From bf32d8353297b91be4c1a66fbaa3856aac0791c1 Mon Sep 17 00:00:00 2001
From: ipa-cmm-mn <matthiasnoesner@gmail.com>
Date: Tue, 1 Jul 2014 13:57:58 +0200
Subject: [PATCH] beautify
---
ur_driver/prog | 4 ++--
ur_driver/src/ur_driver/driver.py | 17 ++++++++---------
2 files changed, 10 insertions(+), 11 deletions(-)
diff --git a/ur_driver/prog b/ur_driver/prog
index a4178c9..2ae340b 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -16,7 +16,7 @@ def driverProg():
MSG_SET_TOOL_VOLTAGE = 13
MSG_SET_ANALOG_OUT = 14
MULT_wrench = 10000.0
- MULT_PAYLOAD = 1000.0
+ MULT_payload = 1000.0
MULT_jointstate = 10000.0
MULT_time = 1000000.0
MULT_blend = 1000.0
@@ -225,7 +225,7 @@ def driverProg():
send_out("Received no parameters for setPayload message")
end
- payload = params[1] / MULT_PAYLOAD
+ payload = params[1] / MULT_payload
#send_out(payload)
send_out("Received new payload")
set_payload(payload)
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 88e0a50..fbddf71 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -49,12 +49,12 @@ MSG_STOPJ = 6
MSG_SERVOJ = 7
MSG_SET_PAYLOAD = 8
MSG_WRENCH = 9
-MULT_PAYLOAD = 1000.0
MSG_SET_DIGITAL_OUT = 10
MSG_GET_IO = 11
MSG_SET_FLAG = 12
MSG_SET_TOOL_VOLTAGE = 13
MSG_SET_ANALOG_OUT = 14
+MULT_payload = 1000.0
MULT_wrench = 10000.0
MULT_jointstate = 10000.0
MULT_time = 1000000.0
@@ -435,7 +435,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
def send_quit(self):
with self.socket_lock:
self.request.send(struct.pack("!i", MSG_QUIT))
-
+
def send_servoj(self, waypoint_id, q_actual, t):
assert(len(q_actual) == 6)
q_robot = [0.0] * 6
@@ -450,7 +450,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
#Experimental set_payload implementation
def send_payload(self,payload):
- buf = struct.pack('!ii', MSG_SET_PAYLOAD, payload * MULT_PAYLOAD)
+ buf = struct.pack('!ii', MSG_SET_PAYLOAD, payload * MULT_payload)
with self.socket_lock:
self.request.send(buf)
@@ -603,7 +603,6 @@ def within_tolerance(a_vec, b_vec, tol_vec):
return False
return True
-#HERE
class URServiceProvider(object):
def __init__(self, robot):
self.robot = robot
@@ -902,9 +901,9 @@ def main():
connection.connect()
connection.send_reset_program()
- provider = None
set_io_server()
-
+
+ service_provider = None
action_server = None
try:
while not rospy.is_shutdown():
@@ -935,10 +934,10 @@ def main():
rospy.loginfo("Robot connected")
#provider for service calls
- if provider:
- provider.set_robot(r)
+ if service_provider:
+ service_provider.set_robot(r)
else:
- provider = URServiceProvider(r)
+ service_provider = URServiceProvider(r)
if action_server:
action_server.set_robot(r)
--
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