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GBS
Commit f9606bcb authored by Sven Gestegård Robertz's avatar Sven Gestegård Robertz
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added checking of sequence numbers 

removed sequence numbers from returned values
parent c7d5f75f
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Showing with 58 additions and 59 deletions
catkin_ws/src/gbs/scripts/lc_client.py
View file @ f9606bcb
......@@ -24,7 +24,7 @@ class ResponseMismatch(Exception):
self.expected = expected
self.received = received
def __str__(self):
return "Unexpected response: expected %s, got %s" % (self.expected, self.received)
return "Unexpected response: expected %s, got %s (response type, sequence number)" % (self.expected, self.received)
class test_client(object):
......@@ -73,42 +73,43 @@ class test_client(object):
def close(self):
self.shutdown()
def add_response(self, type, val):
def add_response(self, type, seq, val):
self.response.acquire()
self.responses.append((type,val))
self.responses.append((type, seq, val))
self.response.notifyAll()
self.response.release()
def wait_response(self, type):
def wait_response(self, type, seq):
self.response.acquire()
while len(self.responses) < 1:
self.response.wait()
(t,res) = self.responses.popleft()
(t, s, res) = self.responses.popleft()
self.response.release()
if t == type:
if t == type and s == seq:
return res
else:
raise ResponseMismatch(type,t)
raise ResponseMismatch((type,seq), (t,s))
def handle_COMMAND_RECEIVED(self, val):
print "got COMMAND_RECEIVED: %s" % val
self.add_response(COMMAND_RECEIVED, val)
def handle_COMMAND_RECEIVED(self, seq):
print "got COMMAND_RECEIVED: %s" % seq
self.add_response(COMMAND_RECEIVED, seq, 0)
def handle_RESP_NAK(self, val):
print "got RESP_NAK: %s" % val
self.add_response(RESP_NAK, val)
def handle_RESP_NAK(self, seq):
print "got RESP_NAK: %s" % seq
self.add_response(RESP_NAK, seq, 0)
def handle_RESP_ACK(self, val):
print "got RESP_ACK: %s" % val
self.add_response(RESP_ACK, val)
def handle_RESP_ACK(self, seq):
print "got RESP_ACK: %s" % seq
self.add_response(RESP_ACK, seq, 0)
def handle_RESP_READ_PTP(self, val):
print "got RESP_READ_PTP: %s" % val
self.add_response(RESP_READ_PTP, val)
def handle_RESP_READ_PTP(self, resp):
print "got RESP_READ_PTP: %s" % resp
self.add_response(RESP_READ_PTP, resp.seq, resp.val )
def handle_RESP_MOVE_MEASURE(self, val):
print "got RESP_MOVE_MEASURE: %s" % val
self.add_response(RESP_MOVE_MEASURE, val)
def handle_RESP_MOVE_MEASURE(self, resp):
print "got RESP_MOVE_MEASURE: %s" % resp
val = dict((k, resp[k]) for k in ('x1', 'x2', 'y1'))
self.add_response(RESP_MOVE_MEASURE, resp.seq, val)
def handle_shutdown(self, val):
print "got shutdown: %s" % val
......@@ -123,116 +124,114 @@ class test_client(object):
def CMD_MOVE_LIN(self, coordinate, angle, speed, acc):
self.send_command(dict(seq=self.cmd_seq,
seq = self.send_command(dict(seq=self.cmd_seq,
cmd=dict(pos=dict(
pos=coordinate,
rot=angle),
S_Ac=dict(speed=speed, acc=acc))),
commands.CMD_MOVE_LIN.signature)
res = self.wait_response(COMMAND_RECEIVED)
res = self.wait_response(COMMAND_RECEIVED, seq)
print("... COMMAND_RECEIVED: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
return GBS_OK
def CMD_MOVE_PTP(self, j, s, a):
self.send_command(dict(seq=self.cmd_seq,
seq = self.send_command(dict(seq=self.cmd_seq,
cmd=dict(j=j,
S_Ac=dict(speed=s, acc=a))),
commands.CMD_MOVE_PTP.signature)
res = self.wait_response(COMMAND_RECEIVED)
