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gac-S_Changer
2017-03-01 16:36:24 +01:00
parent 49a6e6a7a2
commit c9ff017d8b
3 changed files with 50 additions and 50 deletions
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40
script/RobotTCP.py
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@@ -75,65 +75,65 @@ class RobotTCP(TcpDevice, Stoppable):
def get_arr(self, name, size):
return self.execute('get_arr', name, size)
def get_bool(self, name = "b"):
def get_bool(self, name = "tcp_b"):
return True if (self.execute('get_bool', name).strip() == '1') else False
def get_int(self, name ="n"):
def get_int(self, name ="tcp_n"):
return int(self.get_var(name))
def get_float(self, name ="n"):
def get_float(self, name ="tcp_n"):
return float(self.get_var(name))
def get_int_arr(self, size, name="arr"):
def get_int_arr(self, size, name="tcp_a"):
# not working. A Jython bug in PyUnicaode?
#return [int(x) for x in self.get_arr("arr", size)]
#return [int(x) for x in self.get_arr("tcp_arr", size)]
ret = []
a=self.get_arr(name, size)
for i in range(size):
ret.append(int(a[i]))
return ret
def get_float_arr(self, size, name="arr"):
#return [float(x) for x in self.get_arr("arr", size)]
def get_float_arr(self, size, name="tcp_a"):
#return [float(x) for x in self.get_arr("tcp_arr", size)]
a=self.get_arr(name, size)
ret = [];
for i in range(size): ret.append(float(a[i]));
return ret
def get_trf(self, name="t"):
def get_trf(self, name="tcp_t"):
a = self.execute('get_trf', name)
ret = []
for i in range(6): ret.append(float(a[i]))
return ret
def set_tr(self, l, name="t"):
def set_tr(self, l, name="tcp_t"):
self.evaluate(name + "={" + str(l[0]) + ","+ str(l[1]) + ","+ str(l[2]) + ","+ str(l[3]) + ","+ str(l[4]) + ","+ str(l[5]) + "}")
def get_jnt(self, name="j"):
def get_jnt(self, name="tcp_j"):
a = self.execute('get_jnt', name)
ret = []
for i in range(6): ret.append(float(a[i]))
return ret
def set_jnt(self, l, name="j"):
def set_jnt(self, l, name="tcp_j"):
self.evaluate(name + "={" + str(l[0]) + ","+ str(l[1]) + ","+ str(l[2]) + ","+ str(l[3]) + ","+ str(l[4]) + ","+ str(l[5]) + "}")
def get_pnt(self, name="p"):
def get_pnt(self, name="tcp_p"):
a = self.execute('get_pnt', name)
ret = []
for i in range(6): ret.append(float(a[i]))
return ret
def eval_int(self, cmd):
self.evaluate("n=" + cmd)
self.evaluate("tcp_n=" + cmd)
return self.get_int()
def eval_float(self, cmd):
self.evaluate("n=" + cmd)
self.evaluate("tcp_n=" + cmd)
return self.get_float()
def eval_bool(self, cmd):
self.evaluate("b=" + cmd)
self.evaluate("tcp_b=" + cmd)
return self.get_bool()
#def eval_str(self, cmd):
@@ -141,15 +141,15 @@ class RobotTCP(TcpDevice, Stoppable):
# return self.get_str()
def eval_jnt(self, cmd):
self.evaluate("j=" + cmd)
self.evaluate("tcp_j=" + cmd)
return self.get_jnt()
def eval_trf(self, cmd):
self.evaluate("t=" + cmd)
self.evaluate("tcp_t=" + cmd)
return self.get_trf()
def eval_pnt(self, cmd):
self.evaluate("p=" + cmd)
self.evaluate("tcp_p=" + cmd)
return self.get_pnt()
@@ -198,8 +198,8 @@ class RobotTCP(TcpDevice, Stoppable):
def read_working_mode(self):
try:
mode = self.eval_int("workingMode(arr)")
status = int(self.get_var("arr[0]"))
mode = self.eval_int("workingMode(tcp_a)")
status = int(self.get_var("tcp_a[0]"))
self._update_working_mode(mode, status)
self._update_state()
except: