From 03c59c4f4f9d577fd462d35f4422718d1f7042f3 Mon Sep 17 00:00:00 2001 From: gitea Date: Thu, 24 Jul 2025 14:32:47 +0800 Subject: [PATCH] rokae xcore protocol scriptly re-made --- .gitignore | 4 + README.md | 0 main.py | 0 rokae/assets/confs/configs.json | 16 + rokae/assets/confs/fieldbus_device.json | 75 + rokae/assets/confs/registers.json | 1204 ++++++++++ rokae/assets/confs/registers.xml | 2101 +++++++++++++++++ .../protocols/collision.get_params.json | 6 + .../protocols/collision.set_params.json | 7 + .../protocols/controller.get_params.json | 6 + rokae/assets/protocols/controller.heart.json | 6 + rokae/assets/protocols/controller.reboot.json | 9 + .../protocols/controller.set_params.json | 9 + rokae/assets/protocols/device.get_params.json | 6 + .../protocols/diagnosis.get_params.json | 9 + rokae/assets/protocols/diagnosis.open.json | 13 + rokae/assets/protocols/diagnosis.save.json | 9 + .../protocols/diagnosis.set_params.json | 11 + rokae/assets/protocols/drag.get_params.json | 6 + rokae/assets/protocols/drag.set_params.json | 11 + .../protocols/fieldbus_device.get_params.json | 6 + .../protocols/fieldbus_device.load_cfg.json | 9 + .../protocols/fieldbus_device.set_params.json | 10 + .../assets/protocols/io_device.load_cfg.json | 6 + rokae/assets/protocols/jog.get_params.json | 6 + rokae/assets/protocols/jog.set_params.json | 10 + rokae/assets/protocols/jog.start.json | 10 + .../protocols/log_code.data.code_list.json | 8 + rokae/assets/protocols/log_code.data.json | 7 + rokae/assets/protocols/modbus.get_params.json | 6 + rokae/assets/protocols/modbus.get_values.json | 9 + rokae/assets/protocols/modbus.load_cfg.json | 9 + rokae/assets/protocols/modbus.set_params.json | 13 + .../assets/protocols/move.get_joint_pos.json | 6 + .../protocols/move.get_monitor_cfg.json | 6 + rokae/assets/protocols/move.get_params.json | 6 + rokae/assets/protocols/move.get_pos.json | 6 + .../move.get_quickstop_distance.json | 6 + .../protocols/move.get_quickturn_pos.json | 6 + rokae/assets/protocols/move.quick_turn.json | 9 + .../protocols/move.set_monitor_cfg.json | 9 + rokae/assets/protocols/move.set_params.json | 17 + .../move.set_quickstop_distance.json | 9 + .../protocols/move.set_quickturn_pos.json | 16 + rokae/assets/protocols/move.stop.json | 9 + .../protocols/overview.get_autoload.json | 6 + .../protocols/overview.get_cur_prj.json | 6 + rokae/assets/protocols/overview.reload.json | 10 + .../protocols/overview.set_autoload.json | 9 + .../assets/protocols/register.set_value.json | 12 + .../assets/protocols/rl_task.pp_to_main.json | 9 + rokae/assets/protocols/rl_task.run.json | 9 + .../protocols/rl_task.set_run_params.json | 10 + rokae/assets/protocols/rl_task.stop.json | 9 + .../safety.safety_area.overall_enable.json | 9 + ...safety.safety_area.safety_area_enable.json | 10 + .../safety.safety_area.set_param.json | 7 + .../safety.safety_area.signal_enable.json | 9 + rokae/assets/protocols/safety_area_data.json | 7 + rokae/assets/protocols/servo.clear_alarm.json | 6 + rokae/assets/protocols/socket.get_params.json | 6 + rokae/assets/protocols/socket.set_params.json | 18 + .../protocols/soft_limit.get_params.json | 6 + .../protocols/soft_limit.set_params.json | 13 + rokae/assets/protocols/state.get_state.json | 6 + rokae/assets/protocols/state.get_tp_mode.json | 6 + rokae/assets/protocols/state.set_tp_mode.json | 9 + rokae/assets/protocols/state.switch_auto.json | 6 + .../assets/protocols/state.switch_manual.json | 6 + .../protocols/state.switch_motor_off.json | 6 + .../protocols/state.switch_motor_on.json | 6 + .../system_io.query_configuration.json | 6 + .../protocols/system_io.query_event_cfg.json | 6 + .../system_io.update_configuration.json | 10 + rokae/assets/protocols/原理/协议原理.xlsx | Bin 0 -> 30653 bytes .../assets/protocols/原理/文件包通信协议.png | Bin 0 -> 426182 bytes rokae/assets/protocols/原理/解包示例.txt | 56 + rokae/assets/protocols/原理/通信协议.png | Bin 0 -> 580493 bytes rokae/codes/__init__.py | 0 rokae/codes/clibs.py | 101 + rokae/codes/openapi.py | 1041 ++++++++ rokae/testbench.py | 57 + 82 files changed, 5215 insertions(+) create mode 100644 .gitignore create mode 100644 README.md create mode 100644 main.py create mode 100644 rokae/assets/confs/configs.json create mode 100644 rokae/assets/confs/fieldbus_device.json create mode 100644 rokae/assets/confs/registers.json create mode 100644 rokae/assets/confs/registers.xml create mode 100644 rokae/assets/protocols/collision.get_params.json create mode 100644 rokae/assets/protocols/collision.set_params.json create mode 100644 rokae/assets/protocols/controller.get_params.json create mode 100644 rokae/assets/protocols/controller.heart.json create mode 100644 rokae/assets/protocols/controller.reboot.json create mode 100644 rokae/assets/protocols/controller.set_params.json create mode 100644 rokae/assets/protocols/device.get_params.json create mode 100644 rokae/assets/protocols/diagnosis.get_params.json create mode 100644 rokae/assets/protocols/diagnosis.open.json create mode 100644 rokae/assets/protocols/diagnosis.save.json create mode 100644 rokae/assets/protocols/diagnosis.set_params.json create mode 100644 rokae/assets/protocols/drag.get_params.json create mode 100644 rokae/assets/protocols/drag.set_params.json create mode 100644 rokae/assets/protocols/fieldbus_device.get_params.json create mode 100644 rokae/assets/protocols/fieldbus_device.load_cfg.json create mode 100644 rokae/assets/protocols/fieldbus_device.set_params.json create mode 100644 rokae/assets/protocols/io_device.load_cfg.json create mode 100644 rokae/assets/protocols/jog.get_params.json create mode 100644 rokae/assets/protocols/jog.set_params.json create mode 100644 rokae/assets/protocols/jog.start.json create mode 100644 rokae/assets/protocols/log_code.data.code_list.json create mode 100644 rokae/assets/protocols/log_code.data.json create mode 100644 rokae/assets/protocols/modbus.get_params.json create mode 100644 rokae/assets/protocols/modbus.get_values.json create mode 100644 rokae/assets/protocols/modbus.load_cfg.json create mode 100644 rokae/assets/protocols/modbus.set_params.json create mode 100644 rokae/assets/protocols/move.get_joint_pos.json create mode 100644 rokae/assets/protocols/move.get_monitor_cfg.json create mode 100644 rokae/assets/protocols/move.get_params.json create mode 100644 rokae/assets/protocols/move.get_pos.json create mode 100644 rokae/assets/protocols/move.get_quickstop_distance.json create mode 100644 rokae/assets/protocols/move.get_quickturn_pos.json create mode 100644 rokae/assets/protocols/move.quick_turn.json create mode 100644 rokae/assets/protocols/move.set_monitor_cfg.json create mode 100644 rokae/assets/protocols/move.set_params.json create mode 100644 rokae/assets/protocols/move.set_quickstop_distance.json create mode 100644 rokae/assets/protocols/move.set_quickturn_pos.json create mode 100644 rokae/assets/protocols/move.stop.json create mode 100644 rokae/assets/protocols/overview.get_autoload.json create mode 100644 rokae/assets/protocols/overview.get_cur_prj.json create mode 100644 rokae/assets/protocols/overview.reload.json create