Prefixing ExternalControl to log messages (UniversalRobots#222)

Co-authored-by: kut <[email protected]>

Author: ipa-kut

ur_robot_driver/resources/ros_control.urscript

@@ -2,7 +2,7 @@
 
 steptime = get_steptime()
 
-textmsg("steptime=", steptime)
+textmsg("ExternalControl: steptime=", steptime)
 MULT_jointstate = {{JOINT_STATE_REPLACE}}
 
 #Constants
@@ -41,7 +41,7 @@ def extrapolate():
 end
 
 thread servoThread():
-  textmsg("Starting servo thread")
+  textmsg("ExternalControl: Starting servo thread")
   state = SERVO_IDLE
   while control_mode == MODE_SERVOJ:
     enter_critical
@@ -73,7 +73,7 @@ thread servoThread():
     end
     exit_critical
   end
-  textmsg("servo thread ended")
+  textmsg("ExternalControl: servo thread ended")
   stopj(4.0)
 end
 
@@ -84,12 +84,12 @@ def set_speed(qd):
 end
 
 thread speedThread():
-  textmsg("Starting speed thread")
+  textmsg("ExternalControl: Starting speed thread")
   while control_mode == MODE_SPEEDJ:
     qd = cmd_servo_qd
     speedj(qd, 40.0, steptime)
   end
-  textmsg("speedj thread ended")
+  textmsg("ExternalControl: speedj thread ended")
   stopj(5.0)
 end
 
@@ -98,7 +98,7 @@ socket_open("{{SERVER_IP_REPLACE}}", {{SERVER_PORT_REPLACE}}, "reverse_socket")
 control_mode = MODE_UNINITIALIZED
 thread_move = 0
 global keepalive = -2
-textmsg("External control active")
+textmsg("ExternalControl: External control active")
 params_mult = socket_read_binary_integer(1+6+1, "reverse_socket")
 keepalive = params_mult[1]
 while keepalive > 0 and control_mode > MODE_STOPPED:
@@ -129,8 +129,8 @@ while keepalive > 0 and control_mode > MODE_STOPPED:
   exit_critical
 end
 
-textmsg("Stopping communication and control")
+textmsg("ExternalControl: Stopping communication and control")
 control_mode = MODE_STOPPED
 join thread_move
-textmsg("All threads ended")
+textmsg("ExternalControl: All threads ended")
 socket_close("reverse_socket")