From 7c15b35b59f463dc76c95b873fe24856ef189c60 Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC12288.psi.ch>
Date: Thu, 2 Mar 2017 14:53:11 +0100
Subject: [PATCH] Closedown

---
 .../usr/usrapp/ForceDetection/ForceDetection.dtx          | 3 +--
 .../Controller1/usr/usrapp/ForceDetection/comTcp.pgx      | 8 ++++----
 .../usr/usrapp/ForceDetection/sendEventTcp.pgx            | 4 ++--
 3 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
index cac673a..cf8e3dc 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
@@ -82,11 +82,10 @@
     <Data name="sSio" access="private" xsi:type="array" type="sio" size="1">
       <Value key="0" link="Socket\sSIO" />
     </Data>
-    <Data name="events" access="private" xsi:type="array" type="string" size="10" />
+    <Data name="tcp_events" access="private" xsi:type="array" type="string" size="10" />
     <Data name="tcp_n" access="private" xsi:type="array" type="num" size="1" />
     <Data name="tcp_a" access="private" xsi:type="array" type="num" size="10" />
     <Data name="tcp_b" access="private" xsi:type="array" type="bool" size="1" />
-    <Data name="tcp_s" access="private" xsi:type="array" type="string" size="1" />
     <Data name="gripper" access="private" xsi:type="array" type="tool" size="30">
       <Value key="0" fatherId="flange[0]" ioLink="valve1" />
       <Value key="1" fatherId="flange[0]" ioLink="valve1" />
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
index 22bcbbd..3dec094 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
@@ -92,12 +92,12 @@
                               tx = tx + "0" + array_separator
                             endIf
                             
-                            if events[0] != ""
-                              tx = tx  +  events[0]              
+                            if tcp_events[0] != ""
+                              tx = tx  +  tcp_events[0]              
                               for index=0 to 8
-                                events[index]= events[index+1]
+                                tcp_events[index]= tcp_events[index+1]
                               endFor              
-                              events[9] = ""
+                              tcp_events[9] = ""
                             endIf                          
                       break
               
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx
index a503f6e..0c6a14b 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx
@@ -12,8 +12,8 @@
   //How to break a for?
   for index=0 to 9
     if ev != ""
-      if events[index] == ""
-        events[index] = ev
+      if tcp_events[index] == ""
+        tcp_events[index] = ev
         ev = ""
       endIf
     endIf