mode 100644 rokae/assets/protocols/overview.set_autoload.json create mode 100644 rokae/assets/protocols/register.set_value.json create mode 100644 rokae/assets/protocols/rl_task.pp_to_main.json create mode 100644 rokae/assets/protocols/rl_task.run.json create mode 100644 rokae/assets/protocols/rl_task.set_run_params.json create mode 100644 rokae/assets/protocols/rl_task.stop.json create mode 100644 rokae/assets/protocols/safety.safety_area.overall_enable.json create mode 100644 rokae/assets/protocols/safety.safety_area.safety_area_enable.json create mode 100644 rokae/assets/protocols/safety.safety_area.set_param.json create mode 100644 rokae/assets/protocols/safety.safety_area.signal_enable.json create mode 100644 rokae/assets/protocols/safety_area_data.json create mode 100644 rokae/assets/protocols/servo.clear_alarm.json create mode 100644 rokae/assets/protocols/socket.get_params.json create mode 100644 rokae/assets/protocols/socket.set_params.json create mode 100644 rokae/assets/protocols/soft_limit.get_params.json create mode 100644 rokae/assets/protocols/soft_limit.set_params.json create mode 100644 rokae/assets/protocols/state.get_state.json create mode 100644 rokae/assets/protocols/state.get_tp_mode.json create mode 100644 rokae/assets/protocols/state.set_tp_mode.json create mode 100644 rokae/assets/protocols/state.switch_auto.json create mode 100644 rokae/assets/protocols/state.switch_manual.json create mode 100644 rokae/assets/protocols/state.switch_motor_off.json create mode 100644 rokae/assets/protocols/state.switch_motor_on.json create mode 100644 rokae/assets/protocols/system_io.query_configuration.json create mode 100644 rokae/assets/protocols/system_io.query_event_cfg.json create mode 100644 rokae/assets/protocols/system_io.update_configuration.json create mode 100644 rokae/assets/protocols/原理/协议原理.xlsx create mode 100644 rokae/assets/protocols/原理/文件包通信协议.png create mode 100644 rokae/assets/protocols/原理/解包示例.txt create mode 100644 rokae/assets/protocols/原理/通信协议.png create mode 100644 rokae/codes/__init__.py create mode 100644 rokae/codes/clibs.py create mode 100644 rokae/codes/openapi.py create mode 100644 rokae/testbench.py diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..71d509c --- /dev/null +++ b/.gitignore @@ -0,0 +1,4 @@ +.venv/ +.idea/ +roake/testbench +**/__pycache__/ diff --git a/README.md b/README.md new file mode 100644 index 0000000..e69de29 diff --git a/main.py b/main.py new file mode 100644 index 0000000..e69de29 diff --git a/rokae/assets/confs/configs.json b/rokae/assets/confs/configs.json new file mode 100644 index 0000000..f3f3325 --- /dev/null +++ b/rokae/assets/confs/configs.json @@ -0,0 +1,16 @@ +{ + "ip_addr": "192.168.40.130", + "ssh_port": "22", + "socket_port": 5050, + "xService_port": 6666, + "external_port": 8080, + "modbus_port": 502, + "upgrade_port": 4567, + "interval": 1, + "max_frame_size": 1024, + "MAX_RECEIVED_SIZE": 1024, + "suffix": "\r", + "username": "luoshi", + "password": "luoshi2019", + "retry_time": 5 +} diff --git a/rokae/assets/confs/fieldbus_device.json b/rokae/assets/confs/fieldbus_device.json new file mode 100644 index 0000000..e7de260 --- /dev/null +++ b/rokae/assets/confs/fieldbus_device.json @@ -0,0 +1,75 @@ +{ + "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 + } + } + ] +} diff --git a/rokae/assets/confs/registers.json b/rokae/assets/confs/registers.json new file mode 100644 index 0000000..d28bd6e --- /dev/null +++ b/rokae/assets/confs/registers.json @@ -0,0 +1,1204 @@ +{ + "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_jjwc_A", + "len": 1, + "name": "r_jjwc_A", + "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_motor_off", + "len": 1, + "name": "r_motor_off", + "retain": false, + "type": "bool" + }, + { + "addr": 40006, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ctrl_motor_on_off", + "len": 1, + "name": "r_motor_on_off", + "retain": false, + "type": "bool" + }, + { + "addr": 40007, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ctrl_motoron_pptomain_start", + "len": 1, + "name": "r_motoron_p2m_start", + "retain": false, + "type": "bool" + }, + { + "addr": 40008, + "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": 40009, + "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": 40010, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ctrl_pptomain", + "len": 1, + "name": "r_pptomain", + "retain": false, + "type": "bool" + }, + { + "addr": 40011, + "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": 40012, + "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": 40013, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ctrl_program_start_stop", + "len": 1, + "name": "r_prog_start_stop", + "retain": false, + "type": "bool" + }, + { + "addr": 40014, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ctrl_set_program_speed", + "len": 1, + "name": "r_set_prog_speed", + "retain": false, + "type": "int16" + }, + { + "addr": 40015, + "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": 40016, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ctrl_switch_auto_motoron", + "len": 1, + "name": "r_sw_auto_motoron", + "retain": false, + "type": "bool" + }, + { + "addr": 40017, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ctrl_switch_operation_auto", + "len": 1, + "name": "r_sw_mode_auto", + "retain": false, + "type": "bool" + }, + { + "addr": 40018, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ctrl_switch_operation_manu", + "len": 1, + "name": "r_sw_mode_manual", + "retain": false, + "type": "bool" + }, + { + "addr": 40019, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ctrl_switch_operation_auto_manu", + "len": 1, + "name": "r_sw_auto_manual", + "retain": false, + "type": "bool" + }, + { + "addr": 40020, + "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": 40021, + "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": 40022, + "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": 40023, + "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" + }, + { + "addr": 40024, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "enable_safe_region04", + "len": 1, + "name": "r_safe_region04", + "retain": false, + "type": "bool" + }, + { + "addr": 40025, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "enable_safe_region05", + "len": 1, + "name": "r_safe_region05", + "retain": false, + "type": "bool" + }, + { + "addr": 40026, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "enable_safe_region06", + "len": 1, + "name": "r_safe_region06", + "retain": false, + "type": "bool" + }, + { + "addr": 40027, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "enable_safe_region07", + "len": 1, + "name": "r_safe_region07", + "retain": false, + "type": "bool" + }, + { + "addr": 40028, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "enable_safe_region08", + "len": 1, + "name": "r_safe_region08", + "retain": false, + "type": "bool" + }, + { + "addr": 40029, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "enable_safe_region09", + "len": 1, + "name": "r_safe_region09", + "retain": false, + "type": "bool" + }, + { + "addr": 