def parseMessage(self, msg_str):
try:
msg_str = msg_str.strip("\< \>\n\r")
msg_parts1 = msg_str.split("|")
self.type = RobotState.STATES[int(msg_parts1[0])]
msg_parts2 = msg_parts1[1].split(":")
self.messageNumber = int(msg_parts2[0])
for i in range(1, len(msg_parts2)):
self.messageData.append(float(msg_parts2[i]))
#Some error occurred in parsing the message - probably malformed.
except:
LOGGER.Moderate("Error on message:" + msg_str)
pass
winchEncoderResetFlag = True
LOGGER.Low("Acquiring Lock")
motorHandlerLock.acquire()
motorSerialHandler.sendMessage("<ResetWinchEncoder>\n")
motorHandlerLock.release()
LOGGER.Low("Releasing Lock")
elif (currentMessage.type == "MSG_MOTOR_VALUES"):
LOGGER.Debug("Received a MSG_MOTOR_VALUES")
print "MADE IT 1"
elif (currentMessage.type == "MSG_RATCHET_POSITION"):
LOGGER.Debug("Received a MSG_RATCHET_POSITION")
else:
LOGGER.Moderate("Received an invalid message.")
#
# MSG_STOP:
# Stop all motors immediately
#
if (currentMessage.type == "MSG_STOP"):
ceaseAllMotorFunctions()
outboundMessageQueue.add("Finished\n")
#
# MSG_DRIVE_TIME:
# Drive forward/backward with both motors at the same value
# Data 0: The time in seconds the robot should drive
# Data 1: The power/speed to drive at
#