From 2f2a32ed110b65cc8e50fdf52c1230eff5ea299c Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Tue, 30 Sep 2014 12:24:38 +0000
Subject: [PATCH] simplify deserializeRT
---
ur_driver/src/ur_driver/deserializeRT.py | 100 +++++++----------------
1 file changed, 29 insertions(+), 71 deletions(-)
diff --git a/ur_driver/src/ur_driver/deserializeRT.py b/ur_driver/src/ur_driver/deserializeRT.py
index de35153..5fe97d7 100644
--- a/ur_driver/src/ur_driver/deserializeRT.py
+++ b/ur_driver/src/ur_driver/deserializeRT.py
@@ -26,75 +26,48 @@ class RobotStateRT(object):
offset+=8
#q_target: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.q_target = copy.deepcopy(all_values)
#qd_target: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.qd_target = copy.deepcopy(all_values)
#qdd_target: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.qdd_target = copy.deepcopy(all_values)
- #i_target: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ #i_target: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.i_target = copy.deepcopy(all_values)
#m_target: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.m_target = copy.deepcopy(all_values)
#q_actual: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.q_actual = copy.deepcopy(all_values)
#qd_actual: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.qd_actual = copy.deepcopy(all_values)
#i_actual: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.i_actual = copy.deepcopy(all_values)
#tool_acc_values: 3x double (3x 8byte)
- all_values = []
- for i in range(3):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!ddd",buf, offset))
+ offset+=3*8
rs.tool_acc_values = copy.deepcopy(all_values)
#unused: 15x double (15x 8byte)
@@ -102,27 +75,18 @@ class RobotStateRT(object):
rs.unused = []
#tcp_force: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.tcp_force = copy.deepcopy(all_values)
#tool_vector: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.tool_vector = copy.deepcopy(all_values)
#tcp_speed: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.tcp_speed = copy.deepcopy(all_values)
#digital_input_bits: 1x double (1x 8byte) ?
@@ -130,11 +94,8 @@ class RobotStateRT(object):
offset+=8
#motor_temperatures: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.motor_temperatures = copy.deepcopy(all_values)
#controller_timer: 1x double (1x 8byte)
@@ -150,11 +111,8 @@ class RobotStateRT(object):
offset+=8
#joint_mode: 6x double (6x 8byte)
- all_values = []
- for i in range(6):
- value = struct.unpack_from("!d",buf, offset)[0]
- offset+=8
- all_values.append(value)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
rs.joint_modes = copy.deepcopy(all_values)
return rs
--
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