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Protect Robotiq gripper client from erroneous return values from pymodbus #1413

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Protect Robotiq gripper client from erroneous return values from pymodbus #1413

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e16fd1c
Protect modbus from erroneous return values
exhaustin Apr 18, 2023
4fc15ab
Individual field checking
exhaustin Apr 18, 2023
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21 changes: 13 additions & 8 deletions ...s/robot_client/robotiq_gripper/third_party/robotiq_2finger_grippers/robotiq_2f_gripper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,14 +68,19 @@ def getStatus(self):
return False

# Assign the values to their respective variables
self.gACT = (status[0] >> 0) & 0x01
self.gGTO = (status[0] >> 3) & 0x01
self.gSTA = (status[0] >> 4) & 0x03
self.gOBJ = (status[0] >> 6) & 0x03
self.gFLT = status[2]
self.gPR = status[3]
self.gPO = status[4]
self.gCU = status[5]
if status[0] is not None:
self.gACT = (status[0] >> 0) & 0x01
self.gGTO = (status[0] >> 3) & 0x01
self.gSTA = (status[0] >> 4) & 0x03
self.gOBJ = (status[0] >> 6) & 0x03
if status[2] is not None:
self.gFLT = status[2]
if status[3] is not None:
self.gPR = status[3]
if status[4] is not None:
self.gPO = status[4]
if status[5] is not None:
self.gCU = status[5]

return True

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2 changes: 1 addition & 1 deletion ...t/robotiq_gripper/third_party/robotiq_2finger_grippers/robotiq_modbus_rtu/comModbusRtu.py
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Expand Up @@ -115,7 +115,7 @@ def getStatus(self, numBytes):
# print("Failed to receive status")
return None
# Newer versions of pymodbus returns a ModbusIOException instead
elif type(response) is ModbusIOException:
elif isinstance(response, ModbusIOException):
return None

# Instantiate output as an empty list
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