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5 Commits
7f1e794f48 ... main

Author SHA1 Message Date
gitea
569e9bdf43 update sys io conf 2024-10-25 14:20:02 +08:00
gitea
e0135cad21 varify setdo external communication command 2024-10-12 21:51:42 +08:00
gitea
42cd10c799 新增升级程序相关功能 2024-10-09 18:20:59 +08:00
gitea
78fd7ccbc9 fix some bugs 2024-10-03 19:48:06 +08:00
gitea
edeeb04a62 add requirements.txt and modify xService package format 2024-09-26 20:00:59 +08:00
7 changed files with 531 additions and 11 deletions
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120
assets/configs/registers.json
View File

@ -234,6 +234,126 @@
"name": "r_safe_region03",
"retain": false,
"type": "bool"
},
{
"addr": 40100,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_0",
"retain": false,
"type": "bool"
},
{
"addr": 40101,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_1",
"retain": false,
"type": "bool"
},
{
"addr": 40102,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_2",
"retain": false,
"type": "bool"
},
{
"addr": 40103,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_3",
"retain": false,
"type": "bool"
},
{
"addr": 40104,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_4",
"retain": false,
"type": "bool"
},
{
"addr": 40105,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_5",
"retain": false,
"type": "bool"
},
{
"addr": 40106,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_6",
"retain": false,
"type": "bool"
},
{
"addr": 40107,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_7",
"retain": false,
"type": "bool"
},
{
"addr": 40108,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_8",
"retain": false,
"type": "bool"
},
{
"addr": 40109,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_9",
"retain": false,
"type": "bool"
}
],
"rdwr": [

190
assets/configs/registers.xml
View File

@ -361,6 +361,196 @@
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40100"/>
<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="40100"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_0"/>
<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="40101"/>
<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="40101"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_1"/>
<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="40102"/>
<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="40102"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_2"/>
<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="40103"/>
<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="40103"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_3"/>
<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="40104"/>
<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="40104"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_4"/>
<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="40105"/>
<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="40105"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_5"/>
<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="40106"/>
<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="40106"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_6"/>
<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="40107"/>
<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="40107"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_7"/>
<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="40108"/>
<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="40108"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_8"/>
<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="40109"/>
<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="40109"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="signal_9"/>
<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="40500"/>
<c name="addr_1st" type="2" value="0"/>

3
assets/configs/requirements.txt Normal file
View File

@ -0,0 +1,3 @@
loguru==0.7.2
paramiko==3.5.0
pymodbus==3.7.2

BIN
assets/configs/系统IO功能对照表.xlsx
View File

Binary file not shown.

1
code/clibs.py
View File

@ -16,6 +16,7 @@ password = "luoshi2019" # for real robot
xService_port = 6666
external_port = 8080
modbus_port = 502
upgrade_port = 4567
interval = 0.5 # interval after actions being triggered, such as modbus/socket/external communication operations
heartbeat_interval = 2
RADIAN = 57.3 # 180 / 3.1415926

