def process_cmds(self, dev=0): assert dev >= 0 and dev < self._num_grippers if self._shutdown_driver: print("driver is shutdown") return False try: self.ser.write(self._gripper[dev].act_cmd_bytes) rsp = self.ser.read(8) rsp = [ord(x) for x in rsp] if (len(rsp) != 8): print("response wrong length") return False if not verify_modbus_rtu_crc(rsp): print("cannot verify modbus") return False self.ser.write(self._gripper[dev].stat_cmd_bytes) rsp = self.ser.read(21) rsp = [ord(x) for x in rsp] if (len(rsp) != 21): print("response wrong length") return False parsed_rsp = self._gripper[dev].parse_rsp(rsp) return parsed_rsp except Exception as e: raise e
def process_act_cmd(self, dev=0): if (dev >= self._num_grippers) or (self._shutdown_driver): return False rsp = self._transact(self._gripper[dev].act_cmd, 8) if (None == rsp): return False return verify_modbus_rtu_crc(rsp)
def process_act_cmd(self, dev=0): if (dev >= self._num_grippers) or (self._shutdown_driver): return False try: self.ser.write(self._gripper[dev].act_cmd_bytes) rsp = self.ser.read(8) rsp = [ord(x) for x in rsp] if (len(rsp) != 8): return False return verify_modbus_rtu_crc(rsp) except: return False
def parse_rsp(self, rsp): if (verify_modbus_rtu_crc(rsp)): self.gACT = rsp[3] & 0x1 self.gGTO = (rsp[3] & 0x8) >> 3 self.gSTA = (rsp[3] & 0x30) >> 4 self.gOBJ = (rsp[3] & 0xC0) >> 6 self.gFLT = rsp[5] & 0x0F self.gPR = rsp[6] & 0xFF self.gPO = rsp[7] & 0xFF self.gCU = (rsp[8] & 0xFF) return True return False
def process_act_cmd(self,dev=0): if (dev >= self._num_grippers) or (self._shutdown_driver): return False try: self.ser.write(self._gripper[dev].act_cmd_bytes) rsp = self.ser.read(8) rsp = [ord(x) for x in rsp] if (len(rsp) != 8): return False return verify_modbus_rtu_crc(rsp) except: return False
def process_action_cmd(self): if (self._shutdown_driver): return False try: self.serial_com.write(self.act_cmd_bytes) rsp = self.serial_com.read(8) rsp = [ord(x) for x in rsp] if (len(rsp) != 8): return False return verify_modbus_rtu_crc(rsp) except: return False
def parse_rsp(self,rsp): if (verify_modbus_rtu_crc(rsp)): self.gACT = rsp[3] & 0x1 self.gGTO = (rsp[3] & 0x8) >> 3 self.gSTA = (rsp[3] & 0x30) >> 4 self.gOBJ = (rsp[3] & 0xC0) >> 6 self.gFLT = rsp[5] & 0x0F self.gPR = rsp[6] & 0xFF self.gPO = rsp[7] & 0xFF self.gCU = (rsp[8] & 0xFF) return True return False
def process_act_cmd(self,dev=0): if (dev >= self._num_grippers) or (self._shutdown_driver): return False try: self.ser.write(self._gripper[dev].act_cmd_bytes) rsp = self.ser.read(8) print "ACT RSP Length: {}".format(len(rsp)) rsp = [ord(x) for x in rsp] if (len(rsp) != 8): return False return verify_modbus_rtu_crc(rsp) except: print "\n\nACT!!!!!!!!!!!!!!!!!!!!" traceback.print_exc() return False