info_catch_client.py
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1 #!/usr/bin/env python
2 # -*- coding: utf-8 -*-
3 
4 # FSRobo-R Package BSDL
5 # ---------
6 # Copyright (C) 2019 FUJISOFT. All rights reserved.
7 #
8 # Redistribution and use in source and binary forms, with or without modification,
9 # are permitted provided that the following conditions are met:
10 # 1. Redistributions of source code must retain the above copyright notice,
11 # this list of conditions and the following disclaimer.
12 # 2. Redistributions in binary form must reproduce the above copyright notice,
13 # this list of conditions and the following disclaimer in the documentation and/or
14 # other materials provided with the distribution.
15 # 3. Neither the name of the copyright holder nor the names of its contributors
16 # may be used to endorse or promote products derived from this software without
17 # specific prior written permission.
18 #
19 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
20 # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
21 # WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
22 # IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
23 # INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
24 # (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
25 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
26 # ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
27 # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29 # ---------
30 
31 import time
32 import socket
33 import json
34 from struct import pack, unpack
35 
36 class JSONSocket(object):
37  BUFFER_SIZE = 4096
38 
39  def __init__(self, ip_addr, port):
40  self._ip_addr = ip_addr
41  self._port = port
42  self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
43  self._decoder = json.JSONDecoder(strict=False)
44  self._recv_buffer = ''
45 
46  def connect(self):
47  self._sock.connect((self._ip_addr, self._port))
48 
49  def close(self):
50  self._sock.close()
51 
52  def send(self, data):
53  self._sock.sendall(json.dumps(data))
54 
55  def recv(self):
56  need_recv = len(self._recv_buffer) == 0
57  #print('len: {}'.format(len(self._recv_buffer)))
58 
59  while True:
60  try:
61  if need_recv:
62  recv_data = self._sock.recv(self.BUFFER_SIZE)
63  if (len(recv_data) == 0):
64  raise socket.error('recv error')
65 
66  self._recv_buffer += recv_data
67  need_recv = False
68  else:
69  # XXX leading null char causes ValueError. Should fix server?
70  self._recv_buffer = self._recv_buffer.strip('\0')
71 
72  data, index = self._decoder.raw_decode(self._recv_buffer)
73  self._recv_buffer = self._recv_buffer[index:]
74  #print('OK!:{}:{}:'.format(self._recv_buffer, self._recv_buffer.encode('hex')))
75  return data
76  except ValueError as e:
77  #print(e)
78  #print(self._recv_buffer)
79  #print(self._recv_buffer.encode('hex'))
80  need_recv = True
81 
82 class InfoCatchClient(object):
83  ControlPort = 5000
84 
85  def __init__(self, ip_addr='192.168.0.23'):
86  self._ip_addr = ip_addr
87  self._data_port = None
88  self._data_sock = None
89 
90  def send_control(self, msg):
91  sock = JSONSocket(self._ip_addr, self.ControlPort)
92  sock.connect()
93 
94  sock.send(msg)
95  data = sock.recv()
96 
97  sock.close()
98 
99  return data
100 
101  def recv(self):
102  return self._data_sock.recv()
103 
104  def connect(self, filters, sampling_time=10):
105  control_data = {'ST00': 'ON', 'ST01': sampling_time, 'ST02': sampling_time}
106 
107  for filter in filters:
108  control_data[filter] = 'ON'
109 
110  res = self.send_control(control_data)
111  if (res['RT00'] != 'OK'):
112  return False
113 
114  self._data_port = res['RT01']
115  self._data_sock = JSONSocket(self._ip_addr, self._data_port)
116 
117  retry_count = 0
118  while True:
119  try:
120  self._data_sock.connect()
121  break
122  except socket.error as e:
123  retry_count += 1
124  if retry_count > 10:
125  raise socket.error(e)
126  time.sleep(0.5)
127 
128  def close(self):
129  if self._data_port is not None:
130  control_data = {'ST00': 'OFF', 'RT01': self._data_port}
131  res = self.send_control(control_data)
132  if res['RT00'] != 'OK':
133  print('warning: send_control returns {}'.format(res))
134  self._data_port = None
135 
136  if self._data_sock is not None:
137  self._data_sock.close()
138 
139  class Label(object):
140  I000 = "i000" # 0xFFFF Date/Time
141  # Header block
142  H003 = "h003" # 0x0008 update_counter
143  H004 = "h004" # 0x000C now_updating
144  # Memory I/O
145  M000 = "m000" # 0x0100 dio_io
146  M001 = "m001" # 0x0104 dio_io
147  M100 = "m100" # 0x0300 mio_si0
