script/devices/RobotTCP.py

@@ -26,6 +26,7 @@ class RobotTCP(TcpDevice, Stoppable):
          self.lock = threading.Lock()
          self.joint_forces = None
          self.current_task = None         
+         self.current_task_ret = None
          self.high_level_tasks = []         
          self.cartesian_destination = None  
          #self.flange_pos = [None] * 6
@@ -492,8 +493,10 @@ class RobotTCP(TcpDevice, Stoppable):
             if int(sts[6]) < 0:         
                 if self.current_task is not None:     
                     log("Task "+ str(self.current_task) + " finished with code: " + str(sts[7]), False)
-                self.current_task = None                
-
+                try:
+                    self.current_task, self.current_task_ret = None, int(sts[7])
+                except:
+                    self.current_task, self.current_task_ret = None, None
             for i in range(6):
                 self.joint_pos[i] = float(sts[8 + i])
             for i in range(6):
@@ -662,7 +665,7 @@ class RobotTCP(TcpDevice, Stoppable):
                     raise Exception("Cannot start task: " + task)                                
                               
         log("Task started: " + str(program) + " - status: " + str(status) + " (" + str(code) + ")", False)        
-        self.current_task = program
+        self.current_task, self.current_task_ret  = program, None
         self.update()               
         #self._update_state()
         return code
@@ -677,7 +680,8 @@ class RobotTCP(TcpDevice, Stoppable):
 
 
     def get_task_ret(self):
-        return self.eval_int("tcp_ret")
+        #return self.eval_int("tcp_ret")
+        return self.current_task_ret
 
     def clear_task_ret(self):
         return self.evaluate("tcp_ret=0")
@@ -689,7 +693,7 @@ class RobotTCP(TcpDevice, Stoppable):
         if self.current_task is None:        
             for task in self.high_level_tasks:
                 if self.get_task_status(task)[0]>=0:                
-                     self.current_task = task
+                     self.current_task, self.current_task_ret = task, None
                      log("Task detected: " + str(self.current_task), False)        
         return self.current_task
     
@@ -703,6 +707,7 @@ class RobotTCP(TcpDevice, Stoppable):
         finally:
             if polling is not None:
                 self.polling = cur_polling
+        return self.get_task_ret()
 
     def assert_no_task(self):
         task = self.check_task()

script/test/TestCmdSynchronization.py

@@ -15,8 +15,8 @@ try:
         flag = robot.start_task('moveDewar')  
         print "moveDewar: ", flag        
         log("Waiting", False)
-        robot.wait_task_finished(TASK_WAIT_ROBOT_POLLING)            
-        log("Moving dewar finished - " + get_pos_str(), False)        
+        ret = robot.wait_task_finished(TASK_WAIT_ROBOT_POLLING)                   
+        log("Moving dewar finished  (" + str(ret) + ") - pos: " + get_pos_str(), False)        
         robot.assert_dewar_wait()
 
 
@@ -24,8 +24,8 @@ try:
         flag = robot.start_task('movePark')  
         print "movePark: ", flag
         log("Waiting", False)
-        robot.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
-        log("Moving park finished - " + get_pos_str(), False)     
+        ret = robot.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
+        log("Moving park finished  (" + str(ret) + ") - pos: " + get_pos_str(), False)        
         robot.assert_park()    
 
 finally: