From ef893dc9cc36f323d7c15dbdc2205e54adfa2a56 Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC12288.psi.ch>
Date: Fri, 24 Feb 2017 15:52:50 +0100
Subject: [PATCH]

---
 config/plugins.properties                     |  2 +-
 .../usrapp/ForceDetection/ForceDetection.dtx  |  3 +++
 .../usr/usrapp/ForceDetection/comTcp.pgx      | 12 +++++-----
 .../usrapp/ForceDetection/onCommandTcp.pgx    |  3 ++-
 .../usrapp/ForceDetection/simulateEvents.pgx  |  5 +++-
 .../usr/usrapp/ForceDetection/start.pgx       |  2 +-
 script/RobotTCP.py                            | 23 ++++++++++---------
 7 files changed, 29 insertions(+), 21 deletions(-)

diff --git a/config/plugins.properties b/config/plugins.properties
index 10ac975..b758c0a 100644
--- a/config/plugins.properties
+++ b/config/plugins.properties
@@ -1,4 +1,4 @@
-MXSC-1.5.0.jar=enabled
+MXSC-1.5.0.jar=disabled
 PuckDetection.java=disabled
 TestZMQ.java=disabled
 RobotModbus.java=disabled
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
index 18d281e..42bd1f6 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
@@ -124,5 +124,8 @@
       <Value key="0" fatherId="world[0]" />
     </Data>
     <Data name="t" access="private" xsi:type="array" type="trsf" size="1" />
+    <Data name="f" access="private" xsi:type="array" type="frame" size="1">
+      <Value key="0" fatherId="world[0]" />
+    </Data>
   </Datas>
 </Database>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
index 876f3f1..9d0fbba 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
@@ -93,7 +93,7 @@
                                   ex = "The variable does not exists"
                                 break          
                                 case -2        
-                                  ex = "The variable library does not exists"
+                                  ex = "The variable library does not exist"
                                 break          
                                 case -3        
                                   ex = "The index is out of range"
@@ -130,7 +130,7 @@
                                       return
                                     break          
                                     case -2        
-                                      ex = "The variable library does not exists"
+                                      ex = "The variable library does not exist"
                                       return
                                     break          
                                     case -3        
@@ -147,10 +147,10 @@
                                   endSwitch
                             endFor
                         break  
-                        case "get_str"
-                          $exec("s = " + args[0])          
-                          tx = s
-                        break        
+                        //case "get_str"
+                        //  //$exec("s = " + args[0])          TODO: MAKES THE CONTROLLER TO CRASH!
+                        //  //tx = s
+                        //break        
                         case "get_pnt"
                           $exec("p = " + args[0])          
                             $exec("t = " + args[0])          
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
index 24be8be..df201ec 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
@@ -19,7 +19,8 @@
     case "mount"
         toNum(args[0], puck, ok)
         toNum(args[1], sample, ok)
-        tx = "Mounting sample " + toString("", puck) + ":" +  toString("", sample)
+      tx = "Mounting sample " + toString("", puck) + ":" +  toString("", sample)
+      //taskCreate "mount",10,mount(puck, sample)
     break
     default
       ex = "Invalid command: " + cmd
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx
index 8af977a..bcbc273 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx
@@ -1,12 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
   <Program name="simulateEvents">
+    <Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
+      <Parameter name="interval" type="num" xsi:type="element" />
+    </Parameters>
     <Locals>
       <Local name="str" type="string" xsi:type="array" size="1" />
     </Locals>
     <Code><![CDATA[begin
   while true
-    delay(3)    
+    delay(interval)    
     if isPowered()
       str = "ON"
     else
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx
index 53c0354..c0e4066 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx
@@ -12,7 +12,7 @@
   
   taskCreate "com_modbus",10,comModbus()
   taskCreate "com_tcp",10,comTcp()  
-  taskCreate "sim_ev",10,simulateEvents()
+  //taskCreate "sim_ev",10,simulateEvents(interval)
   
   while true
     movel(pForce1,flange,mNomSpeed)
diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index d9f2026..75b705d 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -66,9 +66,10 @@ class RobotTCP(TcpDevice, Stoppable):
 
     def get_var(self, name):
         return self.execute('get_var', name)
-
-    def get_str(self, name='s'):
-        return self.execute('get_str', name)
+    
+    #Makes app crash
+    #def get_str(self, name='s'):
+    #    return self.execute('get_str', name)
 
     def get_arr(self, name, size):
         return self.execute('get_arr', name, size)
@@ -134,9 +135,9 @@ class RobotTCP(TcpDevice, Stoppable):
         self.evaluate("b=" + cmd)
         return self.get_bool()
 
-    def eval_str(self, cmd):
-        self.evaluate("s=" + cmd)
-        return self.get_str()
+    #def eval_str(self, cmd):
+    #    self.evaluate("s=" + cmd)
+    #    return self.get_str()
 
     def eval_jnt(self, cmd):
         self.evaluate("j=" + cmd)
@@ -207,9 +208,9 @@ class RobotTCP(TcpDevice, Stoppable):
 
     def get_safety_fault_signal(self):
         fault = self.eval_bool("safetyFault(s)")
-        if (fault):
-            return get_str()            
-        
+        #if (fault):
+        #    return get_str()            
+        return fault
 
     #Motion control
     def stop(self):
@@ -311,8 +312,8 @@ class RobotTCP(TcpDevice, Stoppable):
 
     def get_task_status(self, name):
         code = self.eval_int('taskStatus("' + str(name)+ '")')
-        status = self.eval_str('help(' + str(code)+ ')')
-        return [code, status]
+        #status = self.eval_str('help(' + str(code)+ ')')
+        return code
 
     #Updating
     def update_status(self):