148  M102 = "m102" # 0x0308 mio_si2
149  M107 = "m107" # 0x031C mio_sl3
150  M200 = "m200" # 0x0320 dio_io[0]
151  M201 = "m201" # 0x0324 dio_io[1]
152  M202 = "m202" # 0x0328 dio_io[2]
153  M203 = "m203" # 0x032C dio_io[3]
154  M204 = "m204" # 0x0330 dio_io[4]
155  M205 = "m205" # 0x0334 dio_io[5]
156  M206 = "m206" # 0x0338 dio_io[6]
157  M207 = "m207" # 0x033C dio_io[7]
158  M208 = "m208" # 0x0340 dio_io[8]
159  M209 = "m209" # 0x0344 dio_io[9]
160  M210 = "m210" # 0x0348 dio_io[10]
161  M211 = "m211" # 0x034C dio_io[11]
162  M212 = "m212" # 0x0350 dio_io[12]
163  M213 = "m213" # 0x0354 dio_io[13]
164  M214 = "m214" # 0x0358 dio_io[14]
165  M215 = "m215" # 0x035C dio_io[15]
166  M216 = "m216" # 0x0360 dio_io[16]
167  M217 = "m217" # 0x0364 dio_io[17]
168  M218 = "m218" # 0x0368 dio_io[18]
169  M219 = "m219" # 0x036C dio_io[19]
170  M220 = "m220" # 0x0370 dio_io[20]
171  M221 = "m221" # 0x0374 dio_io[21]
172  M222 = "m222" # 0x0378 dio_io[22]
173  M223 = "m223" # 0x037C dio_io[23]
174  M224 = "m224" # 0x0380 dio_io[24]
175  M225 = "m225" # 0x0384 dio_io[25]
176  M226 = "m226" # 0x0388 dio_io[26]
177  M227 = "m227" # 0x038C dio_io[27]
178  M228 = "m228" # 0x0390 dio_io[28]
179  M229 = "m229" # 0x0394 dio_io[29]
180  M230 = "m230" # 0x0398 dio_io[30]
181  M231 = "m231" # 0x039C dio_io[31]
182  M232 = "m232" # 0x03A0 dio_io[32]
183  M233 = "m233" # 0x03A4 dio_io[33]
184  M234 = "m234" # 0x03A8 dio_io[34]
185  M235 = "m235" # 0x03AC dio_io[35]
186  M236 = "m236" # 0x03B0 dio_io[36]
187  M237 = "m237" # 0x03B4 dio_io[37]
188  M238 = "m238" # 0x03B8 dio_io[38]
189  M239 = "m239" # 0x03BC dio_io[39]
190  M240 = "m240" # 0x03C0 dio_io[40]
191  M241 = "m241" # 0x03C4 dio_io[41]
192  M242 = "m242" # 0x03C8 dio_io[42]
193  M243 = "m243" # 0x03CC dio_io[43]
194  M244 = "m244" # 0x03D0 dio_io[44]
195  M245 = "m245" # 0x03D4 dio_io[45]
196  M246 = "m246" # 0x03D8 dio_io[46]
197  M247 = "m247" # 0x03DC dio_io[47]
198  M248 = "m248" # 0x03E0 dio_io[48]
199  M249 = "m249" # 0x03E4 dio_io[49]
200  M250 = "m250" # 0x03E8 dio_io[50]
201  M251 = "m251" # 0x03EC dio_io[51]
202  M252 = "m252" # 0x03F0 dio_io[52]
203  M253 = "m253" # 0x03F4 dio_io[53]
204  M254 = "m254" # 0x03F8 dio_io[54]
205  M255 = "m255" # 0x03FC dio_io[55]
206  M256 = "m256" # 0x0400 dio_io[56]
207  M257 = "m257" # 0x0404 dio_io[57]
208  M258 = "m258" # 0x0408 dio_io[58]
209  M259 = "m259" # 0x040C dio_io[59]
210  M260 = "m260" # 0x0410 dio_io[60]
211  M261 = "m261" # 0x0414 dio_io[61]
212  M262 = "m262" # 0x0418 dio_io[62]
213  M263 = "m263" # 0x041C dio_io[63]
214  M264 = "m264" # 0x0420 dio_io[64]
215  M265 = "m265" # 0x0424 dio_io[65]
216  M266 = "m266" # 0x0428 dio_io[66]
217  M267 = "m267" # 0x042C dio_io[67]
218  M268 = "m268" # 0x0430 dio_io[68]
219  M269 = "m269" # 0x0434 dio_io[69]
220  M270 = "m270" # 0x0438 dio_io[70]
221  M271 = "m271" # 0x043C dio_io[71]
222  M272 = "m272" # 0x0440 dio_io[72]
223  M273 = "m273" # 0x0444 dio_io[73]
224  M274 = "m274" # 0x0448 dio_io[74]
225  M275 = "m275" # 0x044C dio_io[75]
226  M276 = "m276" # 0x0450 dio_io[76]
227  M277 = "m277" # 0x0454 dio_io[77]
228  M278 = "m278" # 0x0458 dio_io[78]
229  M279 = "m279" # 0x045C dio_io[79]
230  M280 = "m280" # 0x0460 dio_io[80]
231  M281 = "m281" # 0x0464 dio_io[81]
232  M282 = "m282" # 0x0468 dio_io[82]
233  M283 = "m283" # 0x046C dio_io[83]
234  M284 = "m284" # 0x0470 dio_io[84]
235  M285 = "m285" # 0x0474 dio_io[85]
236  M286 = "m286" # 0x0478 dio_io[86]
237  M287 = "m287" # 0x047C dio_io[87]
238  M288 = "m288" # 0x0480 dio_io[88]
239  M289 = "m289" # 0x0484 dio_io[89]
240  M290 = "m290" # 0x0488 dio_io[90]
241  M291 = "m291" # 0x048C dio_io[91]
242  M292 = "m292" # 0x0490 dio_io[92]
243  M293 = "m293" # 0x0494 dio_io[93]
244  M294 = "m294" # 0x0498 dio_io[94]
245  M295 = "m295" # 0x049C dio_io[95]
246  M296 = "m296" # 0x04A0 dio_io[96]
247  M297 = "m297" # 0x04A4 dio_io[97]
248  M298 = "m298" # 0x04A8 dio_io[98]
249  M299 = "m299" # 0x04AC dio_io[99]
250  M300 = "m300" # 0x04B0 dio_io[100]
251  M301 = "m301" # 0x04B4 dio_io[101]
252  M302 = "m302" # 0x04B8 dio_io[102]
253  M303 = "m303" # 0x04BC dio_io[103]
254  M304 = "m304" # 0x04C0 dio_io[104]
255  M305 = "m305" # 0x04C4 dio_io[105]
256  M306 = "m306" # 0x04C8 dio_io[106]
257  M307 = "m307" # 0x04CC dio_io[107]
258  M308 = "m308" # 0x04D0 dio_io[108]
259  M309 = "m309" # 0x04D4 dio_io[109]
260  M310 = "m310" # 0x04D8 dio_io[110]
261  M311 = "m311" # 0x04DC dio_io[111]
262  M312 = "m312" # 0x04E0 dio_io[112]
263  M313 = "m313" # 0x04E4 dio_io[113]
264  M314 = "m314" # 0x04E8 dio_io[114]
265  M315 = "m315" # 0x04EC dio_io[115]
