Startup

script/local.py

@@ -16,8 +16,7 @@ class RobotTCP(TcpDevice):
          self.trailer = "\n"
          self.array_separator = '|'
          self.cmd_separator = ' '
-         self.msg_id = 0
-         self.setPolling(1000)
+         self.msg_id = 0         
     
     def _sendReceive(self, msg_id, msg = ""):        
         tx = self.header if (self.header != None) else  ""
@@ -59,19 +58,42 @@ class RobotTCP(TcpDevice):
         if ev.strip() == "": return None
         return ev
 
-    def eval(self, cmd):
+    def evaluate(self, cmd):
         return self.execute('eval', cmd)
 
+    def get_var(self, name):
+        return self.execute('get_var', name)
+
+    def get_arr(self, name, size):
+        return self.execute('get_arr', name, size)
+
+    def get_int(self):
+        return int(self.get_var("n"))
+
+    def eval_int(self, cmd):
+        ret = self.execute('eval', "n=" + cmd)
+        if ret.strip() != "":
+            raise Exception(ret)
+        return self.get_int()
+
+    def get_move_id():
+        self.eval_int("getMoveId()")
+        
     def mount(self, puck, sample):
         return self.execute('mount', puck, sample)
 
     def doUpdate(self):
-        ev = self.read_event()
+        ev = None
+        try:
+            ev = self.read_event()
+            self.setState(State.Ready)
+        except:
+            self.setState(State.Offline)            
         if ev is not None:
             self.getLogger().info(ev)
 
 add_device(RobotTCP("robot_tcp", "129.129.126.100:1000"), force = True)   
-
+robot_tcp.setPolling(500)