40030, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "enable_safe_region10", + "len": 1, + "name": "r_safe_region10", + "retain": false, + "type": "bool" + }, + { + "addr": 40031, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ext_cmd_set", + "len": 1, + "name": "r_ext_cmd_set", + "retain": false, + "type": "bool" + }, + { + "addr": 40032, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ext_reset", + "len": 1, + "name": "r_ext_reset", + "retain": false, + "type": "bool" + }, + { + "addr": 40033, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ext_resp_get", + "len": 1, + "name": "r_ext_resp_get", + "retain": false, + "type": "bool" + }, + { + "addr": 40034, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ext_request_data", + "len": 8, + "name": "r_ext_request_data", + "retain": false, + "type": "int16" + } + ], + "rdwr": [ + { + "addr": 41000, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_alarm", + "len": 1, + "name": "sta_alarm", + "retain": false, + "type": "bool" + }, + { + "addr": 41001, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_collision", + "len": 1, + "name": "sta_collision", + "retain": false, + "type": "bool" + }, + { + "addr": 41002, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_collision_alarm", + "len": 1, + "name": "sta_collision_alarm", + "retain": false, + "type": "bool" + }, + { + "addr": 41003, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_collision_open", + "len": 1, + "name": "sta_collision_open", + "retain": false, + "type": "bool" + }, + { + "addr": 41004, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_controller_is_running", + "len": 1, + "name": "sta_ctl_is_running", + "retain": false, + "type": "bool" + }, + { + "addr": 41005, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_encoder_low_battery", + "len": 1, + "name": "sta_encoder_low", + "retain": false, + "type": "bool" + }, + { + "addr": 41006, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_error_code", + "len": 1, + "name": "sta_error_code", + "retain": false, + "type": "int16" + }, + { + "addr": 41007, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_estop", + "len": 1, + "name": "sta_estop", + "retain": false, + "type": "bool" + }, + { + "addr": 41008, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_heartbeat", + "len": 1, + "name": "sta_heartbeat", + "retain": false, + "type": "bool" + }, + { + "addr": 41009, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_home", + "len": 1, + "name": "sta_home", + "retain": false, + "type": "bool" + }, + { + "addr": 41010, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_jjwc_B", + "len": 1, + "name": "sta_jjwc_B", + "retain": false, + "type": "bool" + }, + { + "addr": 41011, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_motor", + "len": 1, + "name": "sta_motor", + "retain": false, + "type": "bool" + }, + { + "addr": 41012, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_operation_mode", + "len": 1, + "name": "sta_operation_mode", + "retain": false, + "type": "bool" + }, + { + "addr": 41013, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_program", + "len": 1, + "name": "sta_program", + "retain": false, + "type": "bool" + }, + { + "addr": 41014, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_program_full", + "len": 1, + "name": "sta_program_full", + "retain": false, + "type": "int16" + }, + { + "addr": 41015, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_program_not_run", + "len": 1, + "name": "sta_program_not_run", + "retain": false, + "type": "bool" + }, + { + "addr": 41016, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_program_reset", + "len": 1, + "name": "sta_program_reset", + "retain": false, + "type": "bool" + }, + { + "addr": 41017, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_program_speed", + "len": 1, + "name": "sta_program_speed", + "retain": false, + "type": "int16" + }, + { + "addr": 41018, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_reduced_mode", + "len": 1, + "name": "sta_reduced_mode", + "retain": false, + "type": "bool" + }, + { + "addr": 41019, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_robot_is_busy", + "len": 1, + "name": "sta_robot_is_busy", + "retain": false, + "type": "bool" + }, + { + "addr": 41020, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_robot_moving", + "len": 1, + "name": "sta_robot_moving", + "retain": false, + "type": "bool" + }, + { + "addr": 41021, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_door", + "len": 1, + "name": "sta_safe_door", + "retain": false, + "type": "bool" + }, + { + "addr": 41022, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_jnt_pos1", + "len": 1, + "name": "sta_safe_jnt_pos1", + "retain": false, + "type": "bool" + }, + { + "addr": 41023, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_jnt_pos2", + "len": 1, + "name": "sta_safe_jnt_pos2", + "retain": false, + "type": "bool" + }, + { + "addr": 41024, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_jnt_pos3", + "len": 1, + "name": "sta_safe_jnt_pos3", + "retain": false, + "type": "bool" + }, + { + "addr": 41025, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_jnt_pos4", + "len": 1, + "name": "sta_safe_jnt_pos4", + "retain": false, + "type": "bool" + }, + { + "addr": 41026, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_jnt_pos5", + "len": 1, + "name": "sta_safe_jnt_pos5", + "retain": false, + "type": "bool" + }, + { + "addr": 41027, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_jnt_pos6", + "len": 1, + "name": "sta_safe_jnt_pos6", + "retain": false, + "type": "bool" + }, + { + "addr": 41028, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_jnt_pos7", + "len": 1, + "name": "sta_safe_jnt_pos7", + "retain": false, + "type": "bool" + }, + { + "addr": 41029, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_jnt_pos8", + "len": 1, + "name": "sta_safe_jnt_pos8", + "retain": false, + "type": "bool" + }, + { + "addr": 41030, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_soft_estop", + "len": 1, + "name": "sta_soft_estop", + "retain": false, + "type": "bool" + }, + { + "addr": 41031, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region01", + "len": 1, + "name": "sta_safe_region01", + "retain": false, + "type": "bool" + }, + { + "addr": 41032, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region02", + "len": 1, + "name": "sta_safe_region02", + "retain": false, + "type": "bool" + }, + { + "addr": 41033, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region03", + "len": 1, + "name": "sta_safe_region03", + "retain": false, + "type": "bool" + }, + { + "addr": 41034, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region04", + "len": 1, + "name": "sta_safe_region04", + "retain": false, + "type": "bool" + }, + { + "addr": 41035, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region05", + "len": 1, + "name": "sta_safe_region05", + "retain": false, + "type": "bool" + }, + { + "addr": 41036, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region06", + "len": 1, + "name": "sta_safe_region06", + "retain": false, + "type": "bool" + }, + { + "addr": 