From 359a2e9d0c21b37c4fc077e08dbb56de771734cb Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Sun, 21 Sep 2014 08:48:22 +0200
Subject: [PATCH] driver: sizeof(io_msgs) is 8 bytes, not 8 ints. Fix #107.
Also correct some minor formatting issues.
---
ur_driver/prog | 22 +++++++++++-----------
1 file changed, 11 insertions(+), 11 deletions(-)
diff --git a/ur_driver/prog b/ur_driver/prog
index 58f680e..5c39752 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -236,41 +236,41 @@ def driverProg():
elif mtype == MSG_SET_DIGITAL_OUT:
#send_out("Received Digital Out Signal")
# Reads the parameters
- params_mult = socket_read_binary_integer(1+6+1)
+ params_mult = socket_read_binary_integer(2)
if params_mult[0] == 0:
- send_out("Received no parameters for set_out message")
+ send_out("Received no parameters for set_digital_out message")
end
if params_mult[2] > 0:
- set_digital_out(params_mult[1], True)
+ set_digital_out(params_mult[1], True)
elif params_mult[2] == 0:
set_digital_out(params_mult[1], False)
end
elif mtype == MSG_SET_FLAG:
#send_out("Received Set Flag Signal")
# Reads the parameters
- params_mult = socket_read_binary_integer(1+6+1)
+ params_mult = socket_read_binary_integer(2)
if params_mult[0] == 0:
- send_out("Received no parameters for set_out message")
+ send_out("Received no parameters for set_flag message")
end
if params_mult[2] != 0:
- set_flag(params_mult[1], True)
+ set_flag(params_mult[1], True)
elif params_mult[2] == 0:
set_flag(params_mult[1], False)
end
elif mtype == MSG_SET_ANALOG_OUT:
#send_out("Received Analog Out Signal")
# Reads the parameters
- params_mult = socket_read_binary_integer(1+6+1)
+ params_mult = socket_read_binary_integer(2)
if params_mult[0] == 0:
- send_out("Received no parameters for set_out message")
+ send_out("Received no parameters for set_analog_out message")
end
set_analog_out(params_mult[1], (params_mult[2] / MULT_analog))
elif mtype == MSG_SET_TOOL_VOLTAGE:
#send_out("Received Tool Voltage Signal")
- # Reads the parameters
- params_mult = socket_read_binary_integer(1+6+1)
+ # Reads the parameters (also reads second dummy '0' integer)
+ params_mult = socket_read_binary_integer(2)
if params_mult[0] == 0:
- send_out("Received no parameters for set_out message")
+ send_out("Received no parameters for set_tool_voltage message")
end
set_tool_voltage(params_mult[1])
else:
--
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