Merge pull request #157 from RoboDK/feature/RDK-3428/_setTimeout

feature/RDK-3428/_setTimeout increase hardcoded timeouts

Author: Phillip-May

Python/robodk/robolink.py

@@ -1109,7 +1109,7 @@ def _moveX(self, target: Union['Item', List[float], robomath.Mat], itemrobot: 'I
  self._check_status()
  if blocking:
  #itemrobot.WaitMove()
- self.COM.settimeout(360000)
+ self.COM.settimeout(max(360000, self.TIMEOUT))
  self._check_status() #will wait here
  self.COM.settimeout(self.TIMEOUT)
 
@@ -1163,7 +1163,7 @@ def MoveC(self, target1: Union['Item', List[float], robomath.Mat], target2: Unio
  self._check_status()
  if blocking:
  #itemrobot.WaitMove()
- self.COM.settimeout(360000)
+ self.COM.settimeout(max(360000, self.TIMEOUT))
  self._check_status() #will wait here
  self.COM.settimeout(self.TIMEOUT)
 
@@ -1450,7 +1450,7 @@ def output_reader(proc):
  if self.NODELAY:
  self.COM.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
 
- self.COM.settimeout(1)
+ self.COM.settimeout(1) # Intentionally low timeout
  try:
  self.COM.connect((self.IP, port))
  connected = self._is_connected()
@@ -1633,7 +1633,7 @@ def ItemUserPick(self, message: str = "Pick one item", itemtype_or_list: Union[i
  for itm in itemtype_or_list:
  self._send_item(itm)
 
- self.COM.settimeout(3600) # wait up to 1 hour for user input
+ self.COM.settimeout(max(3600, self.TIMEOUT)) # wait up to 1 hour for user input
  item = self._rec_item()
  self.COM.settimeout(self.TIMEOUT)
  self._check_status()
@@ -1804,7 +1804,7 @@ def ShowMessage(self, message: str, popup: bool = True):
  command = 'ShowMessage'
  self._send_line(command)
  self._send_line(message)
- self.COM.settimeout(3600) # wait up to 1 hour user to hit OK
+ self.COM.settimeout(max(3600, self.TIMEOUT)) # wait up to 1 hour user to hit OK
  self._check_status()
  self.COM.settimeout(self.TIMEOUT)
  else:
@@ -1920,7 +1920,7 @@ def AddFile(self, filename: str, parent: 'Item' = 0) -> 'Item':
  self._send_line(command)
  self._send_line(filename)
  self._send_item(parent)
- self.COM.settimeout(60) # 60 seconds timeout to add a file
+ self.COM.settimeout(max(60,self.TIMEOUT)) # 60 seconds timeout to add a file
  newitem = self._rec_item()
  self.COM.settimeout(self.TIMEOUT)
  self._check_status()
@@ -2172,7 +2172,7 @@ def ProjectPoints(self, points: Union[List[float], robomath.Mat], object_project
  self._send_matrix(points)
  self._send_item(object_project)
  self._send_int(projection_type)
- self.COM.settimeout(timeout) # 30 seconds timeout
+ self.COM.settimeout(max(timeout, self.TIMEOUT)) 
  projected_points = self._rec_matrix() # will wait here
  self.COM.settimeout(self.TIMEOUT)
  self._check_status()
@@ -2228,7 +2228,7 @@ def Save(self, filename: str, itemsave: 'Item' = 0):
  self._send_line(command)
  self._send_line(filename)
  self._send_item(itemsave)
- self.COM.settimeout(60)
+ self.COM.settimeout(max(60, self.TIMEOUT))
  self._check_status()
  self.COM.settimeout(self.TIMEOUT)
 
