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.gitignore vendored
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# ---> Python
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# C extensions
*.so
# Distribution / packaging
.Python
build/
develop-eggs/
dist/
downloads/
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*.egg-info/
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*.egg
MANIFEST
# PyInstaller
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# before PyInstaller builds the exe, so as to inject date/other infos into it.
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# pyenv
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# intended to run in multiple environments; otherwise, check them in:
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# Environments
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assets/configs/io_device_XBC_*

38
README.md
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# APIs
## 一、功能
## 三、相关文件以及路径
```
========================================================================
/home/luoshi/bin/controller/user_settings/
/home/luoshi/bin/controller/interactive_data/XMC12-R1300-W7G3B1C/
registers.xml
registers.json
fieldbus_device.json
io_device_XBC_XMATE_ROKAE_RSC_1
io_device_XBC_XMATE_ROKAE_MINI_1
io_device_XBC_5_ROKAE_RSC_1
io_device_XBC_5_ROKAE_MINI_1
========================================================================
/home/luoshi/bin/controller/interactive_data/XMC12-R1300-W7G3B1C/
sys_io_1.cfg
========================================================================
```
## 四、寄存器功能码规划
- 40000~40499：只读寄存器
- 40500~40999：只写寄存器
- 41000~41100：自定义只读寄存器
## 五、待办
- [ ] socket 断开后触发软急停，并恢复，目的是让所有运动的指令，停止运行防止意外发生
- [ ] 外部通信实现
## 九、目前存在问题
根据rokae confluence上的接口规范，实现的自用API接口工具

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assets/configs/fieldbus_device.json Normal file
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{
"device_list": [
{
"enable": true,
"endian": 1,
"extend_attr": {
"RTU": {
"serial_name": ""
},
"TCP": {
"ip": "0.0.0.0",
"port": 502
},
"coils": {
"max_num": 16,
"start_addr": 0
},
"discrete_input": {
"max_num": 16,
"start_addr": 0
},
"hold_register": {
"max_num": 2000,
"start_addr": 40000
},
"input_register": {
"max_num": 2000,
"start_addr": 4000
},
"protol_type": "TCP",
"slaver_id": 1
},
"mode": "slaver",
"name": "autotest",
"type": "MODBUS"
}
],
"support_types": [
{
"device_type": "MODBUS",
"support_mode": {
"master": 10,
"slaver": 10
}
},
{
"device_type": "CCLINK",
"support_mode": {
"master": 0,
"slaver": 1
}
},
{
"device_type": "ETHERCAT",
"support_mode": {
"master": 0,
"slaver": 10
}
},
{
"device_type": "PROFINET",
"support_mode": {
"master": 0,
"slaver": 1
}
},
{
"device_type": "EtherNetIP",
"support_mode": {
"master": 0,
"slaver": 1
}
}
]
}

