removed commented code

ur_driver/prog

@@ -37,91 +37,6 @@ def driverProg():
     socket_send_int(waypoint_id)
     exit_critical
   end
-  
-  
-  ## For joint states the real-time communication interface connection is used
-  #thread statePublisherThread():
-  #  def send_joint_state():
-  #    q = get_joint_positions()
-  #    qdot = get_joint_speeds()
-  #    tau = get_joint_torques()
-  #    enter_critical
-  #    socket_send_int(MSG_JOINT_STATES)
-  #    socket_send_int(floor(MULT_jointstate * q[0]))
-  #    socket_send_int(floor(MULT_jointstate * q[1]))
-  #    socket_send_int(floor(MULT_jointstate * q[2]))
-  #    socket_send_int(floor(MULT_jointstate * q[3]))
-  #    socket_send_int(floor(MULT_jointstate * q[4]))
-  #    socket_send_int(floor(MULT_jointstate * q[5]))
-  #    socket_send_int(floor(MULT_jointstate * qdot[0]))
-  #    socket_send_int(floor(MULT_jointstate * qdot[1]))
-  #    socket_send_int(floor(MULT_jointstate * qdot[2]))
-  #    socket_send_int(floor(MULT_jointstate * qdot[3]))
-  #    socket_send_int(floor(MULT_jointstate * qdot[4]))
-  #    socket_send_int(floor(MULT_jointstate * qdot[5]))
-  #    socket_send_int(floor(MULT_jointstate * tau[0]))
-  #    socket_send_int(floor(MULT_jointstate * tau[1]))
-  #    socket_send_int(floor(MULT_jointstate * tau[2]))
-  #    socket_send_int(floor(MULT_jointstate * tau[3]))
-  #    socket_send_int(floor(MULT_jointstate * tau[4]))
-  #    socket_send_int(floor(MULT_jointstate * tau[5]))
-  #    #socket_send_int(7895160)  # Recognizable  ".xxx" or 00787878
-  #    exit_critical
-  #  end
-  #  #socket_open(HOSTNAME, 50002)
-  #  send_joint_state()
-  #  while True:
-  #    send_joint_state()
-  #    sync()
-  #  end
-  #  sync()
-  #end
-  
-  ## For tcp wrenches the real-time communication interface connection is used
-  #thread wrench_statePublisherThread():
-  #  def send_wrench_state():
-  #    wrench = get_tcp_force()
-  #    enter_critical
-  #    socket_send_int(MSG_WRENCH)
-  #    socket_send_int(floor(MULT_wrench * wrench[0]))
-  #    socket_send_int(floor(MULT_wrench * wrench[1]))
-  #    socket_send_int(floor(MULT_wrench * wrench[2]))
-  #    socket_send_int(floor(MULT_wrench * wrench[3]))
-  #    socket_send_int(floor(MULT_wrench * wrench[4]))
-  #    socket_send_int(floor(MULT_wrench * wrench[5]))
-  #    exit_critical
-  #  end
-  #  send_wrench_state()
-  #  while True:
-  #    send_wrench_state()
-  #    sync()
-  #  end
-  #  sync()
-  #end
-  
-  #thread io_statePublisherThread():
-  #  def send_io_state():
-  #    enter_critical
-  #    socket_send_int(MSG_GET_IO)
-  #    socket_send_int(1*get_digital_in(0) + 2*get_digital_in(1) + 4 * get_digital_in(2) + 8 * get_digital_in(3) + 16 * get_digital_in(4) + 32 * get_digital_in(5) + 64 * get_digital_in(6) + 128 * get_digital_in(7) + 256 * get_digital_in(8) + 512 * get_digital_in(9))
-  #    socket_send_int(1*get_digital_out(0) + 2*get_digital_out(1) + 4 * get_digital_out(2) + 8 * get_digital_out(3) + 16 * get_digital_out(4) + 32 * get_digital_out(5) + 64 * get_digital_out(6) + 128 * get_digital_out(7) + 256 * get_digital_out(8) + 512 * get_digital_out(9))
-  #    socket_send_int(pow(2,0)*get_flag(0) + pow(2,1)*get_flag(1) + pow(2,2)*get_flag(2) + pow(2,3)*get_flag(3) + pow(2,4)*get_flag(4) + pow(2,5)*get_flag(5) + pow(2,6)*get_flag(6) + pow(2,7)*get_flag(7) + pow(2,8)*get_flag(8) + pow(2,9)*get_flag(9) + pow(2,10)*get_flag(10) + pow(2,11)*get_flag(11) + pow(2,12)*get_flag(12) + pow(2,13)*get_flag(13) + pow(2,14)*get_flag(14) + pow(2,15)*get_flag(15) + pow(2,16)*get_flag(16) + pow(2,17)*get_flag(17) + pow(2,18)*get_flag(18) + pow(2,19)*get_flag(19) + pow(2,20)*get_flag(20) + pow(2,21)*get_flag(21) + pow(2,22)*get_flag(22) + pow(2,23)*get_flag(23) + pow(2,24)*get_flag(24) + pow(2,25)*get_flag(25) + pow(2,26)*get_flag(26) + pow(2,27)*get_flag(27) + pow(2,28)*get_flag(28) + pow(2,29)*get_flag(29) + pow(2,30)*get_flag(30) + pow(2,31)*get_flag(31) + pow(2,32)*get_flag(32))
-  #    socket_send_int(get_analog_out(0)*1000000)
-  #    socket_send_int(get_analog_out(1)*1000000)
-  #    socket_send_int(get_analog_in(0)*1000000)
-  #    socket_send_int(get_analog_in(1)*1000000)
-  #    socket_send_int(get_analog_in(2)*1000000)
-  #    socket_send_int(get_analog_in(3)*1000000)
-  #    exit_critical
-  #  end  
-  #  send_io_state()
-  #  while True:
-  #    send_io_state()
-  #    sync()
-  #  end
-  #  sync()
-  #end
-  
 
   
   SERVO_IDLE = 0
@@ -175,9 +90,6 @@ def driverProg():
   socket_open(HOSTNAME, PORT)
   send_out("hello")
   
-  #thread_state = run statePublisherThread()
-  #thread_wrench_state = run wrench_statePublisherThread()
-  #thread_io_state = run io_statePublisherThread()
   thread_servo = run servoThread()
   
   # Servoes in a circle
@@ -312,10 +224,6 @@ def driverProg():
     end
   end
   
-  #sleep(1)
-  #kill thread_state
-  #kill thread_wrench_state
-  #kill thread_io_state
   socket_send_int(MSG_QUIT)
 end
 driverProg()