Merge pull request #104 from openUC2/mergemaster

Mergemaster

Author: beniroquai

uc2rest/TEST/TEST_GRIPPER.py

@@ -8,9 +8,12 @@
 ESP32 = uc2rest.UC2Client(serialport=port, baudrate=115200, DEBUG=True)
 
 # open gripper
-ESP32.gripper.open(isBlocking=True)
-# close gripper
-ESP32.gripper.close(isBlocking=True)
+for i in range(10):
+    ESP32.gripper.open(isBlocking=True)
+    # close gripper^
+    time.sleep(0.5)
+    ESP32.gripper.close(isBlocking=True)
+    time.sleep(0.5)
 # set gripper angle
 ESP32.gripper.setAngle(90, isBlocking=True)
 

uc2rest/mserial.py

@@ -5,7 +5,13 @@
 import threading
 import time
 import sys
-from serial.serialutil import SerialException
+try:
+    from serial.serialutil import SerialException
+    IS_SERIAL = True
+except ImportError:
+    IS_SERIAL = False
+    class SerialException(Exception):
+        pass
 
 T_SERIAL_WARMUP = 2.5
 class Serial:
@@ -51,7 +57,13 @@ def __init__(self, port, baudrate=115200, timeout=5,
 
         # initialize serial connection
         self.thread = None
-        self.serialdevice= self.openDevice(port, baudrate)
+        if IS_SERIAL:
+            self.serialdevice= self.openDevice(port, baudrate)
+        else: 
+            self.serialdevice = MockSerial(port, baudrate, timeout=timeout)
+            self.is_connected = False
+            self.manufacturer = "UC2Mock"
+            self._logger.debug("You have to ensure that the serial device is connected to the computer!")
 
     def breakCurrentCommunication(self):
         self.resetLastCommand = True