41037, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region07", + "len": 1, + "name": "sta_safe_region07", + "retain": false, + "type": "bool" + }, + { + "addr": 41038, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region08", + "len": 1, + "name": "sta_safe_region08", + "retain": false, + "type": "bool" + }, + { + "addr": 41039, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region09", + "len": 1, + "name": "sta_safe_region09", + "retain": false, + "type": "bool" + }, + { + "addr": 41040, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_safe_region10", + "len": 1, + "name": "sta_safe_region10", + "retain": false, + "type": "bool" + }, + { + "addr": 41041, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_on_path", + "len": 1, + "name": "sta_on_path", + "retain": false, + "type": "bool" + }, + { + "addr": 41042, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_near_path", + "len": 1, + "name": "sta_near_path", + "retain": false, + "type": "bool" + }, + { + "addr": 41043, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_cart_pose", + "len": 7, + "name": "sta_cart_pose", + "retain": false, + "type": "float" + }, + { + "addr": 41057, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_cart_vel", + "len": 7, + "name": "sta_cart_vel", + "retain": false, + "type": "float" + }, + { + "addr": 41071, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_jnt_pose", + "len": 7, + "name": "sta_jnt_pose", + "retain": false, + "type": "float" + }, + { + "addr": 41085, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_jnt_trq", + "len": 7, + "name": "sta_jnt_trq", + "retain": false, + "type": "float" + }, + { + "addr": 41099, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_jnt_vel", + "len": 7, + "name": "sta_jnt_vel", + "retain": false, + "type": "float" + }, + { + "addr": 41113, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_tcp_pose", + "len": 7, + "name": "sta_tcp_pose", + "retain": false, + "type": "float" + }, + { + "addr": 41127, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_tcp_vel", + "len": 7, + "name": "sta_tcp_vel", + "retain": false, + "type": "float" + }, + { + "addr": 41141, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_tcp_vel_mag", + "len": 1, + "name": "sta_tcp_vel_mag", + "retain": false, + "type": "float" + }, + { + "addr": 41143, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_ext_jnt_pose", + "len": 6, + "name": "sta_ext_jnt_pose", + "retain": false, + "type": "float" + }, + { + "addr": 41155, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_sys_stop_di", + "len": 1, + "name": "sta_sys_stop_di", + "retain": false, + "type": "bool" + }, + { + "addr": 41156, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_board_DI0", + "len": 16, + "name": "sta_board_DI0", + "retain": false, + "type": "bool" + }, + { + "addr": 41172, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_board_DI1", + "len": 16, + "name": "sta_board_DI1", + "retain": false, + "type": "bool" + }, + { + "addr": 41188, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_board_DI2", + "len": 16, + "name": "sta_board_DI2", + "retain": false, + "type": "bool" + }, + { + "addr": 41204, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_board_DI3", + "len": 16, + "name": "sta_board_DI3", + "retain": false, + "type": "bool" + }, + { + "addr": 41220, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_board_DO0", + "len": 16, + "name": "sta_board_DO0", + "retain": false, + "type": "bool" + }, + { + "addr": 41236, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_board_DO1", + "len": 16, + "name": "sta_board_DO1", + "retain": false, + "type": "bool" + }, + { + "addr": 41252, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_board_DO2", + "len": 16, + "name": "sta_board_DO2", + "retain": false, + "type": "bool" + }, + { + "addr": 41268, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "sta_board_DO3", + "len": 16, + "name": "sta_board_DO3", + "retain": false, + "type": "bool" + }, + { + "addr": 41284, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ext_resp_set", + "len": 1, + "name": "ext_resp_set", + "retain": false, + "type": "bool" + }, + { + "addr": 41285, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ext_response_data", + "len": 8, + "name": "ext_response_data", + "retain": false, + "type": "int16" + }, + { + "addr": 41293, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "ext_error_code", + "len": 1, + "name": "ext_error_code", + "retain": false, + "type": "int16" + } + ] + } + } + ] +} diff --git a/rokae/assets/confs/registers.xml b/rokae/assets/confs/registers.xml new file mode 100644 index 0000000..892184c --- /dev/null +++ b/rokae/assets/confs/registers.xml @@ -0,0 +1,2101 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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"collision.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/collision.set_params.json b/rokae/assets/protocols/collision.set_params.json new file mode 100644 index 0000000..8ec6e89 --- /dev/null +++ b/rokae/assets/protocols/collision.set_params.json @@ -0,0 +1,7 @@ +{ + "id": "xxxxxxxxxxx", + "module": "safety", + "command": "collision.set_params", + "data": {}, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/controller.get_params.json b/rokae/assets/protocols/controller.get_params.json new file mode 100644 index 0000000..1476b8f --- /dev/null +++ b/rokae/assets/protocols/controller.get_params.json @@ -0,0 +1,6 @@ +{ + "id":"xxxxxxxxxxx", + "module":"system", + "command":"controller.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/controller.heart.json b/rokae/assets/protocols/controller.heart.json new file mode 100644 index 0000000..cf570aa --- /dev/null +++ b/rokae/assets/protocols/controller.heart.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "controller.heart", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/controller.reboot.json b/rokae/assets/protocols/controller.reboot.json new file mode 100644 index 0000000..4631a04 --- /dev/null +++ b/rokae/assets/protocols/controller.reboot.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "controller.reboot", + "data": { + "arg": 6 + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/controller.set_params.json b/rokae/assets/protocols/controller.set_params.json new file mode 100644 index 0000000..d433000 --- /dev/null +++ b/rokae/assets/protocols/controller.set_params.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "controller.set_params", + "data": { + "time": "2020-02-28 15:28:30" + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/device.get_params.json b/rokae/assets/protocols/device.get_params.json new file mode 100644 index 0000000..55a246d --- /dev/null +++ b/rokae/assets/protocols/device.get_params.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "device.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/diagnosis.get_params.json b/rokae/assets/protocols/diagnosis.get_params.json new file mode 100644 index 0000000..a1925df --- /dev/null +++ b/rokae/assets/protocols/diagnosis.get_params.