266  M316 = "m316" # 0x04F0 dio_io[116]
267  M317 = "m317" # 0x04F4 dio_io[117]
268  M318 = "m318" # 0x04F8 dio_io[118]
269  M319 = "m319" # 0x04FC dio_io[119]
270  M320 = "m320" # 0x0500 dio_io[120]
271  # Ethercat joiont information
272  S000 = "s000" # 0x0500 cia402ctrl[0-5]
273  S001 = "s001" # 0x0502 ctrl[0-5]
274  S002 = "s002" # 0x0504 cia402targetpls[0-5]
275  S003 = "s003" # 0x0508 notification[0-5]
276  S004 = "s004" # 0x050C cia402sts[0-5]
277  S005 = "s005" # 0x050E sts[0-5]
278  S006 = "s006" # 0x0510 rtn[0-5]
279  S007 = "s007" # 0x0512 cia402err[0-5]
280  S008 = "s008" # 0x0514 alarm[0-5]
281  S009 = "s009" # 0x0518 targetplsfb[0-5]
282  S010 = "s010" # 0x051C cia402actualpls[0-5]
283  S011 = "s011" # 0x0520 cia402followingerr[0-5]
284  S012 = "s012" # 0x0524 observer_output_value[0-5]
285  S013 = "s013" # 0x0528 torque[0-5]
286  S014 = "s014" # 0x052A thermal[0-5]
287  S015 = "s015" # 0x052C disturbance[0-5]
288  S016 = "s016" # 0x052E gainrate[0-5]
289  S017 = "s017" # 0x0530 polerate[0-5]
290  S018 = "s018" # 0x0532 filtered_torque[0-5]
291  S019 = "s019" # 0x0534 filtered_velocity[0-5]
292  S020 = "s020" # 0x0536 filtered_D[0-5]
293  S020 = "s020" # 0x0538 filtered_Q[0-5]
294  # Force torque sensor information
295  F000 = "f000" # 0x0700 sts
296  F001 = "f001" # 0x0701 gain_sts
297  F100 = "f100" # 0x0710 zero_point[0-7]
298  F200 = "f200" # 0x0720 raw_value[0-7]
299  F300 = "f300" # 0x0730 gain[0-7]
300  # System management block information
301  Y000 = "y000" # 0x0800 robtask_name[0-31]
302  Y001 = "y001" # 0x0820 running_name[0-31]
303  Y002 = "y002" # 0x0840 running_pid
304  Y003 = "y003" # 0x0844 assign_port[0]
305  Y004 = "y004" # 0x0846 assign_port[1]
306  Y005 = "y005" # 0x0848 assign_port[2]
307  Y006 = "y006" # 0x084A assign_port[3]
308  Y007 = "y007" # 0x084C assign_port[4]
309  Y008 = "y008" # 0x085E assign_port[5]
310  Y009 = "y009" # 0x0850 assign_port[6]
311  Y010 = "y010" # 0x0852 assign_port[7]
312  Y011 = "y011" # 0x0854 assign_port[8]
313  Y012 = "y012" # 0x0856 assign_port[9]
314  Y013 = "y013" # 0x0858 assign_port[10]
315  Y014 = "y014" # 0x085A assign_port[11]
316  # User block information
317  U000 = "u000" # 0x1800 intval[0]
318  U001 = "u001" # 0x1804 intval[1]
319  U002 = "u002" # 0x1808 intval[2]
320  U003 = "u003" # 0x180C intval[3]
321  U004 = "u004" # 0x1810 intval[4]
322  U005 = "u005" # 0x1814 intval[5]
323  U006 = "u006" # 0x1818 intval[6]
324  U007 = "u007" # 0x181C intval[7]
325  U008 = "u008" # 0x1820 intval[8]
326  U009 = "u009" # 0x1824 intval[9]
327  U010 = "u010" # 0x1828 intval[10]
328  U011 = "u011" # 0x182C intval[11]
329  U012 = "u012" # 0x1830 intval[12]
330  U013 = "u013" # 0x1834 intval[13]
331  U014 = "u014" # 0x1838 intval[14]
332  U015 = "u015" # 0x183C intval[15]
333  U016 = "u016" # 0x1840 intval[16]
334  U017 = "u017" # 0x1844 intval[17]
335  U018 = "u018" # 0x1848 intval[18]
336  U019 = "u019" # 0x184C intval[19]
337  U020 = "u020" # 0x1850 intval[20]
338  U021 = "u021" # 0x1854 intval[21]
339  U022 = "u022" # 0x1858 intval[22]
340  U023 = "u023" # 0x185C intval[23]
341  U024 = "u024" # 0x1860 intval[24]
342  U025 = "u025" # 0x1864 intval[25]
343  U026 = "u026" # 0x1868 intval[26]
344  U027 = "u027" # 0x186C intval[27]
345  U028 = "u028" # 0x1870 intval[28]
346  U029 = "u029" # 0x1874 intval[29]
347  U030 = "u030" # 0x1878 intval[30]
348  U031 = "u031" # 0x187C intval[31]
349  U032 = "u032" # 0x1880 intval[32]
350  U033 = "u033" # 0x1884 intval[33]
351  U034 = "u034" # 0x1888 intval[34]
352  U035 = "u035" # 0x188C intval[35]
353  U036 = "u036" # 0x1890 intval[36]
354  U037 = "u037" # 0x1894 intval[37]
355  U038 = "u038" # 0x1898 intval[38]
356  U039 = "u039" # 0x189C intval[39]
357  U040 = "u040" # 0x18A0 intval[40]
358  U041 = "u041" # 0x18A4 intval[41]
359  U042 = "u042" # 0x18A8 intval[42]
360  U043 = "u043" # 0x18AC intval[43]
361  U044 = "u044" # 0x18B0 intval[44]
362  U045 = "u045" # 0x18B4 intval[45]
363  U046 = "u046" # 0x18B8 intval[46]
364  U047 = "u047" # 0x18BC intval[47]
365  U048 = "u048" # 0x18C0 intval[48]
366  U049 = "u049" # 0x18C4 intval[49]
367  U050 = "u050" # 0x18C8 intval[50]
368  U051 = "u051" # 0x18CC intval[51]
369  U052 = "u052" # 0x18D0 intval[52]
370  U053 = "u053" # 0x18D4 intval[53]
371  U054 = "u054" # 0x18D8 intval[54]
372  U055 = "u055" # 0x18DC intval[55]
373  U056 = "u056" # 0x18E0 intval[56]
374  U057 = "u057" # 0x18E4 intval[57]
375  U058 = "u058" # 0x18E8 intval[58]
376  U059 = "u059" # 0x18EC intval[59]
377  U060 = "u060" # 0x18F0 intval[60]
378  U061 = "u061" # 0x18F4 intval[61]
379  U062 = "u062" # 0x18F8 intval[62]
380  U063 = "u063" # 0x18FC intval[63]
