Closedown

script/RobotSC.py

@@ -7,8 +7,42 @@ class RobotSC(RobotTCP):
     def on_event(self,ev):
         #print "EVT: " + ev
         pass
+    def doUpdate(self):
+        RobotTCP.doUpdate(self)
+        if self.state != State.Offline:
+            self.get_joint_forces()
+
+
+    
 
 
 add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)   
 robot.setPolling(100)
 #robot.set_monitor_speed(20)
+
+
+class JF1(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[0]
+class JF2(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[1]
+class JF3(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[2]
+class JF4(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[3]
+class JF5(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[4]
+class JF6(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[5]
+
+add_device(JF1(), force = True)   
+add_device(JF2(), force = True)   
+add_device(JF3(), force = True)   
+add_device(JF4(), force = True)   
+add_device(JF5(), force = True)   
+add_device(JF6(), force = True)   

script/RobotTCP.py

@@ -18,6 +18,7 @@ class RobotTCP(TcpDevice, Stoppable):
          self.working_mode = None
          self.status = None
          self.lock = threading.Lock()
+         self.joint_forces = None
          
     def _sendReceive(self, msg_id, msg = "", timeout =  None):  
         tx = self.header if (self.header != None) else  ""
@@ -244,9 +245,14 @@ class RobotTCP(TcpDevice, Stoppable):
     def set_move_id(self, id):
         return self.evaluate("setMoveId(" + str(id) + " )")
 
-    def get_joint_forces(self):
-        self.evaluate("getJointForce(arr)")        
-        return self.get_float_arr(6)
+    def get_joint_forces(self):        
+        try:
+            self.evaluate("getJointForce(arr)")        
+            self.joint_forces = self.get_float_arr(6)            
+            return self.joint_forces
+        excepr:
+            return self.joint_forces = None
+            raise
 
     def movej(self, joint_or_point, tool, desc):
         return self.eval_int("movej(" + joint_or_point + ", " + tool + ", " + desc +")")