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Script execution

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This commit is contained in:
gac-S_Changer
2017-02-27 09:49:33 +01:00
parent 11a88fa9d1
commit 4cdba5c925
1 changed files with 17 additions and 2 deletions
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script/RobotTCP.py
+17 -2
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@@ -196,6 +196,8 @@ class RobotTCP(TcpDevice, Stoppable):
self._update_working_mode(mode, status) self._update_working_mode(mode, status)
except: except:
self.working_mode = "invalid" self.working_mode = "invalid"
self.status = "invalid"
self._update_state()
return self.working_mode return self.working_mode
def get_emergency_stop_sts(self): def get_emergency_stop_sts(self):
@@ -222,10 +224,12 @@ class RobotTCP(TcpDevice, Stoppable):
def is_empty(self): def is_empty(self):
self.empty = self.eval_bool("isEmpty()") self.empty = self.eval_bool("isEmpty()")
self._update_state()
return self.empty return self.empty
def is_settled(self): def is_settled(self):
self.settled = self.eval_bool("isSettled()") self.settled = self.eval_bool("isSettled()")
self._update_state()
return self.powered return self.powered
def get_move_id(self): def get_move_id(self):
@@ -287,9 +291,13 @@ class RobotTCP(TcpDevice, Stoppable):
#Task control #Task control
def task_create(self, program, *args, **kwargs): def task_create(self, program, *args, **kwargs):
program = str(program)
priority = 10 if (kwargs is None) or (not kwargs.has_key("priority")) else kwargs["priority"] 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"] name = str(program if (kwargs is None) or (not kwargs.has_key("name")) else kwargs["name"])
if self.get_task_status(name)[0] != -1:
raise Exception("Task already exists: " + name)
#taskCreate "t1", 10, read(sMessage) #taskCreate "t1", 10, read(sMessage)
cmd = 'taskCreate "' + name + '", ' + str(priority) + ', ' + program + '(' cmd = 'taskCreate "' + name + '", ' + str(priority) + ', ' + program + '('
for i in range(len(args)): for i in range(len(args)):
@@ -318,6 +326,12 @@ class RobotTCP(TcpDevice, Stoppable):
else: status = self.execute('get_help', code) else: status = self.execute('get_help', code)
return (code,status) return (code,status)
def _update_state(self):
#self.setState(State.Busy if self.status=="move" else State.Ready)
if not self.settled: self.setState(State.Busy)
if not self.empty: self.setState(State.Paused)
else self.setState(State.Ready)
def doUpdate(self): def doUpdate(self):
try: try:
start = time.time() start = time.time()
@@ -331,7 +345,8 @@ class RobotTCP(TcpDevice, Stoppable):
ev = sts[6] if len(sts)>6 else "" ev = sts[6] if len(sts)>6 else ""
if len(ev.strip()) >0: if len(ev.strip()) >0:
self.getLogger().info(ev) self.getLogger().info(ev)
self.on_event(ev) self.on_event(ev)
self._update_state()
#print time.time() - start #print time.time() - start
except: except:
print >> sys.stderr, "Update error: " + str(sys.exc_info()[1]) print >> sys.stderr, "Update error: " + str(sys.exc_info()[1])