381  U064 = "u064" # 0x1900 intval[64]
382  U065 = "u065" # 0x1904 intval[65]
383  U066 = "u066" # 0x1908 intval[66]
384  U067 = "u067" # 0x190C intval[67]
385  U068 = "u068" # 0x1910 intval[68]
386  U069 = "u069" # 0x1914 intval[69]
387  U070 = "u070" # 0x1918 intval[70]
388  U071 = "u071" # 0x191C intval[71]
389  U072 = "u072" # 0x1920 intval[72]
390  U073 = "u073" # 0x1924 intval[73]
391  U074 = "u074" # 0x1928 intval[74]
392  U075 = "u075" # 0x192C intval[75]
393  U076 = "u076" # 0x1930 intval[76]
394  U077 = "u077" # 0x1934 intval[77]
395  U078 = "u078" # 0x1938 intval[78]
396  U079 = "u079" # 0x193C intval[79]
397  U080 = "u080" # 0x1940 intval[80]
398  U081 = "u081" # 0x1944 intval[81]
399  U082 = "u082" # 0x1948 intval[82]
400  U083 = "u083" # 0x194C intval[83]
401  U084 = "u084" # 0x1950 intval[84]
402  U085 = "u085" # 0x1954 intval[85]
403  U086 = "u086" # 0x1958 intval[86]
404  U087 = "u087" # 0x195C intval[87]
405  U088 = "u088" # 0x1960 intval[88]
406  U089 = "u089" # 0x1964 intval[89]
407  U090 = "u090" # 0x1968 intval[90]
408  U091 = "u091" # 0x196C intval[91]
409  U092 = "u092" # 0x1970 intval[92]
410  U093 = "u093" # 0x1974 intval[93]
411  U094 = "u094" # 0x1978 intval[94]
412  U095 = "u095" # 0x197C intval[95]
413  U096 = "u096" # 0x1980 intval[96]
414  U097 = "u097" # 0x1984 intval[97]
415  U098 = "u098" # 0x1988 intval[98]
416  U099 = "u099" # 0x198C intval[99]
417  U100 = "u100" # 0x1990 intval[100]
418  U101 = "u101" # 0x1994 intval[101]
419  U102 = "u102" # 0x1998 intval[102]
420  U103 = "u103" # 0x199C intval[103]
421  U104 = "u104" # 0x19A0 intval[104]
422  U105 = "u105" # 0x19A4 intval[105]
423  U106 = "u106" # 0x19A8 intval[106]
424  U107 = "u107" # 0x19AC intval[107]
425  U108 = "u108" # 0x19B0 intval[108]
426  U109 = "u109" # 0x19B4 intval[109]
427  U110 = "u110" # 0x19B8 intval[110]
428  U111 = "u111" # 0x19BC intval[111]
429  U112 = "u112" # 0x19C0 intval[112]
430  U113 = "u113" # 0x19C4 intval[113]
431  U114 = "u114" # 0x19C8 intval[114]
432  U115 = "u115" # 0x19CC intval[115]
433  U116 = "u116" # 0x19D0 intval[116]
434  U117 = "u117" # 0x19D4 intval[117]
435  U118 = "u118" # 0x19D8 intval[118]
436  U119 = "u119" # 0x19DC intval[119]
437  U120 = "u120" # 0x19E0 intval[120]
438  U121 = "u121" # 0x19E4 intval[121]
439  U122 = "u122" # 0x19E8 intval[122]
440  U123 = "u123" # 0x19EC intval[123]
441  U124 = "u124" # 0x19F0 intval[124]
442  U125 = "u125" # 0x19F4 intval[125]
443  U126 = "u126" # 0x19F8 intval[126]
444  U127 = "u127" # 0x19FC intval[127]
445  U128 = "u128" # 0x1A00 intval[128]
446  U129 = "u129" # 0x1A04 intval[129]
447  U130 = "u130" # 0x1A08 intval[130]
448  U131 = "u131" # 0x1A0C intval[131]
449  U132 = "u132" # 0x1A10 intval[132]
450  U133 = "u133" # 0x1A14 intval[133]
451  U134 = "u134" # 0x1A18 intval[134]
452  U135 = "u135" # 0x1A1C intval[135]
453  U136 = "u136" # 0x1A20 intval[136]
454  U137 = "u137" # 0x1A24 intval[137]
455  U138 = "u138" # 0x1A28 intval[138]
456  U139 = "u139" # 0x1A2C intval[139]
457  U140 = "u140" # 0x1A30 intval[140]
458  U141 = "u141" # 0x1A34 intval[141]
459  U142 = "u142" # 0x1A38 intval[142]
460  U143 = "u143" # 0x1A3C intval[143]
461  U144 = "u144" # 0x1A40 intval[144]
462  U145 = "u145" # 0x1A44 intval[145]
463  U146 = "u146" # 0x1A48 intval[146]
464  U147 = "u147" # 0x1A4C intval[147]
465  U148 = "u148" # 0x1A50 intval[148]
466  U149 = "u149" # 0x1A54 intval[149]
467  U150 = "u150" # 0x1A58 intval[150]
468  U151 = "u151" # 0x1A5C intval[151]
469  U152 = "u152" # 0x1A60 intval[152]
470  U153 = "u153" # 0x1A64 intval[153]
471  U154 = "u154" # 0x1A68 intval[154]
472  U155 = "u155" # 0x1A6C intval[155]
473  U156 = "u156" # 0x1A70 intval[156]
474  U157 = "u157" # 0x1A74 intval[157]
475  U158 = "u158" # 0x1A78 intval[158]
476  U159 = "u159" # 0x1A7C intval[159]
477  U160 = "u160" # 0x1A80 intval[160]
478  U161 = "u161" # 0x1A84 intval[161]
479  U162 = "u162" # 0x1A88 intval[162]
480  U163 = "u163" # 0x1A8C intval[163]
481  U164 = "u164" # 0x1A90 intval[164]
482  U165 = "u165" # 0x1A94 intval[165]
483  U166 = "u166" # 0x1A98 intval[166]
484  U167 = "u167" # 0x1A9C intval[167]
485  U168 = "u168" # 0x1AA0 intval[168]
486  U169 = "u169" # 0x1AA4 intval[169]
487  U170 = "u170" # 0x1AA8 intval[170]
488  U171 = "u171" # 0x1AAC intval[171]
489  U172 = "u172" # 0x1AB0 intval[172]
490  U173 = "u173" # 0x1AB4 intval[173]
491  U174 = "u174" # 0x1AB8 intval[174]
492  U175 = "u175" # 0x1ABC intval[175]
493  U176 = "u176" # 0x1AC0 intval[176]
494  U177 = "u177" # 0x1AC4 intval[177]
495  U178 = "u178" # 0x1AC8 intval[178]
496  U179 = "u179" # 0x1ACC intval[179]