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assets/configs/registers.json Normal file
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{
"MODBUS": [
{
"property": {
"device_name": "autotest",
"endian": 1
},
"regs": {
"rd": [
{
"addr": 40000,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_clear_alarm",
"len": 1,
"name": "r_clear_alarm",
"retain": false,
"type": "bool"
},
{
"addr": 40001,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_estop_reset",
"len": 1,
"name": "r_estop_reset",
"retain": false,
"type": "bool"
},
{
"addr": 40002,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_estop_reset_clear_alarm",
"len": 1,
"name": "r_onekey_reset",
"retain": false,
"type": "bool"
},
{
"addr": 40003,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motor_off",
"len": 1,
"name": "r_motor_off",
"retain": false,
"type": "bool"
},
{
"addr": 40004,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motor_on",
"len": 1,
"name": "r_motor_on",
"retain": false,
"type": "bool"
},
{
"addr": 40005,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motoron_pptomain_start",
"len": 1,
"name": "r_onekey_start",
"retain": false,
"type": "bool"
},
{
"addr": 40006,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motoron_start",
"len": 1,
"name": "r_motoron_start",
"retain": false,
"type": "bool"
},
{
"addr": 40007,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_pause_motoroff",
"len": 1,
"name": "r_pause_motoroff",
"retain": false,
"type": "bool"
},
{
"addr": 40008,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_pptomain",
"len": 1,
"name": "r_pp2main",
"retain": false,
"type": "bool"
},
{
"addr": 40009,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_program_start",
"len": 1,
"name": "r_prog_start",
"retain": false,
"type": "bool"
},
{
"addr": 40010,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_program_stop",
"len": 1,
"name": "r_prog_stop",
"retain": false,
"type": "bool"
},
{
"addr": 40011,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_reduced_mode",
"len": 1,
"name": "r_reduced_mode",
"retain": false,
"type": "bool"
},
{
"addr": 40012,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_soft_estop",
"len": 1,
"name": "r_soft_estop",
"retain": false,
"type": "bool"
},
{
"addr": 40013,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_switch_auto_motoron",
"len": 1,
"name": "r_auto_motoron",
"retain": false,
"type": "bool"
},
{
"addr": 40014,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_switch_operation_auto",
"len": 1,
"name": "r_switch_auto",
"retain": false,
"type": "bool"
},
{
"addr": 40015,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_switch_operation_manu",
"len": 1,
"name": "r_switch_manual",
"retain": false,
"type": "bool"
},
{
"addr": 40016,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "enable_safe_region01",
"len": 1,
"name": "r_safe_region01",
"retain": false,
"type": "bool"
},
{
"addr": 40017,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "enable_safe_region02",
"len": 1,
"name": "r_safe_region02",
"retain": false,
"type": "bool"
},
{
"addr": 40018,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "enable_safe_region03",
"len": 1,
"name": "r_safe_region03",
"retain": false,
"type": "bool"
}
],
"rdwr": [
{
"addr": 40500,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_alarm",
"len": 1,
"name": "w_alarm_state",
"retain": false,
"type": "bool"
},
{
"addr": 40501,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_collision",
"len": 1,
"name": "w_clsn_alarm_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40502,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_collision_open",
"len": 1,
"name": "w_clsn_open_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40503,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_controller_is_running",
"len": 1,
"name": "w_controller_running",
"retain": false,
"type": "bool"
},
{
"addr": 40504,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_encoder_low_battery",
"len": 1,
"name": "w_encoder_low",
"retain": false,
"type": "bool"
},
{
"addr": 40505,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_estop",
"len": 1,
"name": "w_estop_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40506,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_motor",
"len": 1,
"name": "w_motor_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40507,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_operation_mode",
"len": 1,
"name": "w_operation_mode",
"retain": false,
"type": "bool"
},
{
"addr": 40508,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_program",
"len": 1,
"name": "w_prog_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40509,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_program_not_run",
"len": 1,
"name": "w_prog_not_run",
"retain": false,
"type": "bool"
},
{
"addr": 40510,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_program_reset",
"len": 1,
"name": "w_prog_reset",
"retain": false,
"type": "bool"
},
{
"addr": 40511,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_reduced_mode",
"len": 1,
"name": "w_reduced_mode_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40512,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_robot_is_busy",
"len": 1,
"name": "w_robot_is_busy",
"retain": false,
"type": "bool"
},
{
"addr": 40513,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_robot_moving",
"len": 1,
"name": "w_robot_moving",
"retain": false,
"type": "bool"
},
{
"addr": 40514,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_door",
"len": 1,
"name": "w_safe_door",
"retain": false,
"type": "bool"
},
{
"addr": 40515,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_region01",
"len": 1,
"name": "w_safe_region01",
"retain": false,
"type": "bool"
},
{
"addr": 40516,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_region02",
"len": 1,
"name": "w_safe_region02",
"retain": false,
"type": "bool"
},
{
"addr": 40517,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_region03",
"len": 1,
"name": "w_safe_region03",
"retain": false,
"type": "bool"
},
{
"addr": 40518,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_soft_estop",
"len": 1,
"name": "w_soft_estop_stat",
"retain": false,
"type": "bool"
}
]
}
}
]
}

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<?xml version="1.0" encoding="UTF-8"?>
<m>
<l>
<c name="addr" type="2" value="40000"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40000"/>
<c name="function" type="10" value="ctrl_clear_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_clear_alarm"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40001"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40001"/>
<c name="function" type="10" value="ctrl_estop_reset"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_estop_reset"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40002"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40002"/>
<c name="function" type="10" value="ctrl_estop_reset_clear_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_onekey_reset"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40003"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40003"/>
<c name="function" type="10" value="ctrl_motor_off"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_motor_off"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40004"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40004"/>
<c name="function" type="10" value="ctrl_motor_on"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_motor_on"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40005"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40005"/>
<c name="function" type="10" value="ctrl_motoron_pptomain_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_onekey_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40006"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
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<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40514"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40514"/>
<c name="function" type="10" value="sta_safe_door"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_door"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40515"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40515"/>
<c name="function" type="10" value="sta_safe_region01"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_region01"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40516"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40516"/>
<c name="function" type="10" value="sta_safe_region02"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_region02"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40517"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40517"/>
<c name="function" type="10" value="sta_safe_region03"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_region03"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40518"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40518"/>
<c name="function" type="10" value="sta_soft_estop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_soft_estop_stat"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
</m>

