eval_trf("position(" + point + ", " + frame + ")")
#Task control
def task_create(self, program, *args, **kwargs):
priority = 10 if (kwargs is None) or (not kwargs.has_key("priority")) else kwargs["priority"]
name = program if (kwargs is None) or (not kwargs.has_key("name")) else kwargs["name"]
taskCreate "t1", 10, read(sMessage)
#taskCreate "t1", 10, read(sMessage)
cmd = 'taskCreate "' + name + '", ' + str(priority) + ', ' + program + '('
for i in range(len(args)):
cmd += str(args[i]) + (',' if (i<(len(args)-1)) else '')
cmd+=')'
self.evaluate("cmd")
self.evaluate(cmd)
def task_suspend(self, name):
self.evaluate("taskSuspend(" + str(name)+ ")")
self.evaluate('taskSuspend("' + str(name)+ '")')
#waits until the task is ready for restart
def task_resume(self, name):
self.evaluate("taskResume(" + str(name)+ ",0)", timeout = 2000)
self.evaluate('taskResume("' + str(name)+ '",0)', timeout = 2000)
#waits for the task to be actually killed
def task_kill(self, name):
self.evaluate("taskKill(" + str(name)+ ")", timeout = 2000)
self.evaluate('taskKill("' + str(name)+ '")', timeout = 2000)
def get_task_status(self, name):
code = self.eval_int("taskStatus(" + str(name)+ ")")
status = self.eval_str("help(" + str(code)+ ")")
code = self.eval_int('taskStatus("' + str(name)+ '")')
status = self.eval_str('help(' + str(code)+ ')')
return [code, status]
#Updating