Script execution

script/RobotTCP.py

@@ -141,6 +141,16 @@ class RobotTCP(TcpDevice):
         self.powered = self.eval_int("getMonitorSpeed()")
         return self.powered
 
+    def get_monitor_speed(self):
+        self.powered = self.eval_int("getMonitorSpeed()")
+        return self.powered
+
+    def set_monitor_speed(self, speed):
+        ret = self.eval_int("setMonitorSpeed(" + str(speed) + ")")
+        if (ret==-1): raise Exception("The robot is not in remote working mode")
+        if (ret==-2): raise Exception("The monitor speed is under the control of the operator")
+        if (ret==-3): raise Exception("The specified speed is not supported")
+
     def enable(self):
         return self.evaluate("enablePower()")
 
@@ -150,7 +160,7 @@ class RobotTCP(TcpDevice):
     def is_calibrated(self):
         return self.eval_bool("isCalibrated()")
 
-    def read_status(self):
+    def read_working_mode(self):
         try:
             mode =  self.eval_int("workingMode(arr)")          
             status = int(self.get_var("arr[0]"))            
@@ -171,18 +181,30 @@ class RobotTCP(TcpDevice):
                 self.status = "invalid"
         except:
             self.working_mode = "invalid"
-        self.is_powered()
         return self.working_mode
 
+    def update_status():
+        read_working_mode()
+        is_powered()
+        get_monitor_speed()
+
+    def poll_events():
+        ev = self.read_event()                    
+        if ec is not None:
+            self.getLogger().info(ev)
+            on_event(ev)
+
     def doUpdate(self):
         try:
-            read_status()
-            ev = self.read_event()            
+            self.update_status()            
+            self.poll_events()
             self.setState(State.Ready)
-            self.getLogger().info(ev)
         except:
             self.setState(State.Offline)            
 
+
+    def on_event(ev):
+        pass
         
     def mount(self, puck, sample):
         return self.execute('mount', puck, sample)
@@ -191,4 +213,4 @@ class RobotTCP(TcpDevice):
 
 add_device(RobotTCP("robot_tcp", "129.129.126.100:1000"), force = True)   
 robot_tcp.setPolling(500)
-robot_tcp.get_monitor_speed()
+robot_tcp.set_monitor_speed(20)