run("RobotTCP")

class RobotSC(RobotTCP):    
    def mount(self, puck, sample):
        return self.execute('mount', puck, sample)

    def on_event(self,ev):
        #print "EVT: " + ev
        pass
    def doUpdate(self):
        RobotTCP.doUpdate(self)
        if self.state != State.Offline:
            self.get_joint_forces()


    


add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)   
robot.setPolling(100)
#robot.set_monitor_speed(20)


class JF1(ReadonlyRegisterBase):
    def doRead(self):
        return  None if robot.joint_forces == None else robot.joint_forces[0]
class JF2(ReadonlyRegisterBase):
    def doRead(self):
        return  None if robot.joint_forces == None else robot.joint_forces[1]
class JF3(ReadonlyRegisterBase):
    def doRead(self):
        return  None if robot.joint_forces == None else robot.joint_forces[2]
class JF4(ReadonlyRegisterBase):
    def doRead(self):
        return  None if robot.joint_forces == None else robot.joint_forces[3]
class JF5(ReadonlyRegisterBase):
    def doRead(self):
        return  None if robot.joint_forces == None else robot.joint_forces[4]
class JF6(ReadonlyRegisterBase):
    def doRead(self):
        return  None if robot.joint_forces == None else robot.joint_forces[5]

add_device(JF1(), force = True)   
add_device(JF2(), force = True)   
add_device(JF3(), force = True)   
add_device(JF4(), force = True)   
add_device(JF5(), force = True)   
add_device(JF6(), force = True)