Enable arm/lift thread by default

body/stretch_body/arm.py

@@ -32,7 +32,7 @@ def __init__(self):
 
     # ###########  Device Methods #############
 
-    def startup(self, threaded=False):
+    def startup(self, threaded=True):
         Device.startup(self, threaded=threaded)
         success = self.motor.startup(threaded=False)
         self.__update_status()

body/stretch_body/lift.py

@@ -31,7 +31,7 @@ def __init__(self):
         self.motor.set_motion_limits(self.translate_to_motor_rad(self.soft_motion_limits['current'][0]),
                                      self.translate_to_motor_rad(self.soft_motion_limits['current'][1]))
     # ###########  Device Methods #############
-    def startup(self, threaded=False):
+    def startup(self, threaded=True):
         Device.startup(self, threaded=threaded)
         success= self.motor.startup(threaded=False)
         self.__update_status()

body/test/test_arm.py

@@ -16,7 +16,7 @@ def test_vel_guarded_contact(self):
         """
         a = stretch_body.arm.Arm()
         a.motor.disable_sync_mode()
-        self.assertTrue(a.startup())
+        self.assertTrue(a.startup(threaded=False))
         a.pull_status()
         if not a.motor.status['pos_calibrated']:
             self.fail('test requires arm to be homed')
@@ -54,14 +54,14 @@ def test_vel_guarded_contact(self):
 
     def test_valid_startup_status(self):
         a = stretch_body.arm.Arm()
-        self.assertTrue(a.startup())
+        self.assertTrue(a.startup(threaded=False))
         self.assertNotEqual(a.status['pos'],0)
 
     def test_homing(self):
         """Test arm homes correctly.
         """
         a = stretch_body.arm.Arm()
-        self.assertTrue(a.startup())
+        self.assertTrue(a.startup(threaded=False))
 
         a.home(single_stop=False)
         time.sleep(2)
@@ -75,7 +75,7 @@ def test_move_arm_with_soft_limits(self):
         """
         a = stretch_body.arm.Arm()
         a.motor.disable_sync_mode()
-        self.assertTrue(a.startup())
+        self.assertTrue(a.startup(threaded=False))
         a.pull_status()
         if not a.motor.status['pos_calibrated']:
             self.fail('test requires arm to be homed')

body/test/test_lift.py

@@ -13,7 +13,7 @@ class TestLift(unittest.TestCase):
     def test_vel_guarded_contact(self):
         l = stretch_body.lift.Lift()
         l.motor.disable_sync_mode()
-        self.assertTrue(l.startup())
+        self.assertTrue(l.startup(threaded=False))
         l.pull_status()
         if not l.motor.status['pos_calibrated']:
             self.fail('test requires lift to be homed')
@@ -43,14 +43,14 @@ def test_vel_guarded_contact(self):
 
     def test_valid_startup_status(self):
         l = stretch_body.lift.Lift()
-        self.assertTrue(l.startup())
+        self.assertTrue(l.startup(threaded=False))
         self.assertNotEqual(l.status['pos'],0)
 
     def test_homing(self):
         """Test lift homes correctly.
         """
         l = stretch_body.lift.Lift()
-        self.assertTrue(l.startup())
+        self.assertTrue(l.startup(threaded=False))
         l.home()
         l.push_command()
         time.sleep(1)
@@ -63,7 +63,7 @@ def test_move_lift_with_soft_limits(self):
         """
         l = stretch_body.lift.Lift()
         l.motor.disable_sync_mode()
-        self.assertTrue(l.startup())
+        self.assertTrue(l.startup(threaded=False))
         l.pull_status()
         if not l.motor.status['pos_calibrated']:
             self.fail('test requires lift to be homed')

body/test/test_sync.py

@@ -13,7 +13,7 @@ class TestSync(unittest.TestCase):
 
     def test_runstop_sync_disabled(self):
         a = stretch_body.arm.Arm()
-        self.assertTrue(a.startup())
+        self.assertTrue(a.startup(threaded=False))
         a.motor.disable_sync_mode()
         a.push_command()
 
@@ -81,7 +81,7 @@ def test_runstop_sync_enabled(self):
         Check that runstop still works when using motor sync enable/disable
         """
         a = stretch_body.arm.Arm()
-        self.assertTrue(a.startup())
+        self.assertTrue(a.startup(threaded=False))
         a.motor.enable_sync_mode()
         a.push_command()
 

tools/bin/stretch_arm_home.py

@@ -10,7 +10,7 @@
 args=parser.parse_args()
 
 a=arm.Arm()
-if not a.startup():
+if not a.startup(threaded=False):
     exit()
 a.home(single_stop= not args.double)
 a.stop()

tools/bin/stretch_arm_jog.py

@@ -14,7 +14,7 @@
 large_move_m=0.1
 
 a=arm.Arm()
-if not a.startup():
+if not a.startup(threaded=False):
     exit()
 a.motor.disable_sync_mode()
 a.push_command()

tools/bin/stretch_hardware_echo.py

@@ -20,9 +20,9 @@
 b=base.Base()
 b.startup()
 a=arm.Arm()
-a.startup()
+a.startup(threaded=False)
 l=lift.Lift()
-l.startup()
+l.startup(threaded=False)
 print('Version: stretch_body: %s'%stretch_body.__version__)
 print('---------- Boards ----------')
 print('Pimu:            %s'%p.board_info['board_version'])

tools/bin/stretch_lift_home.py

@@ -9,7 +9,7 @@
 args=parser.parse_args()
 
 l=lift.Lift()
-if not l.startup():
+if not l.startup(threaded=False):
     exit()
 l.home()
 l.stop()

tools/bin/stretch_lift_jog.py

@@ -16,7 +16,7 @@
 
 
 l=lift.Lift()
-if not l.startup():
+if not l.startup(threaded=False):
     exit()
 l.motor.disable_sync_mode()
 l.push_command()