From eb25695c654f5a5ffe3344c70dab0d8463351f0c Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC12288.psi.ch>
Date: Thu, 23 Feb 2017 10:29:47 +0100
Subject: [PATCH] Closedown

---
 script/local.py | 138 +-----------------------------------------------
 1 file changed, 1 insertion(+), 137 deletions(-)

diff --git a/script/local.py b/script/local.py
index fa78997..a313f3b 100644
--- a/script/local.py
+++ b/script/local.py
@@ -7,143 +7,7 @@ from ch.psi.pshell.serial import TcpDevice
 from ch.psi.pshell.modbus import ModbusTCP
 
 
-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)
+run("RobotTCP")