From d5a682a3e4649a3780bb32f3fbcc424ffeda4244 Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Wed, 13 Oct 2021 13:10:53 +0200
Subject: [PATCH] working reader
---
abb_egm_client/egm_client.py | 28 +++++++++++++++++++---------
examples/print_egm_feedback.py | 8 +++++---
2 files changed, 24 insertions(+), 12 deletions(-)
diff --git a/abb_egm_client/egm_client.py b/abb_egm_client/egm_client.py
index d24c293..295fd0e 100644
--- a/abb_egm_client/egm_client.py
+++ b/abb_egm_client/egm_client.py
@@ -29,8 +29,6 @@ class EGMClient:
self.socket.bind(("", port))
- self.socket.setblocking(False)
-
# def _ensure_socket_ready(self, timeout=1):
# # try:
# # except select.error as err:
@@ -48,27 +46,39 @@ class EGMClient:
def _get_last_packet(self):
last_recieved = (None, None)
+ self.socket.setblocking(False)
+
while True:
try:
- data, addr = self.socket.recvfrom(1024)
+ data, addr = self.socket.recvfrom(2048) # read from socket
if data:
- last_recieved = (data, addr)
+ last_recieved = (data, addr) # store last data and addr
except socket.error as err:
# EWOULDBLOCK: recvfrom would block since socket buffer is empty
if err.args[0] == socket.EWOULDBLOCK:
- return last_recieved # return last data recieved
+ if last_recieved[0]: # if last data got picked up
+ break
+ else:
+ continue # else wait for data
else:
+ self.socket.setblocking(True)
raise err # if there is another error, raise exception
- def receive_from_robot(self, timeout=0):
+ self.socket.setblocking(True)
+ return last_recieved
- data, addr = self.socket.recvfrom(1024)
+ def receive_from_robot(self):
- if not self.robot_controller_address:
+ data, addr = self._get_last_packet()
+
+ # the address used for sending to the robot is picked up here
+ if not self.robot_controller_address or self.robot_controller_address != addr:
self.robot_controller_address = addr
+ # use the message description from the proto file to create a python
+ # class from incoming data
msg = EgmRobot()
- msg.ParseFromString(data)
+ msg.ParseFromString(data)
return msg
diff --git a/examples/print_egm_feedback.py b/examples/print_egm_feedback.py
index 1ba02cd..b076a61 100644
--- a/examples/print_egm_feedback.py
+++ b/examples/print_egm_feedback.py
@@ -6,10 +6,11 @@ try:
except ImportError:
raise ImportWarning("abb_egm not found, have you installed the package?")
-UDP_PORT = 6510
+UDP_PORT = 6511
log = logging.getLogger("egm_client")
+
def print_egm_feedback() -> None:
"""Print EGM feedback.
@@ -24,8 +25,9 @@ def print_egm_feedback() -> None:
while True:
try:
msg = egm_client.receive_from_robot()
- print(f"Header:\n{msg.header.seqno}")
- # print(f"Feedback:\n{msg.feedBack}")
+ print(f"Sequence number: {msg.header.seqno}")
+ print(f"Body: {msg.feedBack}")
+
except Exception as exc:
log.error(f"Exception raised {exc}")
log.info("Retrying")
--
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