497  U180 = "u180" # 0x1AD0 intval[180]
498  U181 = "u181" # 0x1AD4 intval[181]
499  U182 = "u182" # 0x1AD8 intval[182]
500  U183 = "u183" # 0x1ADC intval[183]
501  U184 = "u184" # 0x1AE0 intval[184]
502  U185 = "u185" # 0x1AE4 intval[185]
503  U186 = "u186" # 0x1AE8 intval[186]
504  U187 = "u187" # 0x1AEC intval[187]
505  U188 = "u188" # 0x1AF0 intval[188]
506  U189 = "u189" # 0x1AF4 intval[189]
507  U190 = "u190" # 0x1AF8 intval[190]
508  U191 = "u191" # 0x1AFC intval[191]
509  U192 = "u192" # 0x1B00 intval[192]
510  U193 = "u193" # 0x1B04 intval[193]
511  U194 = "u194" # 0x1B08 intval[194]
512  U195 = "u195" # 0x1B0C intval[195]
513  U196 = "u196" # 0x1B10 intval[196]
514  U197 = "u197" # 0x1B14 intval[197]
515  U198 = "u198" # 0x1B18 intval[198]
516  U199 = "u199" # 0x1B1C intval[199]
517  U200 = "u200" # 0x1B20 intval[200]
518  U201 = "u201" # 0x1B24 intval[201]
519  U202 = "u202" # 0x1B28 intval[202]
520  U203 = "u203" # 0x1B2C intval[203]
521  U204 = "u204" # 0x1B30 intval[204]
522  U205 = "u205" # 0x1B34 intval[205]
523  U206 = "u206" # 0x1B38 intval[206]
524  U207 = "u207" # 0x1B3C intval[207]
525  U208 = "u208" # 0x1B40 intval[208]
526  U209 = "u209" # 0x1B44 intval[209]
527  U210 = "u210" # 0x1B48 intval[210]
528  U211 = "u211" # 0x1B4C intval[211]
529  U212 = "u212" # 0x1B50 intval[212]
530  U213 = "u213" # 0x1B54 intval[213]
531  U214 = "u214" # 0x1B58 intval[214]
532  U215 = "u215" # 0x1B5C intval[215]
533  U216 = "u216" # 0x1B60 intval[216]
534  U217 = "u217" # 0x1B64 intval[217]
535  U218 = "u218" # 0x1B68 intval[218]
536  U219 = "u219" # 0x1B6C intval[219]
537  U220 = "u220" # 0x1B70 intval[220]
538  U221 = "u221" # 0x1B74 intval[221]
539  U222 = "u222" # 0x1B78 intval[222]
540  U223 = "u223" # 0x1B7C intval[223]
541  U224 = "u224" # 0x1B80 intval[224]
542  U225 = "u225" # 0x1B84 intval[225]
543  U226 = "u226" # 0x1B88 intval[226]
544  U227 = "u227" # 0x1B8C intval[227]
545  U228 = "u228" # 0x1B90 intval[228]
546  U229 = "u229" # 0x1B94 intval[229]
547  U230 = "u230" # 0x1B98 intval[230]
548  U231 = "u231" # 0x1B9C intval[231]
549  U232 = "u232" # 0x1BA0 intval[232]
550  U233 = "u233" # 0x1BA4 intval[233]
551  U234 = "u234" # 0x1BA8 intval[234]
552  U235 = "u235" # 0x1BAC intval[235]
553  U236 = "u236" # 0x1BB0 intval[236]
554  U237 = "u237" # 0x1BB4 intval[237]
555  U238 = "u238" # 0x1BB8 intval[238]
556  U239 = "u239" # 0x1BBC intval[239]
557  U240 = "u240" # 0x1BC0 intval[240]
558  U241 = "u241" # 0x1BC4 intval[241]
559  U242 = "u242" # 0x1BC8 intval[242]
560  U243 = "u243" # 0x1BCC intval[243]
561  U244 = "u244" # 0x1BD0 intval[244]
562  U245 = "u245" # 0x1BD4 intval[245]
563  U246 = "u246" # 0x1BD8 intval[246]
564  U247 = "u247" # 0x1BDC intval[247]
565  U248 = "u248" # 0x1BE0 intval[248]
566  U249 = "u249" # 0x1BE4 intval[249]
567  U250 = "u250" # 0x1BE8 intval[250]
568  U251 = "u251" # 0x1BEC intval[251]
569  U252 = "u252" # 0x1BF0 intval[252]
570  U253 = "u253" # 0x1BF4 intval[253]
571  U254 = "u254" # 0x1BF8 intval[254]
572  U255 = "u255" # 0x1BFC intval[255]
573  M300 = "m300" # 0x1C00 floatval[0]
574  M301 = "m301" # 0x1C08 floatval[1]
575  M302 = "m302" # 0x1C10 floatval[2]
576  M303 = "m303" # 0x1C18 floatval[3]
577  M304 = "m304" # 0x1C20 floatval[4]
578  M305 = "m305" # 0x1C28 floatval[5]
579  M306 = "m306" # 0x1C30 floatval[6]
580  M307 = "m307" # 0x1C38 floatval[7]
581  M308 = "m308" # 0x1C40 floatval[8]
582  M309 = "m309" # 0x1C48 floatval[9]
583  M310 = "m310" # 0x1C50 floatval[10]
584  M311 = "m311" # 0x1C58 floatval[11]
585  M312 = "m312" # 0x1C60 floatval[12]
586  M313 = "m313" # 0x1C68 floatval[13]
587  M314 = "m314" # 0x1C70 floatval[14]
588  M315 = "m315" # 0x1C78 floatval[15]
589  M316 = "m316" # 0x1C80 floatval[16]
590  M317 = "m317" # 0x1C88 floatval[17]
591  M318 = "m318" # 0x1C90 floatval[18]
592  M319 = "m319" # 0x1C98 floatval[19]
593  M320 = "m320" # 0x1CA0 floatval[20]
594  M321 = "m321" # 0x1CA8 floatval[21]
595  M322 = "m322" # 0x1CB0 floatval[22]
596  M323 = "m323" # 0x1CB8 floatval[23]
597  M324 = "m324" # 0x1CC0 floatval[24]
598  M325 = "m325" # 0x1CC8 floatval[25]
599  M326 = "m326" # 0x1CD0 floatval[26]
600  M327 = "m327" # 0x1CD8 floatval[27]
601  M328 = "m328" # 0x1CE0 floatval[28]
602  M329 = "m329" # 0x1CE8 floatval[29]
603  M330 = "m330" # 0x1CF0 floatval[30]
604  M331 = "m331" # 0x1CF8 floatval[31]
605  M332 = "m332" # 0x1D00 floatval[32]
606  M333 = "m333" # 0x1D08 floatval[33]
607  M334 = "m334" # 0x1D10 floatval[34]
608  M335 = "m335" # 0x1D18 floatval[35]
609  M336 = "m336" # 0x1D20 floatval[36]
610  M337 = "m337" # 0x1D28 floatval[37]
611  M338 = "m338" # 0x1D30 floatval[38]
