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Script execution

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This commit is contained in:
gac-S_Changer
2017-02-20 17:09:30 +01:00
parent 28d84fe5fd
commit ee854fe475
1 changed files with 22 additions and 13 deletions
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35
script/local.py
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@@ -7,29 +7,38 @@ from ch.psi.pshell.serial import TcpDevice
from ch.psi.pshell.modbus import ModbusTCP
class RobotTCP(TcpDevice):
class RobotTCP(TcpDevice):
def __init__(self, name, server, timeout = 1000, retries = 1):
TcpDevice.__init__(self, name, server)
self.timeout = timeout
self.retries = retries
self.header = None
self.trailer = "\n"
self.msg_id = 0
def execute(self, system, command, *argv):
cmd = self.header if (self.header != None) else self.header
cmd = str(system) + "," + str(command)
for arg in argv:
cmd = cmd + "," + str(arg)
def sendReceive(msg):
tx = self.header if (self.header != None) else self.header
id = "%03d" % self.msg_id
self.msg_id = (self.msg_id+1)%1000
tx = tx + id + " " + msg
self.getLogger().finer("TX = " + str(tx))
if (self.trailer != None): cmd = cmd + self.trailer
ret = ""
try:
ret = self.sendReceive(cmd, None, self.trailer , 0, self.timeout, self.retries).strip()
finally:
self.getLogger().info(cmd + " ret = " + str(ret))
return ret
rx = self.sendReceive(cmd, None, self.trailer , 0, self.timeout, self.retries).strip()
self.getLogger().finer("RX = " + str(rx))
if rx[:3] != id:
raise Exception("Received invalid message id")
return rx[3:]
def execute(self, command, *argv):
msg = str(command)
for arg in argv:
msg = msg + "," + str(arg)
ret = self.sendReceive(msg)
return ret;
def mount(self, puck, sample):
return self.execute('1', '1', puck, sample)
return self.execute('Mount', puck, sample)
add_device(RobotTCP("robot_tcp", "129.129.126.100:1000"), force = True)