@@ -2983,7 +2983,7 @@ def Command(self, cmd: str, value: Union[str, Dict, robomath.Mat, 'Item'] = '',
  self._send_item(None)
  self._send_line(str(cmd))
  self._send_matrix(value)
- self.COM.settimeout(3600)
+ self.COM.settimeout(max(3600, self.TIMEOUT))
  nmats = self._rec_int()
  self.COM.settimeout(self.TIMEOUT)
  mat2d_list = []
@@ -3017,7 +3017,7 @@ def Command(self, cmd: str, value: Union[str, Dict, robomath.Mat, 'Item'] = '',
  self._send_line(command)
  self._send_line(str(cmd))
  self._send_line(value)
- self.COM.settimeout(3600)
+ self.COM.settimeout(max(3600,self.TIMEOUT))
  line = self._rec_line()
  self.COM.settimeout(self.TIMEOUT)
  self._check_status()
@@ -3289,7 +3289,7 @@ def CalibrateTool(self, poses_xyzwpr: Union[List[robomath.Mat], List[List[float]
  self._send_array(algorithm)
  self._send_item(robot)
  self._send_item(tool)
- self.COM.settimeout(3600)
+ self.COM.settimeout(max(3600, self.TIMEOUT))
  TCPxyz = self._rec_array()
  self.COM.settimeout(self.TIMEOUT)
  errorstats = self._rec_array()
@@ -3669,7 +3669,7 @@ def Cam2D_Snapshot(self, file_save_img: str = "", cam_handle: 'Item' = 0, params
  self._send_item(cam_handle)
  self._send_line(file_save_img)
  self._send_line(params)
- self.COM.settimeout(3600)
+ self.COM.settimeout(max(3600, self.TIMEOUT))
  if len(file_save_img) == 0:
  # If the file name is empty we are expecting a byte array as PNG file
  success = self._rec_bytes()
@@ -3958,7 +3958,7 @@ def Popup_ISO9283_CubeProgram(self, robot: 'Item' = 0) -> 'Item':
  command = 'Popup_ProgISO9283'
  self._send_line(command)
  self._send_item(robot)
- self.COM.settimeout(3600)
+ self.COM.settimeout(max(3600, self.TIMEOUT))
  iso_program = self._rec_item()
  self.COM.settimeout(self.TIMEOUT)
  self._check_status()
@@ -4138,7 +4138,7 @@ def PluginCommand(self, plugin_name: str, plugin_command: str = "", value: str =
  self._send_line(plugin_name)
  self._send_line(plugin_command)
  self._send_line(str(value))
- self.COM.settimeout(3600 * 24 * 7)
+ self.COM.settimeout(max(3600 * 24 * 7, self.TIMEOUT))
  result = self._rec_line()
  self.COM.settimeout(self.TIMEOUT)
  self._check_status()
@@ -5195,7 +5195,7 @@ def setMachiningParameters(self, ncfile: str = '', part: 'Item' = 0, params: str
  self.link._send_line(ncfile)
  self.link._send_item(part)
  self.link._send_line(params)
- self.link.COM.settimeout(3600)
+ self.link.COM.settimeout(max(3600, self.TIMEOUT))
  newprog = self.link._rec_item()
  self.link.COM.settimeout(self.link.TIMEOUT)
  status = self.link._rec_int() / 1000.0
@@ -6175,7 +6175,7 @@ def MoveJ_Test(self, j1: Union[List[float], robomath.Mat], j2: Union[List[float]
  self.link._send_array(j1)
  self.link._send_array(j2)
  self.link._send_int(minstep_deg * 1000)
- self.link.COM.settimeout(3600) # wait up to 1 hour
+ self.link.COM.settimeout(max(3600, self.TIMEOUT))
  collision = self.link._rec_int()
  self.link.COM.settimeout(self.link.TIMEOUT)
  self.link._check_status()
@@ -6209,7 +6209,7 @@ def MoveJ_Test_Blend(self, j1: Union[List[float], robomath.Mat], j2: Union[List[
  self.link._send_array(j3)
  self.link._send_int(minstep_deg * 1000.0)
  self.link._send_int(blend_deg * 1000.0)
- self.link.COM.settimeout(3600)
+ self.link.COM.settimeout(max(3600, self.TIMEOUT))
  collision = self.link._rec_int()
  self.link.COM.settimeout(self.link.TIMEOUT)
  self.link._check_status()
@@ -6239,7 +6239,7 @@ def MoveL_Test(self, j1: Union[List[float], robomath.Mat], pose: robomath.Mat, m
  self.link._send_array(j1)
  self.link._send_pose(pose)
  self.link._send_int(minstep_mm * 1000)
- self.link.COM.settimeout(3600) # wait up to 1 hour
+ self.link.COM.settimeout(max(3600, self.TIMEOUT))
  collision = self.link._rec_int()
  self.link.COM.settimeout(self.link.TIMEOUT)
  self.link._check_status()
@@ -6464,7 +6464,7 @@ def WaitMove(self, timeout: float = 360000):
  self.link._send_line(command)
  self.link._send_item(self)
  self.link._check_status()
- self.link.COM.settimeout(timeout)
+ self.link.COM.settimeout(max(timeout,self.TIMEOUT))
  self.link._check_status() #will wait here
  self.link.COM.settimeout(self.link.TIMEOUT)
  #busy = self.link.Is_Busy(self.item)
@@ -6587,7 +6587,7 @@ def MakeProgram(self, folder_path: str = '', run_mode: int = RUNMODE_MAKE_ROBOTP
  self.link._send_item(self)
  self.link._send_line(folder_path)
  self.link._send_int(run_mode)
- self.link.COM.settimeout(300) # wait up to 5 minutes for the program to generate
+ self.link.COM.settimeout(max(300, self.TIMEOUT)) # wait at least 5 minutes for the program to generate
  prog_status = self.link._rec_int()
  self.link.COM.settimeout(self.link.TIMEOUT)
  prog_log_str = self.link._rec_line()
@@ -6836,7 +6836,7 @@ def waitDI(self, io_var: Union[int, str], io_value: Union[int, float, str], time
  self.link._send_line(str(io_var))
  self.link._send_line(str(io_value))
  self.link._send_int(timeout_ms * 1000)
- self.link.COM.settimeout(3600 * 24 * 7) # wait up to 1 week
+ self.link.COM.settimeout(max(3600 * 24 * 7, self.TIMEOUT))
  self.link._check_status()
  self.link.COM.settimeout(self.link.TIMEOUT)
 