197
code/common.py
View File

@ -1,7 +1,13 @@
import os.path
import socket
import time
import openapi
import json
import clibs
from socket import *
from ctypes import *
import hashlib
import struct
def initialization():
@ -28,7 +34,7 @@ def initialization():
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': 7, 'name': 'autotest', 'type': 6}
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}
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}"
@ -84,6 +90,7 @@ def initialization():
ec.modify_system_time(time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time())))
# 关闭拖动
if robot_type.upper()[:2] not in ["XB", "NB"]:
clibs.logger.info("关闭拖动模式...")
hr.set_drag_params(False, 1, 2)
@ -114,4 +121,190 @@ def initialization():
md.r_clear_alarm()
initialization()
def fw_updater(local_file_path):
fw_size = os.path.getsize(local_file_path)
if fw_size > 10000000:
# get previous version of xCore
hr = openapi.HmiRequest()
version_previous = hr.get_robot_params["version"]
hr.close()
# var def
remote_file_path = './upgrade/lircos.zip'
fw_content = bytearray()
package_data = bytearray()
package_data_with_head = bytearray()
# socket connect
clibs.logger.info(f"正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...")
try:
tcp_socket = socket(AF_INET, SOCK_STREAM)
tcp_socket.connect((clibs.ip_addr, clibs.upgrade_port))
tcp_socket.setblocking(True)
except Exception as Err:
clibs.logger.error(f"{Err} | 连接 {clibs.ip_addr}:{clibs.upgrade_port} 失败...")
exit(1)
# get firmware content of binary format
clibs.logger.info(f"正在读取 {local_file_path} 文件内容...")
with open(local_file_path, 'rb') as f_fw:
fw_content += f_fw.read()
# construct package data: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634148
clibs.logger.info("正在构造数据包，以及包头...")
# 1 protocol id
protocol_id = c_ushort(htons(0)) # 2 bytes
package_data += protocol_id
# 2 write type
write_type = c_ubyte(0)
package_data += bytes(write_type)
# 3 md5
md5_hash = hashlib.md5()
md5_hash.update(fw_content)
fw_md5 = md5_hash.hexdigest()
i = 0
while i < len(fw_md5):
_ = (fw_md5[i:i + 2])
package_data += bytes.fromhex(_)
i += 2
# 4 remote path len
remote_file_path_len = c_ushort(htons(len(remote_file_path)))
package_data += remote_file_path_len
# 5 remote path
package_data += remote_file_path.encode("ascii")
# 6 file
package_data += fw_content
# construct communication protocol: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634045
# 1 get package data with header
package_size = c_uint(htonl(len(package_data)))
package_type = c_ubyte(1) # 0-无协议 1-文件 2-json
package_reserve = c_ubyte(0) # 预留位
package_data_with_head += package_size
package_data_with_head += package_type
package_data_with_head += package_reserve
package_data_with_head += package_data
# 2 send data to server
clibs.logger.info("正在发送数据到 xCore，升级控制器无需重启，升级配置文件会自动软重启...")
start = 0
len_of_package = len(package_data_with_head)
while start < len_of_package:
end = 10240 + start
if end > len_of_package:
end = len_of_package
sent = tcp_socket.send((package_data_with_head[start:end]))
time.sleep(0.01)
if sent == 0:
raise RuntimeError("socket connection broken")
else:
start += sent
waited = 5 if fw_size > 10000000 else 25
time.sleep(waited)
if fw_size > 10000000:
# get current version of xCore
hr = openapi.HmiRequest()
version_current = hr.get_robot_params["version"]
hr.close()
clibs.logger.info(f"控制器升级成功：from {version_previous} to {version_current} :)")
else:
clibs.logger.info(f"配置文件升级成功 :)")
tcp_socket.close()
class UpgradeJsonCmd(object):
def __init__(self):
self.__c = None
self.__sock_conn()
def __sock_conn(self):
# socket connect
clibs.logger.info(f"正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...")
try:
self.__c = socket(AF_INET, SOCK_STREAM)
self.__c.connect((clibs.ip_addr, clibs.upgrade_port))
self.__c.setblocking(True)
self.__c.settimeout(3)
except Exception as Err:
clibs.logger.error(f"{Err} | 连接 {clibs.ip_addr}:{clibs.upgrade_port} 失败...")
exit(1)
@staticmethod
def __do_package(cmd):
package_size = struct.pack('!I', len(cmd))
package_type = struct.pack('B', 2)
reserved_byte = struct.pack('B', 0)
return package_size + package_type + reserved_byte + cmd
def __recv_result(self, cmd):
time.sleep(2)
try:
res = self.__c.recv(10240).decode()
except timeout:
res = "ResponseNone"
clibs.logger.info(f"请求命令 {cmd.decode()} 的返回信息：\n{res[8:]}")
self.__c.close()
time.sleep(2)
def __exec(self, command: dict):
try:
self.__c.recv(10240)
except timeout:
pass
cmd = json.dumps(command, separators=(",", ":")).encode("utf-8")
self.__c.sendall(self.__do_package(cmd))
self.__recv_result(cmd)
def erase_cfg(self):
# 一键抹除机器人配置(.rc_cfg)、交互数据配置(interactive_data)，但保留用户日志
# 场景：如果xCore版本升级跨度过大，配置文件可能不兼容导致无法启动，可以使用该功能抹除配置，重新生成配置。
# 机器人参数、零点等会丢失！
self.__exec({"cmd": "erase"})
def clear_rubbish(self):
self.__exec({"cmd": "clearRubbish"})
def soft_reboot(self):
self.__exec({"cmd": "soft_reboot"})
def version_query(self):
self.__exec({"query": "version"})
def robot_reboot(self):
self.__exec({"cmd": "reboot"})
def reset_passwd(self):
# 不生效，有问题
self.__exec({"cmd": "passwd"})
def backup_origin(self):
# xCore
# .rc_cfg /
# interactive_data /
# module /
# demo_project /
# robot_cfg /
# dev_eni.xml
# ecat_license
# libemllI8254x.so & libemllI8254x_v3.so
# set_network_parameters
self.__exec({"cmd": "backup_origin"})
def origin_recovery(self):
self.__exec({"cmd": "recover"})
if __name__ == "__main__":
# initialization()
# fw_updater()
pass