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "robot", + "command": "diagnosis.get_params", + "data": { + "version": "1.4.1" + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/diagnosis.open.json b/rokae/assets/protocols/diagnosis.open.json new file mode 100644 index 0000000..93f3d65 --- /dev/null +++ b/rokae/assets/protocols/diagnosis.open.json @@ -0,0 +1,13 @@ +{ + "id": "xxxxxxxxxxx", + "module": "robot", + "command": "diagnosis.open", + "data": { + "open": false, + "display_open": false, + "overrun": false, + "turn_area": false, + "delay_motion": false + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/diagnosis.save.json b/rokae/assets/protocols/diagnosis.save.json new file mode 100644 index 0000000..7da8366 --- /dev/null +++ b/rokae/assets/protocols/diagnosis.save.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "robot", + "command": "diagnosis.save", + "data": { + "save": true + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/diagnosis.set_params.json b/rokae/assets/protocols/diagnosis.set_params.json new file mode 100644 index 0000000..0128af4 --- /dev/null +++ b/rokae/assets/protocols/diagnosis.set_params.json @@ -0,0 +1,11 @@ +{ + "id": "xxxxxxxxxxx", + "module": "robot", + "command": "diagnosis.set_params", + "data": { + "display_pdo_params": [], + "frequency": 50, + "version": "1.4.1" + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/drag.get_params.json b/rokae/assets/protocols/drag.get_params.json new file mode 100644 index 0000000..8562a45 --- /dev/null +++ b/rokae/assets/protocols/drag.get_params.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "dynamic", + "command": "drag.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/drag.set_params.json b/rokae/assets/protocols/drag.set_params.json new file mode 100644 index 0000000..cc7a525 --- /dev/null +++ b/rokae/assets/protocols/drag.set_params.json @@ -0,0 +1,11 @@ +{ + "id": "xxxxxxxxxxx", + "module": "dynamic", + "command": "drag.set_params", + "data": { + "enable": true, + "space": 0, + "type": 0 + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/fieldbus_device.get_params.json b/rokae/assets/protocols/fieldbus_device.get_params.json new file mode 100644 index 0000000..8f0c407 --- /dev/null +++ b/rokae/assets/protocols/fieldbus_device.get_params.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "fieldbus", + "command": "fieldbus_device.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/fieldbus_device.load_cfg.json b/rokae/assets/protocols/fieldbus_device.load_cfg.json new file mode 100644 index 0000000..8b46df8 --- /dev/null +++ b/rokae/assets/protocols/fieldbus_device.load_cfg.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "fieldbus", + "command": "fieldbus_device.load_cfg", + "data": { + "file_name": "fieldbus_device.json" + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/fieldbus_device.set_params.json b/rokae/assets/protocols/fieldbus_device.set_params.json new file mode 100644 index 0000000..5b360b4 --- /dev/null +++ b/rokae/assets/protocols/fieldbus_device.set_params.json @@ -0,0 +1,10 @@ +{ + "id": "xxxxxxxxxxx", + "module": "fieldbus", + "command": "fieldbus_device.set_params", + "data": { + "device_name": "modbus_1", + "enable": true + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/io_device.load_cfg.json b/rokae/assets/protocols/io_device.load_cfg.json new file mode 100644 index 0000000..e3d0583 --- /dev/null +++ b/rokae/assets/protocols/io_device.load_cfg.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "io", + "command": "io_device.load_cfg", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/jog.get_params.json b/rokae/assets/protocols/jog.get_params.json new file mode 100644 index 0000000..03e6eed --- /dev/null +++ b/rokae/assets/protocols/jog.get_params.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "jog.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/jog.set_params.json b/rokae/assets/protocols/jog.set_params.json new file mode 100644 index 0000000..6c89d14 --- /dev/null +++ b/rokae/assets/protocols/jog.set_params.json @@ -0,0 +1,10 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "jog.set_params", + "data": { + "step": 1000, + "override": 0.2, + "space": 5 + } +} \ No newline at end of file diff --git a/rokae/assets/protocols/jog.start.json b/rokae/assets/protocols/jog.start.json new file mode 100644 index 0000000..afe54cc --- /dev/null +++ b/rokae/assets/protocols/jog.start.json @@ -0,0 +1,10 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "jog.start", + "data": { + "index": 0, + "direction": true, + "is_ext": false + } +} \ No newline at end of file diff --git a/rokae/assets/protocols/log_code.data.code_list.json b/rokae/assets/protocols/log_code.data.code_list.json new file mode 100644 index 0000000..c6f1ee2 --- /dev/null +++ b/rokae/assets/protocols/log_code.data.code_list.json @@ -0,0 +1,8 @@ +{ + "id": "log_code.data.code_list", + "s": { + "log_code.data": { + "code_list": [] + } + } +} \ No newline at end of file diff --git a/rokae/assets/protocols/log_code.data.json b/rokae/assets/protocols/log_code.data.json new file mode 100644 index 0000000..b0898e2 --- /dev/null +++ b/rokae/assets/protocols/log_code.data.json @@ -0,0 +1,7 @@ +{ + "id": "xxxxxxxxxxx", + "g": { + "log_code.data": "null" + }, + "p_type": 1 +} \ No newline at end of file diff --git a/rokae/assets/protocols/modbus.get_params.json b/rokae/assets/protocols/modbus.get_params.json new file mode 100644 index 0000000..1ee55bd --- /dev/null +++ b/rokae/assets/protocols/modbus.get_params.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "fieldbus", + "command": "modbus.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/modbus.get_values.json b/rokae/assets/protocols/modbus.get_values.json new file mode 100644 index 0000000..42ba949 --- /dev/null +++ b/rokae/assets/protocols/modbus.get_values.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "fieldbus", + "command": "modbus.get_values", + "data": { + "mode": "all" + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/modbus.load_cfg.json b/rokae/assets/protocols/modbus.load_cfg.json new file mode 100644 index 0000000..22f199e --- /dev/null +++ b/rokae/assets/protocols/modbus.load_cfg.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "fieldbus", + "command": "modbus.load_cfg", + "data": { + "file" : "registers.json" + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/modbus.set_params.json b/rokae/assets/protocols/modbus.set_params.json new file mode 100644 index 0000000..7a3fa11 --- /dev/null +++ b/rokae/assets/protocols/modbus.set_params.json @@ -0,0 +1,13 @@ +{ + "id": "xxxxxxxxxxx", + "module": "fieldbus", + "command": "modbus.set_params", + "data": { + "enable_slave": true, + "ip": "192.168.0.160", + "port": 502, + "slave_id": 0, + "enable_master": false + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.get_joint_pos.json b/rokae/assets/protocols/move.get_joint_pos.json new file mode 100644 index 0000000..51c50d9 --- /dev/null +++ b/rokae/assets/protocols/move.get_joint_pos.