From 9c2c95c5b99eabf7e7b27cf7e3d811eba5eab1bf Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC12288.psi.ch>
Date: Mon, 27 Feb 2017 12:40:33 +0100
Subject: [PATCH] Closedown

---
 script/test/TestRobot2.py | 35 ++++++++++++++++++++++++++++++++++-
 1 file changed, 34 insertions(+), 1 deletion(-)

diff --git a/script/test/TestRobot2.py b/script/test/TestRobot2.py
index 7a7c6ae..abcfe68 100644
--- a/script/test/TestRobot2.py
+++ b/script/test/TestRobot2.py
@@ -1,35 +1,68 @@
 robot.task_create("simulateEvents",3, name = "test", priority = 20)    
 
+step = 0
 try:
   while(True):
+    step = 1
     robot.is_powered()
+    step = 2
     robot.get_task_status("test")
+    step = 3
     robot.get_monitor_speed()
+    step = 4
     #robot.set_monitor_speed(20)    
     #robot.enable()
+    step = 5
     robot.disable()
+    step = 6
     robot.is_calibrated()
+    step = 7
     robot.read_working_mode()
+    step = 8
     robot.get_emergency_stop_sts()
+    step = 9
     robot.get_safety_fault_signal()
+    step = 10
     robot.stop()
+    step = 11
     robot.resume()
+    step = 12
     robot.resetMotion()
+    step = 13
     robot.is_empty()
+    step = 14
     robot.is_settled()
+    step = 15
     robot.get_move_id()
+    step = 16
     robot.set_move_id(10)
+    step = 17
     robot.get_joint_forces()
+    step = 18
     #robot.open("gripper")
     #robot.close("gripper")
     robot.herej()
+    step = 19
     robot.distance_t("t", "t")
+    step = 20
     robot.distance_p("p", "p")   
+    step = 21
     robot.compose( "p", "world", "t")  
+    step = 22
     robot.here("gripper", "world")
+    step = 23
     robot.joint_to_point("gripper", "world", "j")
+    step = 24
     robot.point_to_joint("gripper", "j", "p")
+    step = 25
     robot.position("p", "world")
+    step = 26
     robot.mount(1, 2)
+except:
+    print >> sys.stderr, sys.exc_info()
 finally:
-    robot.task_kill("test")
\ No newline at end of file
+    print "Step: " + str(step)
+    try:
+        robot.task_kill("test")
+    except:
+        pass     
\ No newline at end of file