SOP/UOP may not be available

[gavanderhoorn]

Depending on how the controller is configured, the UOP and/or SOP IO elements may not be available.

This makes it impossible to use various functions in controller.py:

dominh/src/dominh/controller.py

Lines 174 to 245 in d47b6db

	def tp_enabled(conx):
	"""Determine whether the Teach Pendant is currently enabled.
	Checks SOP output index 7 (from kliosop.kl).
	:returns: True if the TP is 'ON'
	:rtype: bool
	"""
	return io_read_sopout(conx, idx=kliosop.SOPO_TPENBL) == IO_ON
	def is_faulted(conx):
	"""Determine whether the controller is currently faulted.
	Checks SOP output index 3 (from kliosop.kl).
	:returns: True if there is an active fault on the controller
	:rtype: bool
	"""
	return io_read_sopout(conx, idx=kliosop.SOPO_FAULT) == IO_ON
	def is_e_stopped(conx):
	"""Determine whether the controller is currently e-stopped.
	Checks SOP input index 0 (from kliosop.kl).
	:returns: True if the e-stop is active
	:rtype: bool
	"""
	# active low input
	return io_read_sopin(conx, idx=kliosop.SOPI_ESTOP) == IO_OFF
	def in_remote_mode(conx):
	"""Determine whether the controller is in remote mode.
	Checks SOP output index 0 (from kliosop.kl).
	:returns: True if a program is running.
	:rtype: bool
	"""
	return io_read_sopout(conx, idx=kliosop.SOPO_REMOTE) == IO_ON
	def is_program_running(conx):
	"""Determine whether the controller is executing a program.
	NOTE: this does not check for any specific program, but will return
	True whenever the currently selected program (or any of its children)
	are not PAUSED or ABORTED.
	Checks UOP output index 3 (from kliouop.kl).
	:returns: True if a program is running.
	:rtype: bool
	"""
	return io_read_uopout(conx, idx=kliouop.UOPO_PROGRUN) == IO_ON
	def is_program_paused(conx):
	"""Determine whether there is a paused program on the controller.
	NOTE: this does not check for any specific program, but will return
	True whenever the currently selected program is PAUSED.
	Checks UOP output index 4 (from kliouop.kl).
	:returns: True if a program is paused.
	:rtype: bool
	"""
	return io_read_uopout(conx, idx=kliouop.UOPO_PAUSED) == IO_ON

as they make use of those elements.

[gavanderhoorn]

With 9afa99a at least the example doesn't crash any more.