From 7e94a520d6aec0df6809d74c364d7357e44a8d06 Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC12288.psi.ch>
Date: Wed, 22 Feb 2017 16:40:46 +0100
Subject: [PATCH]

---
 .../usr/usrapp/ForceDetection/comTcp.pgx      | 86 ++++++++++++++++++-
 .../usrapp/ForceDetection/onCommandTcp.pgx    | 78 +----------------
 2 files changed, 88 insertions(+), 76 deletions(-)

diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
index 4dce337..66b49c4 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
@@ -15,6 +15,11 @@
       <Local name="ex" type="string" xsi:type="array" size="1" />
       <Local name="array_separator" type="string" xsi:type="array" size="1" />
       <Local name="last_id" type="string" xsi:type="array" size="1" />
+      <Local name="ret" type="num" xsi:type="array" size="1" />
+      <Local name="aux" type="num" xsi:type="array" size="1" />
+      <Local name="auxb" type="bool" xsi:type="array" size="1" />
+      <Local name="count" type="num" xsi:type="array" size="1" />
+      <Local name="ok" type="bool" xsi:type="array" size="1" />
     </Locals>
     <Code><![CDATA[begin        
   rx=""
@@ -70,8 +75,85 @@
                       endWhile
                     endIf                                                
                     tx = ""
-                    ex = ""                      
-                    call onCommandTcp(cmd,args, tx, ex)                       
+                    ex = ""  
+                    //General commands
+                    switch(cmd)  
+                        case "eval"
+                          tx=$exec(args[0])          
+                        break
+                        
+                        case "get_var","get_bool"
+                          if cmd == "get_var"
+                            ret = getData(args[0], aux)        
+                          else
+                            ret = getData(args[0], auxb)        
+                          endIf      
+                          switch(ret)
+                            case -1     
+                              ex = "The variable does not exists"
+                            break          
+                            case -2        
+                              ex = "The variable library does not exists"
+                            break          
+                            case -3        
+                              ex = "The index is out of range"
+                            break          
+                            case -4        
+                              ex = "The data's type does not match the variable's type"
+                            break  
+                            default
+                              if cmd == "get_var"
+                                tx = toString(".4", aux)
+                              else
+                                if auxb
+                                  tx = "1"
+                                else
+                                  tx = "0"
+                                endIf
+                              endIf                
+                            break
+                          endSwitch
+                        break 
+
+                        case "get_arr"
+                          toNum(args[1], count, ok)
+                          tx = ""
+                          for index = 0 to count
+                          if cmd == "get_var"
+                            ret = getData(args[0], aux)        
+                          else
+                            ret = getData(args[0], auxb)        
+                          endIf      
+                            
+                              ret = getData(args[0] + "[" + toString("", index )+ "]", aux)        
+                              switch(ret)
+                                case -1        
+                                  ex = "The variable does not exists"
+                                  return
+                                break          
+                                case -2        
+                                  ex = "The variable library does not exists"
+                                  return
+                                break          
+                                case -3        
+                                  ex = "The index is out of range"
+                                  return
+                                break          
+                                case -4        
+                                  ex = "The data's type does not match the variable's type"
+                                  return
+                                break  
+                                default
+                                  tx = tx + toString(".4", aux) + "|"
+                                break
+                              endSwitch
+                            endFor
+                        break  
+                        default
+                            //App specific
+                            call onCommandTcp(cmd,args, tx, ex)                       
+                            break
+                    endSwitch            
                     last_id = msg_id
               endIf
               if len(ex) == 0
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
index 3848c8b..24be8be 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
@@ -11,84 +11,14 @@
       <Local name="index" type="num" xsi:type="array" size="1" />
       <Local name="puck" type="num" xsi:type="array" size="1" />
       <Local name="sample" type="num" xsi:type="array" size="1" />
-      <Local name="bOk" type="bool" xsi:type="array" size="1" />
-      <Local name="aux" type="num" xsi:type="array" size="1" />
+      <Local name="ok" type="bool" xsi:type="array" size="1" />
       <Local name="ret" type="num" xsi:type="array" size="1" />
-      <Local name="count" type="num" xsi:type="array" size="1" />
     </Locals>
     <Code><![CDATA[begin
-  switch(cmd)
-    case "eval"
-      tx=$exec(args[0])
-      
-      //          if (find(cmd,"numRet")!=-1)
-      //          stringReturn = stringReturn+toString("4.4",numRet)
-      //        call notify:setString("NumericalReturn",toString("4.4",numRet))
-      //    endIf
-      //         if (find(cmd,"Power")!=-1)
-      //         call notify:setBool("IsPowered",isPowered())          
-      //     endIf   
-      
-      //      for i=0 to len(stringReturn)-1 step 1
-      //      numericalReturn[i]=asc(stringReturn,i)
-      //  endFor
-      
-      
-    break
-    case "get_var"
-      ret = getData(args[0], aux)        
-      switch(ret)
-        case -1        
-          ex = "The variable does not exists"
-        break          
-        case -2        
-          ex = "The variable library does not exists"
-        break          
-        case -3        
-          ex = "The index is out of range"
-        break          
-        case -4        
-          ex = "The data's type does not match the variable's type"
-        break  
-        default
-          tx = toString(".4", ret)
-        break
-      endSwitch
-    break 
-
-    case "get_arr"
-      toNum(args[1], count, bOk)
-      tx = ""
-      for index = 0 to count
-          ret = getData(args[0] + "[" + toString("", index )+ "]", aux)        
-          switch(ret)
-            case -1        
-              ex = "The variable does not exists"
-              return
-            break          
-            case -2        
-              ex = "The variable library does not exists"
-              return
-            break          
-            case -3        
-              ex = "The index is out of range"
-              return
-            break          
-            case -4        
-              ex = "The data's type does not match the variable's type"
-              return
-            break  
-            default
-              tx = tx + toString(".4", ret) + "|"
-            break
-          endSwitch
-        endFor
-    break  
-    
-    
+  switch(cmd)  
     case "mount"
-        toNum(args[0], puck, bOk)
-        toNum(args[1], sample, bOk)
+        toNum(args[0], puck, ok)
+        toNum(args[1], sample, ok)
         tx = "Mounting sample " + toString("", puck) + ":" +  toString("", sample)
     break
     default