BIN
assets/configs/系统IO功能对照表.xlsx Normal file
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5
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{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "collision.get_params"
}

13
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{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "collision.set_params",
"data": {
"enable": false,
"mode": 0,
"coeff": [0,0,0,0,0,0,0],
"coeff_level": 0,
"action": 1,
"percent": 1
}
}

7
assets/json/collision.set_state.json Normal file
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@ -0,0 +1,7 @@
{
"module": "safety",
"command": "collision.set_state",
"data": {
"collision_state": false
}
}

5
assets/json/controller.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id":"xxxxxxxxxxx",
"module":"system",
"command":"controller.get_params"
}

5
assets/json/controller.heart.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "controller.heart"
}

8
assets/json/controller.reboot.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "controller.reboot",
"data": {
"arg": 6
}
}

8
assets/json/controller.set_params.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "controller.set_params",
"data": {
"time": "2020-02-28 15:28:30"
}
}

5
assets/json/device.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "device.get_params"
}

8
assets/json/diagnosis.get_params.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "diagnosis.get_params",
"data": {
"version": "1.4.1"
}
}

12
assets/json/diagnosis.open.json Normal file
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@ -0,0 +1,12 @@
{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "diagnosis.open",
"data": {
"open": false,
"display_open": false,
"overrun": false,
"turn_area": false,
"delay_motion": false
}
}

8
assets/json/diagnosis.save.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "diagnosis.save",
"data": {
"save": true
}
}

10
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@ -0,0 +1,10 @@
{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "diagnosis.set_params",
"data": {
"display_pdo_params": [],
"frequency": 50,
"version": "1.4.1"
}
}

5
assets/json/drag.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "dynamic",
"command": "drag.get_params"
}

10
assets/json/drag.set_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "dynamic",
"command": "drag.set_params",
"data": {
"enable": true,
"space": 0,
"type": 0
}
}

5
assets/json/fieldbus_device.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "fieldbus_device.get_params"
}

8
assets/json/fieldbus_device.load_cfg.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "fieldbus_device.load_cfg",
"data": {
"file_name": "fieldbus_device.json"
}
}

9
assets/json/fieldbus_device.set_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "fieldbus_device.set_params",
"data": {
"device_name": "modbus_1",
"enable": true
}
}

5
assets/json/io_device.load_cfg.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "io_device.load_cfg"
}

5
assets/json/jog.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "jog.get_params"
}

10
assets/json/jog.set_params.json Normal file
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@ -0,0 +1,10 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "jog.set_params",
"data": {
"step": 1000,
"override": 0.2,
"space": 5
}
}

10
assets/json/jog.start.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "jog.start",
"data": {
"index": 0,
"direction": true,
"is_ext": false
}
}

8
assets/json/log_code.data.code_list.json Normal file
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{
"id": "log_code.data.code_list",
"s": {
"log_code.data": {
"code_list": []
}
}
}

5
assets/json/log_code.data.json Normal file
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{
"g": {
"log_code.data": "null"
}
}

5
assets/json/modbus.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "modbus.get_params"
}

8
assets/json/modbus.load_cfg.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "modbus.load_cfg",
"data": {
"file" : "registers.json"
}
}

5
assets/json/move.get_joint_pos.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_joint_pos"
}

5
assets/json/move.get_monitor_cfg.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_monitor_cfg"
}

5
assets/json/move.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_params"
}

5
assets/json/move.get_pos.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_pos"
}

5
assets/json/move.get_quickstop_distance.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_quickstop_distance"
}

5
assets/json/move.get_quickturn_pos.json Normal file
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{
"id" : "xxxxxxxxx",
"module": "motion",
"command": "move.get_quickturn_pos"
}

8
assets/json/move.quick_turn.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.quick_turn",
"data": {
"name":"home"
}
}

8
assets/json/move.set_monitor_cfg.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.set_monitor_cfg",
"data": {
"ref_coordinate": 1
}
}

17
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.set_params",
"data": {
"MOTION": {
"JOINT_MAX_SPEED": [1.0,0.0,0.0,0.0,0.0,0.0],
"JOINT_MAX_ACC": [1.0,0.0,0.0,0.0,0.0,0.0],
"JOINT_MAX_JERK": [1.0,0.0,0.0],
"TCP_MAX_SPEED": 500,
"DEFAULT_ACC_PARAMS": [0.3,1.0],
"VEL_SMOOTH_FACTOR": 3.33,
"ACC_RAMPTIME_JOG": 0.01
}
}
}