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "move.get_joint_pos", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.get_monitor_cfg.json b/rokae/assets/protocols/move.get_monitor_cfg.json new file mode 100644 index 0000000..35419f9 --- /dev/null +++ b/rokae/assets/protocols/move.get_monitor_cfg.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "move.get_monitor_cfg", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.get_params.json b/rokae/assets/protocols/move.get_params.json new file mode 100644 index 0000000..d7802fd --- /dev/null +++ b/rokae/assets/protocols/move.get_params.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "move.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.get_pos.json b/rokae/assets/protocols/move.get_pos.json new file mode 100644 index 0000000..4cce83b --- /dev/null +++ b/rokae/assets/protocols/move.get_pos.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "move.get_pos", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.get_quickstop_distance.json b/rokae/assets/protocols/move.get_quickstop_distance.json new file mode 100644 index 0000000..ddcfa11 --- /dev/null +++ b/rokae/assets/protocols/move.get_quickstop_distance.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "move.get_quickstop_distance", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.get_quickturn_pos.json b/rokae/assets/protocols/move.get_quickturn_pos.json new file mode 100644 index 0000000..a02b8c2 --- /dev/null +++ b/rokae/assets/protocols/move.get_quickturn_pos.json @@ -0,0 +1,6 @@ +{ + "id" : "xxxxxxxxx", + "module": "motion", + "command": "move.get_quickturn_pos", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.quick_turn.json b/rokae/assets/protocols/move.quick_turn.json new file mode 100644 index 0000000..8db1988 --- /dev/null +++ b/rokae/assets/protocols/move.quick_turn.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "move.quick_turn", + "data": { + "name":"home" + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.set_monitor_cfg.json b/rokae/assets/protocols/move.set_monitor_cfg.json new file mode 100644 index 0000000..0a638de --- /dev/null +++ b/rokae/assets/protocols/move.set_monitor_cfg.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "move.set_monitor_cfg", + "data": { + "ref_coordinate": 1 + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.set_params.json b/rokae/assets/protocols/move.set_params.json new file mode 100644 index 0000000..b65b1db --- /dev/null +++ b/rokae/assets/protocols/move.set_params.json @@ -0,0 +1,17 @@ +{ + "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 + } + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.set_quickstop_distance.json b/rokae/assets/protocols/move.set_quickstop_distance.json new file mode 100644 index 0000000..50c53fd --- /dev/null +++ b/rokae/assets/protocols/move.set_quickstop_distance.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "move.set_quickstop_distance", + "data":{ + "distance": 2 + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.set_quickturn_pos.json b/rokae/assets/protocols/move.set_quickturn_pos.json new file mode 100644 index 0000000..8da5353 --- /dev/null +++ b/rokae/assets/protocols/move.set_quickturn_pos.json @@ -0,0 +1,16 @@ +{ + "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] + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/move.stop.json b/rokae/assets/protocols/move.stop.json new file mode 100644 index 0000000..f79c140 --- /dev/null +++ b/rokae/assets/protocols/move.stop.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "motion", + "command": "move.stop", + "data":{ + "stoptype": 0 + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/overview.get_autoload.json b/rokae/assets/protocols/overview.get_autoload.json new file mode 100644 index 0000000..4b59f13 --- /dev/null +++ b/rokae/assets/protocols/overview.get_autoload.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "overview.get_autoload", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/overview.get_cur_prj.json b/rokae/assets/protocols/overview.get_cur_prj.json new file mode 100644 index 0000000..ab192ad --- /dev/null +++ b/rokae/assets/protocols/overview.get_cur_prj.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "overview.get_cur_prj", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/overview.reload.json b/rokae/assets/protocols/overview.reload.json new file mode 100644 index 0000000..185f8ba --- /dev/null +++ b/rokae/assets/protocols/overview.reload.json @@ -0,0 +1,10 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "overview.reload", + "data": { + "prj_path": "", + "tasks": [] + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/overview.set_autoload.json b/rokae/assets/protocols/overview.set_autoload.json new file mode 100644 index 0000000..928bb9f --- /dev/null +++ b/rokae/assets/protocols/overview.set_autoload.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "overview.set_autoload", + "data": { + "autoload_prj_path": "" + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/register.set_value.json b/rokae/assets/protocols/register.set_value.json new file mode 100644 index 0000000..d4cded4 --- /dev/null +++ b/rokae/assets/protocols/register.set_value.json @@ -0,0 +1,12 @@ +{ + "id": "xxxxxxxxxxx", + "module": "fieldbus", + "command": "register.set_value", + "data": { + "name": "", + "type": "bool", + "bias": 0, + "value": 0 + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/rl_task.pp_to_main.json b/rokae/assets/protocols/rl_task.pp_to_main.json new file mode 100644 index 0000000..c5f518e --- /dev/null +++ b/rokae/assets/protocols/rl_task.pp_to_main.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "rl_task.pp_to_main", + "data": { + "tasks": [] + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/rl_task.run.json b/rokae/assets/protocols/rl_task.run.json new file mode 100644 index 0000000..534a5fd --- /dev/null +++ b/rokae/assets/protocols/rl_task.run.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "rl_task.run", + "data": { + "tasks": [] + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/rl_task.set_run_params.json b/rokae/assets/protocols/rl_task.set_run_params.json new file mode 100644 index 0000000..efc5368 --- /dev/null +++ b/rokae/assets/protocols/rl_task.set_run_params.json @@ -0,0 +1,10 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "rl_task.set_run_params", + "data": { + "loop_mode": true, + "override": 1.0 + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/rl_task.stop.json b/rokae/assets/protocols/rl_task.stop.json new file mode 100644 index 0000000..0fe2a91 --- /dev/null +++ b/rokae/assets/protocols/rl_task.stop.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "rl_task.stop", + "data": { + "tasks": [] + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/safety.safety_area.overall_enable.json b/rokae/assets/protocols/safety.safety_area.overall_enable.json new file mode 100644 index 0000000..694946e --- /dev/null +++ b/rokae/assets/protocols/safety.safety_area.overall_enable.