fix some bugs
This commit is contained in:
parent
edeeb04a62
commit
78fd7ccbc9
@ -234,6 +234,126 @@
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"name": "r_safe_region03",
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"name": "r_safe_region03",
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"retain": false,
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"retain": false,
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"type": "bool"
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"type": "bool"
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},
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{
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"addr": 40100,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_0",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40101,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_1",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40102,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_2",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40103,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_3",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40104,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_4",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40105,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_5",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40106,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_6",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40107,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_7",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40108,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_8",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40109,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_9",
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"retain": false,
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"type": "bool"
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}
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}
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],
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],
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"rdwr": [
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"rdwr": [
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@ -361,6 +361,196 @@
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<c name="value"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="value_single" type="10" value=""/>
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</l>
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</l>
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<l>
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<c name="addr" type="2" value="40100"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40100"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_0"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40101"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40101"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_1"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40102"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40102"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_2"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40103"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40103"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_3"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40104"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40104"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_4"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40105"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40105"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_5"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40106"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40106"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_6"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40107"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40107"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_7"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40108"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40108"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_8"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40109"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40109"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_9"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<l>
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<c name="addr" type="2" value="40500"/>
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<c name="addr" type="2" value="40500"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_1st" type="2" value="0"/>
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@ -28,7 +28,7 @@ def initialization():
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pd.push_file_to_server(config_file, f"{user_settings}/{filename}")
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pd.push_file_to_server(config_file, f"{user_settings}/{filename}")
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pd.push_file_to_server(config_file, f"{interactive_data}/{filename}")
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pd.push_file_to_server(config_file, f"{interactive_data}/{filename}")
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io_device_autotest = {'ai_num': 0, 'ao_num': 0, 'di_num': 16, 'do_num': 16, 'extend_attr': {'mode': 'slaver', 'name': 'autotest', 'type': 'MODBUS'}, 'id': 7, 'name': 'autotest', 'type': 6}
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io_device_autotest = {"ai_num": 0, "ao_num": 0, "di_num": 16, "do_num": 16, "extend_attr": {"mode": "slaver", "name": "autotest", "type": "MODBUS"}, "id": 7, "name": "autotest", "type": 6}
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io_device_file_local = f"..\\assets\\configs\\{io_device_file}"
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io_device_file_local = f"..\\assets\\configs\\{io_device_file}"
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io_device_file_local_tmp = f"..\\assets\\configs\\{io_device_file}_tmp"
|
io_device_file_local_tmp = f"..\\assets\\configs\\{io_device_file}_tmp"
|
||||||
io_device_file_remote = f"{user_settings}/{io_device_file}"
|
io_device_file_remote = f"{user_settings}/{io_device_file}"
|
||||||
@ -84,8 +84,9 @@ def initialization():
|
|||||||
ec.modify_system_time(time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time())))
|
ec.modify_system_time(time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time())))
|
||||||
|
|
||||||
# 关闭拖动
|
# 关闭拖动
|
||||||
clibs.logger.info("关闭拖动模式...")
|
if robot_type.upper()[:2] not in ["XB", "NB"]:
|
||||||
hr.set_drag_params(False, 1, 2)
|
clibs.logger.info("关闭拖动模式...")
|
||||||
|
hr.set_drag_params(False, 1, 2)
|
||||||
|
|
||||||
# 关闭碰撞检测
|
# 关闭碰撞检测
|
||||||
clibs.logger.info("关闭碰撞检测...")
|
clibs.logger.info("关闭碰撞检测...")
|
||||||
@ -114,4 +115,5 @@ def initialization():
|
|||||||
md.r_clear_alarm()
|
md.r_clear_alarm()
|
||||||
|
|
||||||
|
|
||||||
initialization()
|
if __name__ == "__main__":
|
||||||
|
initialization()
|
||||||
|
|||||||
@ -139,6 +139,13 @@ class ModbusRequest(object):
|
|||||||
clibs.logger.info(f"40018-{action} 执行{actions}安全区 safe region 03")
|
clibs.logger.info(f"40018-{action} 执行{actions}安全区 safe region 03")
|
||||||
sleep(clibs.interval)
|
sleep(clibs.interval)
|
||||||
|
|
||||||
|
def r_write_signals(self, addr: int, value): # OK | 40100 - 40109: signal_0 ~ signal_9
|
||||||
|
if -1 < addr < 10 and addr.is_integer():
|
||||||
|
self.__c.write_register(40100+addr, value)
|
||||||
|
clibs.logger.info(f"{40100+addr}-{value} 将寄存器 signal_{addr} 赋值为 {value}")
|
||||||
|
else:
|
||||||
|
clibs.logger.error(f"{40100+addr}-{value} 地址错误，无法赋值！")
|
||||||
|
|
||||||
@property
|
@property
|
||||||
def w_alarm_state(self): # OK
|
def w_alarm_state(self): # OK
|
||||||
res = self.__c.read_holding_registers(40500, 1).registers[0]
|
res = self.__c.read_holding_registers(40500, 1).registers[0]
|
||||||
@ -418,7 +425,10 @@ class HmiRequest(object):
|
|||||||
return res.get("data", f"{msg_id} has no data item")
|
return res.get("data", f"{msg_id} has no data item")
|
||||||
sleep(clibs.interval*2)
|
sleep(clibs.interval*2)
|
||||||
else: # 尝试在上一次分割的日志中查找，只做一次
|
else: # 尝试在上一次分割的日志中查找，只做一次
|
||||||
res = find_response("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]]))
|
try:
|
||||||
|
res = find_response("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]]))
|
||||||
|
except IndexError:
|
||||||
|
res = None
|
||||||
if res is not None:
|
if res is not None:
|
||||||
return res.get("data", f"{msg_id} has no data item")
|
return res.get("data", f"{msg_id} has no data item")
|
||||||
elif flag == 1:
|
elif flag == 1:
|
||||||
@ -428,7 +438,10 @@ class HmiRequest(object):
|
|||||||
return res
|
return res
|
||||||
sleep(clibs.interval*2)
|
sleep(clibs.interval*2)
|
||||||
else:
|
else:
|
||||||
res = find_response_xs("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]]))
|
try:
|
||||||
|
res = find_response_xs("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]]))
|
||||||
|
except IndexError:
|
||||||
|
res = None
|
||||||
if res is not None:
|
if res is not None:
|
||||||
return res
|
return res
|
||||||
self.__sth_wrong(11, f"无法找到请求 {msg_id} 的返回结果")
|
self.__sth_wrong(11, f"无法找到请求 {msg_id} 的返回结果")
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user