print_egm_feedback.py

#!/usr/bin/env python
import logging
import sys

log = logging.getLogger()

try:
    from abb_egm_client import EGMClient
except ImportError:
    raise ImportWarning("abb_egm not found, have you installed the package?")

UDP_PORT = 6510


def print_egm_feedback(rate: int):
    """Print EGM feedback.

    Parameters
    ----------
    rate
        Frequency of prints in hertz.

    """

    egm_client = EGMClient(port=UDP_PORT)

    counter = 0
    while True:
        try:
            ok, feedback = egm_client.receive_from_robot()
            if ok and counter % rate:
                print(f"Seq: {counter}\tMsg: {feedback}")
            else:
                log.error("False from EGMClient.recieve_from_robot")
        except Exception as exc:
            log.error(f"Exception raised {exc}")
            log.info("Retrying")
            counter = 0


if __name__ == "__main__":
    print_egm_feedback(sys.argv[0])