21
code/openapi.py
View File

@ -139,6 +139,13 @@ class ModbusRequest(object):
clibs.logger.info(f"40018-{action} 执行{actions}安全区 safe region 03")
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
def w_alarm_state(self): # OK
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")
sleep(clibs.interval*2)
else: # 尝试在上一次分割的日志中查找，只做一次
try:
res = find_response("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]]))
except IndexError:
res = None
if res is not None:
return res.get("data", f"{msg_id} has no data item")
elif flag == 1:
@ -428,7 +438,10 @@ class HmiRequest(object):
return res
sleep(clibs.interval*2)
else:
try:
res = find_response_xs("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]]))
except IndexError:
res = None
if res is not None:
return res
self.__sth_wrong(11, f"无法找到请求 {msg_id} 的返回结果")
@ -600,7 +613,7 @@ class HmiRequest(object):
@staticmethod
def __package_xs(cmd):
return f"{dumps(cmd, separators=(",", ":"))}\r".encode()
return "".join([dumps(cmd, separators=(",", ":")), "\r"]).encode()
def __unpackage(self, sock):
def to_read(conn, mask):
@ -1757,7 +1770,7 @@ class HmiRequest(object):
:return: None
"""
origin_code_list = self.get_filtered_error_code["g"]["log_code.data"]["code_list"]
# [{'id': 10000, 'title': 'HMI请求包解析错误'}, {'id': 10002, 'title': '快速调整启动失败'}]
# [{"id": 10000, "title": "HMI请求包解析错误"}, {"id": 10002, "title": "快速调整启动失败"}]
if action == "clear":
code_list = []
elif action == "add":
@ -1902,7 +1915,7 @@ class ExternalCommunication(object):
def close_reduced_mode(self): # OK
return self.__exec_cmd("close_reduced_mode", "关闭缩减模式(不限操作模式)", self.exec_desc)
def setdo_value(self, do_name: str, do_value: str): # NG | do_value 为 true/false
def setdo_value(self, do_name: str, do_value: str): # OK | do_value 为 true/false
return self.__exec_cmd(f"setdo:{do_name},{do_value}", f"设置 {do_name} 的值为 {do_value} ", self.exec_desc)
def modify_system_time(self, robot_time): # OK
@ -2060,7 +2073,7 @@ class ExternalCommunication(object):
def __exec_cmd(self, directive, description, more_desc=""):
self.s_string(directive)
result = self.r_string(directive).strip()
clibs.logger.info(f"执行{description}指令 {directive}，返回值为 {result}{more_desc}")
clibs.logger.info(f"执行{description}指令是 {directive}，返回值为 {result}{more_desc}")
return result