From 5fae1834a9933249cba5563b0ba0a0d6b3264a7b Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC12288.psi.ch>
Date: Mon, 27 Feb 2017 08:53:46 +0100
Subject: [PATCH]

---
 .../usr/usrapp/ForceDetection/comTcp.pgx            | 13 ++++++++++++-
 .../usr/usrapp/ForceDetection/onCommandTcp.pgx      |  3 ---
 script/RobotTCP.py                                  |  7 +++++--
 script/test/TestRobotTCP.py                         |  4 +---
 4 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
index 9d0fbba..0a0f87b 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
@@ -179,10 +179,21 @@
                             tx = tx + toString(".4", t.ry) + "|"    
                             tx = tx + toString(".4", t.rz) + "|"    
                         break        
+                        case "get_help"
+                          toNum(args[0], aux, ok)
+                          if ok == true
+                            tx = help(aux)
+                          else
+                            ex = "Invalid code: " + args[0]
+                          endIf                  
+                        break        
                         default
                             //App specific
                             call onCommandTcp(cmd,args, tx, ex)                       
-                            break
+                            if ((len(tx) == 0) and (len(ex) == 0))
+                              ex = "Invalid command: " + cmd
+                            endIf                         
+                        break
                     endSwitch            
                     last_id = msg_id
               endIf
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
index df201ec..12e6c54 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
@@ -22,9 +22,6 @@
       tx = "Mounting sample " + toString("", puck) + ":" +  toString("", sample)
       //taskCreate "mount",10,mount(puck, sample)
     break
-    default
-      ex = "Invalid command: " + cmd
-    break       
   endSwitch    
 end]]></Code>
   </Program>
diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index aa43c46..42aa86c 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -314,8 +314,11 @@ class RobotTCP(TcpDevice, Stoppable):
         code = self.eval_int('taskStatus("' + str(name)+ '")')
         #TODO: String assignments in $exec causes application to freeze
         #status = self.eval_str('help(' + str(code)+ ')')
-        status = get_help.evaluate('get_help("' + str(code)+ '")')')
-        return code
+        if code== -1: status = "Stopped"
+        elif code== 0: status = "Paused"
+        elif code== 1: status = "Running"
+        else: status = self.execute('get_help', code)        
+        return (code,status)
 
     #Updating
     def update_status(self):
diff --git a/script/test/TestRobotTCP.py b/script/test/TestRobotTCP.py
index 257fc02..f5ce133 100644
--- a/script/test/TestRobotTCP.py
+++ b/script/test/TestRobotTCP.py
@@ -1,5 +1,4 @@
-"""
-#robot_tcp.task_create("simulateEvents",3, name = "test", priority = 20)
+robot_tcp.task_create("simulateEvents",3, name = "test", priority = 20)
 print robot_tcp.get_task_status("test")
 print robot_tcp.get_task_status("tests")
 
@@ -10,7 +9,6 @@ print robot_tcp.get_task_status("test")
 
 robot_tcp.task_kill("test")
 print robot_tcp.get_task_status("test")
-"""    
     
 
 print robot_tcp.is_powered()