From c1e8dd119eccb8d1700d14e8ec85264437a2ca6b Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC12288.psi.ch>
Date: Thu, 23 Feb 2017 10:29:49 +0100
Subject: [PATCH] Startup

---
 script/RobotTCP.py | 137 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 137 insertions(+)
 create mode 100644 script/RobotTCP.py

diff --git a/script/RobotTCP.py b/script/RobotTCP.py
new file mode 100644
index 0000000..ed655c2
--- /dev/null
+++ b/script/RobotTCP.py
@@ -0,0 +1,137 @@
+class RobotTCP(TcpDevice):    
+    def __init__(self, name, server, timeout = 500, retries = 1):
+         TcpDevice.__init__(self, name, server) 
+         self.timeout =  timeout       
+         self.retries = retries
+         self.header = None
+         self.trailer = "\n"
+         self.array_separator = '|'
+         self.cmd_separator = ' '
+         self.msg_id = 0         
+    
+    def _sendReceive(self, msg_id, msg = ""):        
+        tx = self.header if (self.header != None) else  ""
+        tx = tx + msg_id + " " + msg        
+        if (len(tx)>127):
+            raise Exception("Exceeded maximum message size")
+        self.getLogger().finer("TX = '" +  str(tx)+ "'")
+        if (self.trailer != None): tx = tx + self.trailer
+        rx = self.sendReceive(tx, None, self.trailer , 0,  self.timeout, self.retries)
+        rx=rx[:-1] #Remove 0A
+        self.getLogger().finer("RX = '" + str(rx) + "'")
+        if rx[:3] != msg_id:           
+            print rx 
+            raise Exception("Received invalid message id: " + str(rx[:3]) + " - expecting:" + msg_id )
+        if len(rx)<4:
+            raise Exception("Invalid message size: " + str(len(rx)) )        
+        if rx[3] == "*":
+            raise Exception(rx[4:])
+        return rx[4:]
+
+    def call(self, msg):                
+        id = "%03d" % self.msg_id
+        self.msg_id = (self.msg_id+1)%1000        
+        return self._sendReceive(id, msg)        
+    
+    def execute(self, command, *argv):        
+        msg = str(command)
+        if len(argv)>10:
+            raise Exception("Exceeded maximum number of parameters")
+        for i in range(len(argv)):            
+            msg += (self.cmd_separator if  (i==0) else self.array_separator) + str(argv[i])                 
+        rx = self.call(msg)
+        if rx.count(self.array_separator)>0:
+            return rx.split(self.array_separator)
+        return rx
+         
+    def read_event(self):        
+        ev = self._sendReceive("EVT")        
+        if ev.strip() == "": return None
+        return ev
+
+    def evaluate(self, cmd):
+        ret = self.execute('eval', cmd)
+        if ret.strip() != "": raise Exception(ret)
+
+    def get_var(self, name):
+        return self.execute('get_var', name)
+
+    def get_varb(self, name):
+        return True if (self.execute('get_bool', name).strip() == '1') else False        
+
+    def get_arr(self, name, size):
+        return self.execute('get_arr', name, size)
+
+
+    def get_int(self):
+        return int(self.get_var("n"))
+
+    def get_float(self):
+        return float(self.get_var("n"))
+
+    def get_bool(self, name):
+        return self.get_varb("b")
+
+    def get_int_arr(self, size):
+        # not working. A Jython bug in PyUnicaode?
+        #return [int(x) for x in self.get_arr("arr", size)] 
+        ret = []
+        a=self.get_arr("arr", size)
+        for i in range(size):
+            ret.append(int(a[i]))
+        return ret
+
+    def get_float_arr(self, size):
+        #return [float(x) for x in self.get_arr("arr", size)]
+        ret = []
+        a=self.get_arr("arr", size)
+        for i in range(size):
+            ret.append(int(a[i]))
+        return ret
+
+    
+    def eval_int(self, cmd):
+        self.evaluate("n=" + cmd)
+        return self.get_int()
+
+    def eval_float(self, cmd):
+        self.evaluate("n=" + cmd)
+        return self.get_float()
+
+    def eval_bool(self, cmd):
+        self.evaluate("b=" + cmd)
+        return self.get_bool(self)
+
+
+    def get_move_id(self):
+        return self.eval_int("getMoveId()")
+
+    def get_joint_forces(self):
+        robot_tcp.evaluate("getJointForce(arr)")        
+        return robot_tcp.get_float_arr(6)
+        
+    def mount(self, puck, sample):
+        return self.execute('mount', puck, sample)
+
+
+    def is_powered(self):
+        return self.eval_bool("isPowered()")
+
+    def enable(self):
+        return self.evaluate("enablePower()")
+
+    def disable(self):
+        return self.evaluate("disablePower()")
+
+    def doUpdate(self):
+        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)