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "c": { + "safety.safety_area.overall_enable": { + "enable": true + } + }, + "p_type": 1 +} \ No newline at end of file diff --git a/rokae/assets/protocols/safety.safety_area.safety_area_enable.json b/rokae/assets/protocols/safety.safety_area.safety_area_enable.json new file mode 100644 index 0000000..723e1cf --- /dev/null +++ b/rokae/assets/protocols/safety.safety_area.safety_area_enable.json @@ -0,0 +1,10 @@ +{ + "id": "xxxxxxxxxxx", + "c": { + "safety.safety_area.safety_area_enable": { + "id": 0, + "enable": true + } + }, + "p_type": 1 +} \ No newline at end of file diff --git a/rokae/assets/protocols/safety.safety_area.set_param.json b/rokae/assets/protocols/safety.safety_area.set_param.json new file mode 100644 index 0000000..1205fe0 --- /dev/null +++ b/rokae/assets/protocols/safety.safety_area.set_param.json @@ -0,0 +1,7 @@ +{ + "id": "xxxxxxxxxxx", + "c": { + "safety.safety_area.set_param": null + }, + "p_type": 1 +} \ No newline at end of file diff --git a/rokae/assets/protocols/safety.safety_area.signal_enable.json b/rokae/assets/protocols/safety.safety_area.signal_enable.json new file mode 100644 index 0000000..2a37a4c --- /dev/null +++ b/rokae/assets/protocols/safety.safety_area.signal_enable.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "c": { + "safety.safety_area.signal_enable": { + "signal": true + } + }, + "p_type": 1 +} \ No newline at end of file diff --git a/rokae/assets/protocols/safety_area_data.json b/rokae/assets/protocols/safety_area_data.json new file mode 100644 index 0000000..cd43bdd --- /dev/null +++ b/rokae/assets/protocols/safety_area_data.json @@ -0,0 +1,7 @@ +{ + "id": "xxxxxxxxxxx", + "g": { + "safety_area_data": null + }, + "p_type": 1 +} \ No newline at end of file diff --git a/rokae/assets/protocols/servo.clear_alarm.json b/rokae/assets/protocols/servo.clear_alarm.json new file mode 100644 index 0000000..cffeb4e --- /dev/null +++ b/rokae/assets/protocols/servo.clear_alarm.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "robot", + "command": "servo.clear_alarm", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/socket.get_params.json b/rokae/assets/protocols/socket.get_params.json new file mode 100644 index 0000000..6a92e1d --- /dev/null +++ b/rokae/assets/protocols/socket.get_params.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "network", + "command": "socket.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/socket.set_params.json b/rokae/assets/protocols/socket.set_params.json new file mode 100644 index 0000000..2507cfb --- /dev/null +++ b/rokae/assets/protocols/socket.set_params.json @@ -0,0 +1,18 @@ +{ + "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 + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/soft_limit.get_params.json b/rokae/assets/protocols/soft_limit.get_params.json new file mode 100644 index 0000000..861b1ee --- /dev/null +++ b/rokae/assets/protocols/soft_limit.get_params.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "safety", + "command": "soft_limit.get_params", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/soft_limit.set_params.json b/rokae/assets/protocols/soft_limit.set_params.json new file mode 100644 index 0000000..eda482b --- /dev/null +++ b/rokae/assets/protocols/soft_limit.set_params.json @@ -0,0 +1,13 @@ +{ + "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] + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/state.get_state.json b/rokae/assets/protocols/state.get_state.json new file mode 100644 index 0000000..c3e92fa --- /dev/null +++ b/rokae/assets/protocols/state.get_state.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "state.get_state", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/state.get_tp_mode.json b/rokae/assets/protocols/state.get_tp_mode.json new file mode 100644 index 0000000..3d41c3b --- /dev/null +++ b/rokae/assets/protocols/state.get_tp_mode.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "state.get_tp_mode", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/state.set_tp_mode.json b/rokae/assets/protocols/state.set_tp_mode.json new file mode 100644 index 0000000..7185d96 --- /dev/null +++ b/rokae/assets/protocols/state.set_tp_mode.json @@ -0,0 +1,9 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "state.set_tp_mode", + "data": { + "tp_mode": "with" + }, + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/state.switch_auto.json b/rokae/assets/protocols/state.switch_auto.json new file mode 100644 index 0000000..67d5635 --- /dev/null +++ b/rokae/assets/protocols/state.switch_auto.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "state.switch_auto", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/state.switch_manual.json b/rokae/assets/protocols/state.switch_manual.json new file mode 100644 index 0000000..7b08ce6 --- /dev/null +++ b/rokae/assets/protocols/state.switch_manual.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "state.switch_manual", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/state.switch_motor_off.json b/rokae/assets/protocols/state.switch_motor_off.json new file mode 100644 index 0000000..e6f7357 --- /dev/null +++ b/rokae/assets/protocols/state.switch_motor_off.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "state.switch_motor_off", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/state.switch_motor_on.json b/rokae/assets/protocols/state.switch_motor_on.json new file mode 100644 index 0000000..cba491e --- /dev/null +++ b/rokae/assets/protocols/state.switch_motor_on.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "system", + "command": "state.switch_motor_on", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/system_io.query_configuration.json b/rokae/assets/protocols/system_io.query_configuration.json new file mode 100644 index 0000000..c9120d3 --- /dev/null +++ b/rokae/assets/protocols/system_io.query_configuration.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "io", + "command": "system_io.query_configuration", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/system_io.query_event_cfg.json b/rokae/assets/protocols/system_io.query_event_cfg.json new file mode 100644 index 0000000..69e69e4 --- /dev/null +++ b/rokae/assets/protocols/system_io.query_event_cfg.json @@ -0,0 +1,6 @@ +{ + "id": "xxxxxxxxxxx", + "module": "io", + "command": "system_io.query_event_cfg", + "p_type": 0 +} \ No newline at end of file diff --git a/rokae/assets/protocols/system_io.update_configuration.json b/rokae/assets/protocols/system_io.update_configuration.json new file mode 100644 index 0000000..bc5bac8 --- /dev/null +++ b/rokae/assets/protocols/system_io.update_configuration.json @@ -0,0 +1,10 @@ +{ + "id": "xxxxxxxxxxx", + "module": "io", + "command": "system_io.update_configuration", + "data": { + "input_system_io": {}, + "output_system_io": {} + }, + "p_type": 0 +} \ No newline at 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b/rokae/assets/protocols/原理/解包示例.txt @@ -0,0 +1,56 @@ +b'\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340\x01o429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-h\x02\x00{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : 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\n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.00012044146029883355,\n\t\t\t\t-0.0022272681986605192,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.002697798\x04\x008290070812,\n\t\t\t\t0.00050648330506263212,\n\t\t\t\t-0.0,\n\t\t\t\t0.0020753681479851243,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t3.5952674716069715e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.0001496530085056402,\n\t\t\t\t0.0001276319952420475,\n\t\t\t\t-0.0027252127434780845,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0026977988290070812,\n\t\t\t\t8.5387602450665581e-06,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t0.00206862702147' 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\n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n' +b'\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.