res = self.wait_response(COMMAND_RECEIVED, seq)
print("... COMMAND_RECEIVED: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
return GBS_OK
def CMD_NO_OPERATION(self):
self.send_command(self.cmd_seq, commands.CMD_NO_OPERATION.signature)
return GBS_OK
return WHAT
def CMD_READ_LIB(self):
self.send_command(self.cmd_seq, commands.CMD_READ_LIB.signature)
return WHAT
def CMD_READ_PTP(self):
self.send_command(self.cmd_seq, commands.CMD_READ_PTP.signature)
res = self.wait_response(COMMAND_RECEIVED)
seq = self.send_command(self.cmd_seq, commands.CMD_READ_PTP.signature)
res = self.wait_response(COMMAND_RECEIVED, seq)
print("... COMMAND_RECEIVED: %s"%res)
res = self.wait_response(RESP_READ_PTP)
res = self.wait_response(RESP_READ_PTP, seq)
print("... RESP_READ_PTP: %s"%res)
return res.val
return res
def CMD_LCK_TL(self):
self.send_command(self.cmd_seq, commands.CMD_LCK_TL.signature)
res = self.wait_response(COMMAND_RECEIVED)
seq = self.send_command(self.cmd_seq, commands.CMD_LCK_TL.signature)
res = self.wait_response(COMMAND_RECEIVED, seq)
print("... COMMAND_RECEIVED: %s"%res)
res = self.wait_response(RESP_ACK)
print("... RESP_ACK: %s"%res)
res = self.wait_response(RESP_ACK, seq)
print("... LCK_TL: RESP_ACK: %s"%res)
return GBS_OK
def CMD_UNLCK_TL(self):
self.send_command(self.cmd_seq, commands.CMD_UNLCK_TL.signature)
res = self.wait_response(COMMAND_RECEIVED)
seq = self.send_command(self.cmd_seq, commands.CMD_UNLCK_TL.signature)
res = self.wait_response(COMMAND_RECEIVED, seq)
print("... COMMAND_RECEIVED: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
return GBS_OK
def CMD_NAIL_LIN(self, id, bstop, start, finish, speed, acc):
self.send_command(dict(seq=self.cmd_seq,
seq = self.send_command(dict(seq=self.cmd_seq,
id=id,
bstop=bstop,
S_Ac=dict(speed=speed, acc=acc),
start=start,
finish=finish),
commands.CMD_NAIL_LIN.signature)
res = self.wait_response(COMMAND_RECEIVED)
res = self.wait_response(COMMAND_RECEIVED, seq)
print("... COMMAND_RECEIVED: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
return GBS_OK
def CMD_MOVE_MEASURE(self, id, coordinate, angle, speed, acc):
self.send_command(dict(seq=self.cmd_seq,
seq = self.send_command(dict(seq=self.cmd_seq,
id=id,
pos=dict(pos=coordinate, rot=angle),
S_Ac=dict(speed=speed, acc=acc)),
commands.CMD_MOVE_MEASURE.signature)
res = self.wait_response(COMMAND_RECEIVED)
res = self.wait_response(COMMAND_RECEIVED, seq)
print("... COMMAND_RECEIVED: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
res = self.wait_response(RESP_MOVE_MEASURE)
res = self.wait_response(RESP_MOVE_MEASURE, seq)
print("... RESP_MOVE_MEASURE: %s"%res)
ans = dict((k, res[k]) for k in ('x1', 'x2', 'y1'))
return ans
return res
def CMD_MOVE_ARC(self, posI, posF, speed, acc):
self.send_command(dict(seq=self.cmd_seq,
seq =self.send_command(dict(seq=self.cmd_seq,
cmd=dict(
posI=posI,
posF=posF,
S_Ac=dict(speed=speed, acc=acc))),
commands.CMD_MOVE_ARC.signature)
res = self.wait_response(COMMAND_RECEIVED)
res = self.wait_response(COMMAND_RECEIVED, seq)
print("... COMMAND_RECEIVED: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
res = self.wait_response(RESP_ACK)
res = self.wait_response(RESP_ACK, seq)
print("... RESP_ACK: %s"%res)
return GBS_OK
#TODO
def CMD_MOVE(self, moves):
self.send_command(dict(seq=self.cmd_seq,
seq = self.send_command(dict(seq=self.cmd_seq,
cmd=moves),
commands.CMD_MOVE.signature)
return GBS_OK
......
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