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
