Scorpion Communication Modules

Scorpion Communication modules are modules for interfacing external processes and systems by TCP/IP, serial, etc. The modules may be used as base classes implementing profile specific protocols or instantiated as is. Default implementation should by default implement Scorpion standard TdvCmd protocol.

• scorpionsocket module
• scorpionserial module

Note

Derived classes are typically implemented in Scorpion Central.

TdvCmd protocol

The TdvCmd protocol is a text protocol containing a command and optional parameters, separated by semicolon, ‘;’. Parameters consist of a key and following value separated by equal character, ‘=’.

<cmd>;<key=value>;...;<key=value>

Examples

Example 1, ScorpionSocket

This example creates a ScorpionSocket handling standard TdvCmd protocol. This turns Scorpion into a TdvCmd TCP/IP server.

Central Start:

# Python start script goes here
from scorpionsocket import ScorpionSocket
socket = ScorpionSocket("localhost",port=8706,pollrate=0.1,timeout=0.01,verbose=1)

Central Stop:

# Python stop script goes here
if socket:
  socket.close()
  socket=None

Example 2, ScorpionSerial

This example implements a derived ScorpionSerial class handling some special commands in addition to standard TdvCmd.

RobotSerial class implementation:

from scorpionserial import ScorpionSerial
class RobotSerial(ScorpionSerial):
"""
profile specific protocol implementation
"""
def execute(self,data):
  """
  execute spesific profile commands
  if not handled, call super class implementation
  """
  try:
    self.printDebug(data)
    cmd,values=self.parse(data) #cmd as string, params as dictionary

    if cmd=='ROBOT': #do some specific robot stuff
      if 'X' in values and 'Y' in values:
        SetFloatValue('InData.X',values['X'])
        SetFloatValue('InData.Y',values['Y'])
        ExecuteCmd('Inspect','')
        return True
    else:
      return super(RobotSerial,self).execute(data)
  except Exception,msg:
    self.error(msg)
  return False

Central Start:

# Python start script goes here
serial=RobotSerial(4)   #COM4

Central Stop:

# Python stop script goes here
if serial:
  serial.close()
  serial=None