8
assets/json/move.set_quickstop_distance.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.set_quickstop_distance",
"data":{
"distance": 2
}
}

15
assets/json/move.set_quickturn_pos.json Normal file
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{
"id" : "xxxxxxxxx",
"module": "motion",
"command": "move.set_quickturn_pos",
"data": {
"enable_home": false,
"enable_drag": false,
"enable_transport": false,
"joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"joint_drag": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"end_posture": 0,
"home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0]
}
}

8
assets/json/move.stop.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.stop",
"data":{
"stoptype": 0
}
}

5
assets/json/overview.get_autoload.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "overview.get_autoload"
}

5
assets/json/overview.get_cur_prj.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "overview.get_cur_prj"
}

9
assets/json/overview.reload.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "overview.reload",
"data": {
"prj_path": "",
"tasks": []
}
}

8
assets/json/overview.set_autoload.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "overview.set_autoload",
"data": {
"autoload_prj_path": ""
}
}

11
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{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "register.set_value",
"data": {
"name": "",
"type": "bool",
"bias": 0,
"value": 0
}
}

8
assets/json/rl_task.pp_to_main.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "rl_task.pp_to_main",
"data": {
"tasks": []
}
}

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{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "rl_task.run",
"data": {
"tasks": []
}
}

9
assets/json/rl_task.set_run_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "rl_task.set_run_params",
"data": {
"loop_mode": true,
"override": 1.0
}
}

8
assets/json/rl_task.stop.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "rl_task.stop",
"data": {
"tasks": []
}
}

7
assets/json/safety.safety_area.overall_enable.json Normal file
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{
"c": {
"safety.safety_area.overall_enable": {
"enable": true
}
}
}

8
assets/json/safety.safety_area.safety_area_enable.json Normal file
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{
"c": {
"safety.safety_area.safety_area_enable": {
"id": 0,
"enable": true
}
}
}

7
assets/json/safety.safety_area.signal_enable.json Normal file
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{
"c": {
"safety.safety_area.signal_enable": {
"signal": true
}
}
}

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{
"g": {
"safety_area_data": null
}
}

5
assets/json/servo.clear_alarm.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "servo.clear_alarm"
}

5
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{
"id": "xxxxxxxxxxx",
"module": "network",
"command": "socket.get_params"
}

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{
"id": "xxxxxxxxxxx",
"module": "network",
"command": "socket.set_params",
"data": {
"enable": true,
"ip": "",
"name": "c1",
"port": "8080",
"suffix": "\r",
"type": 1,
"reconnect_flag": false,
"auto_connect": true,
"disconnection_triggering_behavior": 0,
"disconnection_detection_time": 10
}
}

5
assets/json/soft_limit.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "soft_limit.get_params"
}

13
assets/json/soft_limit.set_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "soft_limit.set_params",
"data":
{
"enable": true
"upper": [0,0,0,0,0,0,0],
"lower": [0,0,0,0,0,0,0],
"reduced_upper": [0,0,0,0,0,0,0],
"reduced_lower": [0,0,0,0,0,0,0]
}
}

5
assets/json/state.get_state.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.get_state"
}

5
assets/json/state.get_tp_mode.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.get_tp_mode"
}

8
assets/json/state.set_tp_mode.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.set_tp_mode",
"data": {
"tp_mode": "with"
}
}

5
assets/json/state.switch_auto.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_auto"
}

5
assets/json/state.switch_manual.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_manual"
}

5
assets/json/state.switch_motor_off.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_motor_off"
}

5
assets/json/state.switch_motor_on.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_motor_on"
}

5
assets/json/system_io.query_configuration.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.query_configuration"
}

5
assets/json/system_io.query_event_cfg.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.query_event_cfg"
}

9
assets/json/system_io.update_configuration.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.update_configuration",
"data": {
"input_system_io": {},
"output_system_io": {}
}
}