612  M339 = "m339" # 0x1D38 floatval[39]
613  M340 = "m340" # 0x1D40 floatval[40]
614  M341 = "m341" # 0x1D48 floatval[41]
615  M342 = "m342" # 0x1D50 floatval[42]
616  M343 = "m343" # 0x1D58 floatval[43]
617  M344 = "m344" # 0x1D60 floatval[44]
618  M345 = "m345" # 0x1D68 floatval[45]
619  M346 = "m346" # 0x1D70 floatval[46]
620  M347 = "m347" # 0x1D78 floatval[47]
621  M348 = "m348" # 0x1D80 floatval[48]
622  M349 = "m349" # 0x1D88 floatval[49]
623  M350 = "m350" # 0x1D90 floatval[50]
624  M351 = "m351" # 0x1D98 floatval[51]
625  M352 = "m352" # 0x1DA0 floatval[52]
626  M353 = "m353" # 0x1DA8 floatval[53]
627  M354 = "m354" # 0x1DB0 floatval[54]
628  M355 = "m355" # 0x1DB8 floatval[55]
629  M356 = "m356" # 0x1DC0 floatval[56]
630  M357 = "m357" # 0x1DC8 floatval[57]
631  M358 = "m358" # 0x1DD0 floatval[58]
632  M359 = "m359" # 0x1DD8 floatval[59]
633  M360 = "m360" # 0x1DE0 floatval[60]
634  M361 = "m361" # 0x1DE8 floatval[61]
635  M362 = "m362" # 0x1DF0 floatval[62]
636  M363 = "m363" # 0x1DF8 floatval[63]
637  M364 = "m364" # 0x1E00 floatval[64]
638  M365 = "m365" # 0x1E08 floatval[65]
639  M366 = "m366" # 0x1E10 floatval[66]
640  M367 = "m367" # 0x1E18 floatval[67]
641  M368 = "m368" # 0x1E20 floatval[68]
642  M369 = "m369" # 0x1E28 floatval[69]
643  M370 = "m370" # 0x1E30 floatval[70]
644  M371 = "m371" # 0x1E38 floatval[71]
645  M372 = "m372" # 0x1E40 floatval[72]
646  M373 = "m373" # 0x1E48 floatval[73]
647  M374 = "m374" # 0x1E50 floatval[74]
648  M375 = "m375" # 0x1E58 floatval[75]
649  M376 = "m376" # 0x1E60 floatval[76]
650  M377 = "m377" # 0x1E68 floatval[77]
651  M378 = "m378" # 0x1E70 floatval[78]
652  M379 = "m379" # 0x1E78 floatval[79]
653  M380 = "m380" # 0x1E80 floatval[80]
654  M381 = "m381" # 0x1E88 floatval[81]
655  M382 = "m382" # 0x1E90 floatval[82]
656  M383 = "m383" # 0x1E98 floatval[83]
657  M384 = "m384" # 0x1EA0 floatval[84]
658  M385 = "m385" # 0x1EA8 floatval[85]
659  M386 = "m386" # 0x1EB0 floatval[86]
660  M387 = "m387" # 0x1EB8 floatval[87]
661  M388 = "m388" # 0x1EC0 floatval[88]
662  M389 = "m389" # 0x1EC8 floatval[89]
663  M390 = "m390" # 0x1ED0 floatval[90]
664  M391 = "m391" # 0x1ED8 floatval[91]
665  M392 = "m392" # 0x1EE0 floatval[92]
666  M393 = "m393" # 0x1EE8 floatval[93]
667  M394 = "m394" # 0x1EF0 floatval[94]
668  M395 = "m395" # 0x1EF8 floatval[95]
669  M396 = "m396" # 0x1F00 floatval[96]
670  M397 = "m397" # 0x1F08 floatval[97]
671  M398 = "m398" # 0x1F10 floatval[98]
672  M399 = "m399" # 0x1F18 floatval[99]
673  M400 = "m400" # 0x1F20 floatval[100]
674  M401 = "m401" # 0x1F28 floatval[101]
675  M402 = "m402" # 0x1F30 floatval[102]
676  M403 = "m403" # 0x1F38 floatval[103]
677  M404 = "m404" # 0x1F40 floatval[104]
678  M405 = "m405" # 0x1F48 floatval[105]
679  M406 = "m406" # 0x1F50 floatval[106]
680  M407 = "m407" # 0x1F58 floatval[107]
681  M408 = "m408" # 0x1F60 floatval[108]
682  M409 = "m409" # 0x1F68 floatval[109]
683  M410 = "m410" # 0x1F70 floatval[110]
684  M411 = "m411" # 0x1F78 floatval[111]
685  M412 = "m412" # 0x1F80 floatval[112]
686  M413 = "m413" # 0x1F88 floatval[113]
687  M414 = "m414" # 0x1F90 floatval[114]
688  M415 = "m415" # 0x1F98 floatval[115]
689  M416 = "m416" # 0x1FA0 floatval[116]
690  M417 = "m417" # 0x1FA8 floatval[117]
691  M418 = "m418" # 0x1FB0 floatval[118]
692  M419 = "m419" # 0x1FB8 floatval[119]
693  M420 = "m420" # 0x1FC0 floatval[120]
694  M421 = "m421" # 0x1FC8 floatval[121]
695  M422 = "m422" # 0x1FD0 floatval[122]
696  M423 = "m423" # 0x1FD8 floatval[123]
697  M424 = "m424" # 0x1FE0 floatval[124]
698  M425 = "m425" # 0x1FE8 floatval[125]
699  M426 = "m426" # 0x1FF0 floatval[126]
700  M427 = "m427" # 0x1FF8 floatval[127]
701  M428 = "m428" # 0x2000 floatval[128]
702  M429 = "m429" # 0x2008 floatval[129]
703  M430 = "m430" # 0x2010 floatval[130]
704  M431 = "m431" # 0x2018 floatval[131]
705  M432 = "m432" # 0x2020 floatval[132]
706  M433 = "m433" # 0x2028 floatval[133]
707  M434 = "m434" # 0x2030 floatval[134]
708  M435 = "m435" # 0x2038 floatval[135]
709  M436 = "m436" # 0x2040 floatval[136]
710  M437 = "m437" # 0x2048 floatval[137]
711  M438 = "m438" # 0x2050 floatval[138]
712  M439 = "m439" # 0x2058 floatval[139]
713  M440 = "m440" # 0x2060 floatval[140]
714  M441 = "m441" # 0x2068 floatval[141]
715  M442 = "m442" # 0x2070 floatval[142]
716  M443 = "m443" # 0x2078 floatval[143]
717  M444 = "m444" # 0x2080 floatval[144]
718  M445 = "m445" # 0x2088 floatval[145]
719  M446 = "m446" # 0x2090 floatval[146]
720  M447 = "m447" # 0x2098 floatval[147]
721  M448 = "m448" # 0x20A0 floatval[148]
722  M449 = "m449" # 0x20A8 floatval[149]