@@ -7136,7 +7136,7 @@ def Update(self, check_collisions: int = COLLISION_OFF, timeout_sec: float = 360
  self.link._send_line(command)
  self.link._send_item(self)
  self.link._send_array([check_collisions, mm_step, deg_step])
- self.link.COM.settimeout(timeout_sec) # wait up to 1 hour user to hit OK
+ self.link.COM.settimeout(max(timeout_sec, self.TIMEOUT)) # wait at least up to 1 hour user to hit OK
  values = self.link._rec_array().tolist()
  self.link.COM.settimeout(self.link.TIMEOUT)
  readable_msg = self.link._rec_line()
@@ -7213,7 +7213,7 @@ def InstructionListJoints(self, mm_step: float = 10, deg_step: float = 5, save_t
  self.link._send_item(self)
  self.link._send_array([mm_step, deg_step, float(collision_check), float(flags), float(time_step)])
  joint_list = save_to_file
- self.link.COM.settimeout(3600)
+ self.link.COM.settimeout(max(3600, self.TIMEOUT))
  if save_to_file is None:
  self.link._send_line('')
  joint_list = self.link._rec_matrix()
@@ -7337,7 +7337,7 @@ def setParam(self, param: str, value: Union[str, Dict, bytes, 'Item', bool, robo
  self.link._send_item(self)
  self.link._send_line(str(param))
  self.link._send_matrix(value)
- self.link.COM.settimeout(3600)
+ self.link.COM.settimeout(max(3600, self.TIMEOUT))
  nmats = self.link._rec_int()
  self.link.COM.settimeout(self.link.TIMEOUT)
  mat2d_list = []
@@ -7376,7 +7376,7 @@ def setParam(self, param: str, value: Union[str, Dict, bytes, 'Item', bool, robo
  self.link._send_line(str(param))
  self.link._send_line(value)
 
- self.link.COM.settimeout(3600)
+ self.link.COM.settimeout(max(3600, self.TIMEOUT))
  line = self.link._rec_line()
  self.link.COM.settimeout(self.link.TIMEOUT)