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code/clibs.py Normal file
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from sys import stdout
from os import mkdir, remove, listdir
from os.path import exists
from socket import setdefaulttimeout
from loguru import logger
ip_addr = "192.168.2.160"
# ip_addr = "192.168.168.128"
# ip_addr = "192.168.40.130"
ssh_port = 22
socket_port = 5050
username = "luoshi"
password = "luoshi2019" # for real robot
# password = "forpqart" # for robot vm
xService_port = 6666
external_port = 8080
modbus_port = 502
interval = 0.5 # interval after actions being triggered, such as modbus/socket/external communication operations
heartbeat_interval = 2
RADIAN = 57.3 # 180 / 3.1415926
MAX_FRAME_SIZE = 1024
TIMEOUT = 3
setdefaulttimeout(TIMEOUT)
PREFIX = "../assets"
log_path = f"{PREFIX}/logs/"
log_data_debug = f"{PREFIX}/logs/debug.log"
if not exists(log_path):
mkdir(log_path)
else:
for _ in listdir(log_path):
remove("".join([log_path, _]))
logger.remove()
logger.add(stdout, level="INFO")
logger.add(
sink=log_data_debug,
level="DEBUG",
format="{time: YYYY-MM-DD HH:mm:ss} | {level} | {message}",
rotation="10 KB",
encoding="utf-8",
enqueue=True,
diagnose=True,
colorize=True,
# filter=lambda x: "DEBUG" in str(x["level"]).upper()
)

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code/common.py Normal file
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import time
import openapi
import json
def initialization():
hr = openapi.HmiRequest()
pd = openapi.PreDos()
# 推送配置文件
robot_params = hr.get_robot_params()
robot_type = robot_params["robot_type"]
security_type = robot_params["security_type"]
controller_type = robot_params["controller_type"]
io_device_file = "_".join(["io_device", controller_type, security_type, "1"])
user_settings = "/home/luoshi/bin/controller/user_settings"
interactive_data = f"/home/luoshi/bin/controller/interactive_data/{robot_type}"
config_files = [
"..\\assets\\configs\\fieldbus_device.json",
"..\\assets\\configs\\registers.json",
"..\\assets\\configs\\registers.xml"
]
for config_file in config_files:
filename = config_file.split("\\")[-1]
pd.push_file_to_server(config_file, f"{user_settings}/{filename}")
pd.push_file_to_server(config_file, f"{interactive_data}/{filename}")
io_device_autotest = {'ai_num': 0, 'ao_num': 0, 'di_num': 16, 'do_num': 16, 'extend_attr': {'mode': 'slaver', 'name': 'autotest', 'type': 'MODBUS'}, 'id': 5, 'name': 'autotest', 'type': 6}
io_device_file_local = f"..\\assets\\configs\\{io_device_file}"
io_device_file_local_tmp = f"..\\assets\\configs\\{io_device_file}_tmp"
io_device_file_remote = f"{user_settings}/{io_device_file}"
pd.pull_file_from_server(io_device_file_remote, io_device_file_local)
with open(io_device_file_local, mode="r", encoding="utf-8") as f:
data = json.load(f)
for _ in data["device_list"]:
if _["extend_attr"].get("name", None) == "autotest":
break
else:
data["device_list"].append(io_device_autotest)
with open(io_device_file_local_tmp, mode="w", encoding="utf-8") as f_tmp:
json.dump(data, f_tmp, indent=4)
pd.push_file_to_server(io_device_file_local_tmp, f"{user_settings}/{io_device_file}")
pd.push_file_to_server(io_device_file_local_tmp, f"{interactive_data}/{io_device_file}")
hr.reload_io()
hr.reload_registers()
hr.reload_fieldbus()
hr.set_fieldbus_device_params("autotest", True)
md = openapi.ModbusRequest()
# 触发急停并恢复
md.r_soft_estop(0)
md.r_soft_estop(1)
# 断开示教器连接
hr.switch_tp_mode("without")
# 清空 system IO 配置
hr.update_system_io_configuration([], [], [], [], [])
# 关闭缩减模式
md.r_reduced_mode(0)
# 关闭安全区域
hr.set_safety_area_overall(False)
hr.set_safety_area_signal(False)
for i in range(10):
hr.set_safety_area_enable(i, False)
# 打开外部通信
hr.set_socket_params(True, "", "name", "8080", "\r", 1, True, True, 0, 10)
# 关闭拖动
hr.set_drag_params(False, 1, 2)
# 关闭碰撞检测
hr.set_collision_params(False, 0, 1, 100)
# 清除所有错误码
hr.set_filtered_error_code("clear", [])
# 回拖动位姿
hr.switch_operation_mode("manual")
hr.switch_motor_state("on")
hr.set_quickturn_pos(enable_drag=True)
hr.move2quickturn("drag")
while True:
if md.w_robot_moving():
time.sleep(1)
else:
break
hr.stop_move(1)
hr.switch_motor_state("off")
# 清除所有告警
md.r_clear_alarm()
initialization()

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