723  M450 = "m450" # 0x20B0 floatval[150]
724  M451 = "m451" # 0x20B8 floatval[151]
725  M452 = "m452" # 0x20C0 floatval[152]
726  M453 = "m453" # 0x20C8 floatval[153]
727  M454 = "m454" # 0x20D0 floatval[154]
728  M455 = "m455" # 0x20D8 floatval[155]
729  M456 = "m456" # 0x20E0 floatval[156]
730  M457 = "m457" # 0x20E8 floatval[157]
731  M458 = "m458" # 0x20F0 floatval[158]
732  M459 = "m459" # 0x20F8 floatval[159]
733  M460 = "m460" # 0x2100 floatval[160]
734  M461 = "m461" # 0x2108 floatval[161]
735  M462 = "m462" # 0x2110 floatval[162]
736  M463 = "m463" # 0x2118 floatval[163]
737  M464 = "m464" # 0x2120 floatval[164]
738  M465 = "m465" # 0x2128 floatval[165]
739  M466 = "m466" # 0x2130 floatval[166]
740  M467 = "m467" # 0x2138 floatval[167]
741  M468 = "m468" # 0x2140 floatval[168]
742  M469 = "m469" # 0x2148 floatval[169]
743  M470 = "m470" # 0x2150 floatval[170]
744  M471 = "m471" # 0x2158 floatval[171]
745  M472 = "m472" # 0x2160 floatval[172]
746  M473 = "m473" # 0x2168 floatval[173]
747  M474 = "m474" # 0x2170 floatval[174]
748  M475 = "m475" # 0x2178 floatval[175]
749  M476 = "m476" # 0x2180 floatval[176]
750  M477 = "m477" # 0x2188 floatval[177]
751  M478 = "m478" # 0x2190 floatval[178]
752  M479 = "m479" # 0x2198 floatval[179]
753  M480 = "m480" # 0x21A0 floatval[180]
754  M481 = "m481" # 0x21A8 floatval[181]
755  M482 = "m482" # 0x21B0 floatval[182]
756  M483 = "m483" # 0x21B8 floatval[183]
757  M484 = "m484" # 0x21C0 floatval[184
758  M485 = "m485" # 0x21C8 floatval[185]
759  M486 = "m486" # 0x21D0 floatval[186]
760  M487 = "m487" # 0x21D8 floatval[187]
761  M488 = "m488" # 0x21E0 floatval[188]
762  M489 = "m489" # 0x21E8 floatval[189]
763  M490 = "m490" # 0x21F0 floatval[190]
764  M491 = "m491" # 0x21F8 floatval[191]
765  M492 = "m492" # 0x2200 floatval[192]
766  M493 = "m493" # 0x2208 floatval[193]
767  M494 = "m494" # 0x2210 floatval[194]
768  M495 = "m495" # 0x2218 floatval[195]
769  M496 = "m496" # 0x2220 floatval[196]
770  M497 = "m497" # 0x2228 floatval[197]
771  M498 = "m498" # 0x2230 floatval[198]
772  M499 = "m499" # 0x2238 floatval[199]
773  M500 = "m500" # 0x2240 floatval[200]
774  M501 = "m501" # 0x2248 floatval[201]
775  M502 = "m502" # 0x2250 floatval[202]
776  M503 = "m503" # 0x2258 floatval[203]
777  M504 = "m504" # 0x2260 floatval[204]
778  M505 = "m505" # 0x2268 floatval[205]
779  M506 = "m506" # 0x2270 floatval[206]
780  M507 = "m507" # 0x2278 floatval[207]
781  M508 = "m508" # 0x2280 floatval[208]
782  M509 = "m509" # 0x2288 floatval[209]
783  M510 = "m510" # 0x2290 floatval[210]
784  M511 = "m511" # 0x2298 floatval[211]
785  M512 = "m512" # 0x22A0 floatval[212]
786  M513 = "m513" # 0x22A8 floatval[213]
787  M514 = "m514" # 0x22B0 floatval[214]
788  M515 = "m515" # 0x22B8 floatval[215]
789  M516 = "m516" # 0x22C0 floatval[216]
790  M517 = "m517" # 0x22C8 floatval[217]
791  M518 = "m518" # 0x22D0 floatval[218]
792  M519 = "m519" # 0x22D8 floatval[219]
793  M520 = "m520" # 0x22E0 floatval[220]
794  M521 = "m521" # 0x22E8 floatval[221]
795  M522 = "m522" # 0x22F0 floatval[222]
796  M523 = "m523" # 0x22F8 floatval[223]
797  M524 = "m524" # 0x2300 floatval[224]
798  M525 = "m525" # 0x2308 floatval[225]
799  M526 = "m526" # 0x2310 floatval[226]
800  M527 = "m527" # 0x2318 floatval[227]
801  M528 = "m528" # 0x2320 floatval[228]
802  M529 = "m529" # 0x2328 floatval[229]
803  M530 = "m530" # 0x2330 floatval[230]
804  M531 = "m531" # 0x2338 floatval[231]
805  M532 = "m532" # 0x2340 floatval[232]
806  M533 = "m533" # 0x2348 floatval[233]
807  M534 = "m534" # 0x2350 floatval[234]
808  M535 = "m535" # 0x2358 floatval[235]
809  M536 = "m536" # 0x2360 floatval[236]
810  M537 = "m537" # 0x2368 floatval[237]
811  M538 = "m538" # 0x2370 floatval[238]
812  M539 = "m539" # 0x2378 floatval[239]
813  M540 = "m540" # 0x2380 floatval[240]
814  M541 = "m541" # 0x2388 floatval[241]
815  M542 = "m542" # 0x2390 floatval[242]
816  M543 = "m543" # 0x2398 floatval[243]
817  M544 = "m544" # 0x23A0 floatval[244]
818  M545 = "m545" # 0x23A8 floatval[245]
819  M546 = "m546" # 0x23B0 floatval[246]
820  M547 = "m547" # 0x23B8 floatval[247]
821  M548 = "m548" # 0x23C0 floatval[248]
822  M549 = "m549" # 0x23C8 floatval[249]
823  M550 = "m550" # 0x23D0 floatval[250]
824  M551 = "m551" # 0x23D8 floatval[251]
825  M552 = "m552" # 0x23E0 floatval[252]
826  M553 = "m553" # 0x23E8 floatval[253]
827  M554 = "m554" # 0x23F0 floatval[254]
828  M555 = "m555" # 0x23F8 floatval[255]
829  # Controller state information
830  C000 = "c000" # 0x2800 errcode
831  C001 = "c001" # 0x2802 bTeachMode
832  C002 = "c002" # 0x2804 bSPILargeFrame
833  # Robot configuration information
834  G000 = "g000" # 0x2C00 manip_type[0-35]
835  G001 = "g001" # 0x2C24 manip_serial[0-35]
836  G002 = "g002" # 0x2C48 format_version[0-2]
837  G003 = "g003" # 0x2C54 parameter_version[0-2]
838  # Robot status information
839  R000 = "r000" # 0x3000 cmdx,cmdy,cmdz,cmdrz,cmdry,cmdrx
840  R100 = "r100" # 0x3040 posture
841  R101 = "r101" # 0x3044 coordinate
842  R102 = "r102" # 0x3048 singular
843  R103 = "r103" # 0x304C multiturn
844  R200 = "r200" # 0x3050 joint[0-5]
845  R300 = "r300" # 0x3090 velocity
846  R301 = "r301" # 0x3098 vel_error_axes
847  R302 = "r302" # 0x309C softlimit
848  R303 = "r303" # 0x30A0 joint_svon_to_svoff[0-5]
849  R304 = "r304" # 0x30E0 b_saved
850  R305 = "r305" # 0x30E4 toolno
851  R306 = "r306" # 0x30E8 hdorgx,hdorgy,hdorgz,hdorgrz,hdorgry,hdorgrx
852  R400 = "r400" # 0x3128 carte_svon_to_svoff[0-5]
853  R401 = "r401" # 0x3168 svon_to_svoff_posture
854  R402 = "r402" # 0x316C svon_to_svoff_coordinate
855  R403 = "r403" # 0x3170 svon_to_svoff_singular
856  R404 = "r404" # 0x3174 svon_to_svoff_multiturn
857  R405 = "r405" # 0x3178 svon_to_svoff_toolno
858  R406 = "r406" # 0x317C bRequestHold
859  R407 = "r407" # 0x317E bRequestSuspend
860  R408 = "r408" # 0x3180 bSuspended
861  R409 = "r409" # 0x3184 permitted_worker_id
862  R410 = "r410" # 0x3188 tool_org_params[0-5]
863  R411 = "r411" # 0x31B8 tool_fwdmatrix[0-11]
864  R412 = "r412" # 0x3218 last_hold_factor
865  R413 = "r413" # 0x3219 vdesc0_sts
866  R414 = "r414" # 0x321A vdesc1_sts
867  R415 = "r415" # 0x321B n_queued
868  R416 = "r416" # 0x321C logical_cmd_pulse[0-5]
869  R417 = "r417" # 0x323C logical_fb_pulse[0-5]
870  R418 = "r418" # 0x325C holdinfo
871  R419 = "r419" # 0x3260 svsts
872  R419 = "r419" # 0x3264 manip_pwr
873  R420 = "r420" # 0x3266 ems
874  R421 = "r421" # 0x3268 vdesc0_mvid
875  R422 = "r422" # 0x326C vdesc1_mvid
876 
877 if __name__ == '__main__':
878  c = InfoCatchClient()
879  def callback(data):
880  print(data)
881  c.connect([InfoCatchClient.Label.I000,
882  InfoCatchClient.Label.R200,
883  InfoCatchClient.Label.M000,
884  InfoCatchClient.Label.M001,
885  InfoCatchClient.Label.M100,
886  InfoCatchClient.Label.M102,
887  InfoCatchClient.Label.F000,
888  InfoCatchClient.Label.F200,
889  InfoCatchClient.Label.F300,
890  ])
891  for x in range(10):
892  data = c.recv()
893  print(data)
894  c.close()
895 
896 
info_catch_client.JSONSocket.__init__
def __init__(self, ip_addr, port)
Definition: info_catch_client.py:39
info_catch_client.InfoCatchClient.Label
Definition: info_catch_client.py:139
info_catch_client.InfoCatchClient.__init__
def __init__(self, ip_addr='192.168.0.23')
Definition: info_catch_client.py:85
info_catch_client.JSONSocket.BUFFER_SIZE
int BUFFER_SIZE
Definition: info_catch_client.py:37
info_catch_client.JSONSocket._sock
_sock
Definition: info_catch_client.py:42
info_catch_client.JSONSocket.recv
def recv(self)
Definition: info_catch_client.py:55
info_catch_client.InfoCatchClient._ip_addr
_ip_addr
Definition: info_catch_client.py:86
info_catch_client.InfoCatchClient
Definition: info_catch_client.py:82
info_catch_client.InfoCatchClient.send_control
def send_control(self, msg)
Definition: info_catch_client.py:90
info_catch_client.JSONSocket
Definition: info_catch_client.py:36
info_catch_client.JSONSocket.connect
def connect(self)
Definition: info_catch_client.py:46
info_catch_client.JSONSocket._ip_addr
_ip_addr
Definition: info_catch_client.py:40
info_catch_client.InfoCatchClient.connect
def connect(self, filters, sampling_time=10)
Definition: info_catch_client.py:104
info_catch_client.callback
def callback(data)
Definition: info_catch_client.py:879
info_catch_client.InfoCatchClient.recv
def recv(self)
Definition: info_catch_client.py:101
info_catch_client.JSONSocket._recv_buffer
_recv_buffer
Definition: info_catch_client.py:44
info_catch_client.InfoCatchClient._data_sock
_data_sock
Definition: info_catch_client.py:88
info_catch_client.JSONSocket._decoder
_decoder
Definition: info_catch_client.py:43
info_catch_client.JSONSocket._port
_port
Definition: info_catch_client.py:41
info_catch_client.InfoCatchClient.close
def close(self)
Definition: info_catch_client.py:128
info_catch_client.JSONSocket.close
def close(self)
Definition: info_catch_client.py:49
info_catch_client.InfoCatchClient.ControlPort
int ControlPort
Definition: info_catch_client.py:83
info_catch_client.JSONSocket.send
def send(self, data)
Definition: info_catch_client.py:52
info_catch_client.InfoCatchClient._data_port
_data_port
Definition: info_catch_client.py:87

fsrobo_r_driver
Author(s): F-ROSROBO
autogenerated on Sun Feb 9 2020 03:58:29