\x04\x000,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n' +b'\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1\x04\x00.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.' +b'0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t\x04\x001.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : ' 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\n\t\t\t[\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5\x04\x00.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429' +b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-\x8f\x02\x00{\n\t"command"' + + + +> - 封包解包顺序：帧长度二字节/包长度四字节/协议二字节/预留二字节，\x04\x00:\x00\x00\tR:\x02:\x00 +> - 帧长度和包长度没有必然关系，单帧的时候是帧长度减去包长度等于6，包长度指的是所有内容的长度 +> - HMI内部每次发送1024个字节，进行分包，有效内容长度规则是：第一帧 frm_value-6(帧大小减去包头长度)，第二帧（包含）及之后的帧，帧大小即是数据长度 + + +================================================================================================== +单包多帧示例 +\x04\x00\x00\x00-h\x02\x00 +frm_value = int.from_bytes(b"\x04\x00") = 1024 | 每次发送的帧的报文总长度，包括包头（如果有），但不包括帧头 +pkg_value = int.from_bytes(b"\x00\x00-h") = 11624 | 包长度是不包括所有的帧和包报文头的，单包单帧的情况也是一样的 +pkg_size = 6 字节 +有效数据长度 = 10240 + 402 + 1004 - 20 - 2(首个帧头) = 11624 +有效数据长度+包报文头 = 11624 + 6 = 11630 +有效数据长度+包报文头+帧报文头 = 11624 + 6 + 22 = 11652 +首帧长度 1018=frm_value-pkg_size=1024-6：如下是第一帧和第二帧的拼接 +b'{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.00012044146029883355,\n\t\t\t\t-0.0022272681986605192,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.002697798' +单帧长度 1024：如下是第二帧和第三帧的拼接 +b'8290070812,\n\t\t\t\t0.00050648330506263212,\n\t\t\t\t-0.0,\n\t\t\t\t0.0020753681479851243,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t3.5952674716069715e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.0001496530085056402,\n\t\t\t\t0.0001276319952420475,\n\t\t\t\t-0.0027252127434780845,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0026977988290070812,\n\t\t\t\t8.5387602450665581e-06,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0,\n\t\t\t\t7.1905349432139438e-06,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.1984224905356572e-06,\n\t\t\t\t0.00010705907582118537,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0024236097500266104,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0024240092241901226,\n\t\t' + +--------------------------------------------------------------------------------------------------- +第一帧有效 - 402 +b'{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0' +--------------------------------------------------------------------------------------------------- +中间有 10 帧，共计 10240 个字节，也有 10 个 \x04\x00，共计 20 个字节 +--------------------------------------------------------------------------------------------------- +最后一帧有效 - 1004 +b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}' +--------------------------------------------------------------------------------------------------- + +================================================================================================== +单包单帧示例 +\x00\\\x00\x00\x00V\x02\x00 +frm_value = int.from_bytes(b"\x00\\") = 92 | 每次发送的帧的报文总长度，包括包头（如果有），但不包括帧头 +pkg_value = int.from_bytes(b"\x00\x00\x00V") = 86 | 包长度是不包括所有的帧和包报文头的，单包单帧的情况也是一样的 +pkg_size = 6 +有效数据长度 = 86 +有效数据长度+包报文头 = 86 + 6 = 92 +有效数据长度+包报文头+帧报文头 = 86 + 6 +2 = 94 +帧长度 86=frm_value-pkg_size=92-6 + +b'\x00\\\x00\x00\x00V\x02\x00{\n\t"data" : \n\t{\n\t\t"name" : "xCore"\n\t},\n\t"id" : "controller.heart-1719734550.9790015"\n}' diff --git a/rokae/assets/protocols/原理/通信协议.png b/rokae/assets/protocols/原理/通信协议.png new file mode 100644 index 0000000000000000000000000000000000000000..b0a07fdf21b6e3014016df1559c921cfd6093907 GIT binary patch literal 580493 zcma%j1yEdF)-8=oAV82naCZ_kI5h6=mLS319fG?+5gkeg9vR 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zSL|HAsKrjQ4Upq-gU-SqC;U3iiypA0_jOwJ{bcUK`V+H((;w}2v0U!)e(?4_1MuVvQ~kSFbfmZ>2*TtVc*GC)e4F9_ c7Tzz~;YVf7&Pd line_number: + del_num = len_records - leftover + 1 + cursor.execute(f"DELETE FROM logs WHERE id < {del_num}") + cursor.execute(f"UPDATE logs SET id=(id-{del_num - 1}) WHERE id > {del_num - 1}") + cursor.execute(f"UPDATE sqlite_sequence SET seq = {leftover + 1} WHERE name = 'logs' ") + cursor.execute("VACUUM") + + while True: + release_memory() + time.sleep(interval*30) + + +@db_lock +def to_logdb(level="", module="", content=""): + if "move.monitor" in content: + return + cursor.execute(f"INSERT INTO logs (level, module, content) VALUES (?, ?, ?)", (level.upper(), module, content)) + + +def save_logdb(): + db_file = str(Path.home()) + "\\Downloads\\aio.db" + disk_db = sqlite3.connect(db_file) + conn.backup(disk_db) + disk_db.close() + conn.close() + + +# =========================================================================== +base_path = Path(__file__).parent.parent +with open(f"{base_path}/assets/confs/configs.json", mode="r", encoding="utf-8") as f_cfg: + cfg = json.load(f_cfg) + ip_addr = cfg["ip_addr"] + ssh_port = cfg["ssh_port"] + socket_port = cfg["socket_port"] + xService_port = cfg["xService_port"] + external_port = cfg["external_port"] + modbus_port = cfg["modbus_port"] + upgrade_port = cfg["upgrade_port"] + interval = cfg["interval"] + max_frame_size = cfg["max_frame_size"] + MAX_RECEIVED_SIZE = cfg["MAX_RECEIVED_SIZE"] + suffix = cfg["suffix"] + username = cfg["username"] + password = cfg["password"] + retry_time = cfg["retry_time"] + +lock = threading.Lock() +conn, cursor = init_logdb() +atexit.register(save_logdb) +t = threading.Thread(target=detect_db_size) +t.daemon = True +t.start() diff --git a/rokae/codes/openapi.py b/rokae/codes/openapi.py new file mode 100644 index 0000000..b29cfbc --- /dev/null +++ b/rokae/codes/openapi.py @@ -0,0 +1,1041 @@ +import json +import socket +import time +import os +import selectors +import threading +from datetime import datetime +import hashlib +from typing import Callable, Dict + +from loguru import logger +from pymodbus.client.tcp import ModbusTcpClient +from paramiko import SSHClient, AutoAddPolicy + +from codes import clibs + + +class HmiRequest: + def __init__(self): + self.c = self.c_xs = self.t_rx_pkg = self.t_rx_pkg_xs = self.t_s_heart = None + self.data = self.data_xs = b"" + self.is_connected = True + self.sock_conn() + + def sock_conn(self): + count = 0 + while True: + try: + self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.c.settimeout(clibs.interval * 3) + self.c.connect((clibs.ip_addr, clibs.socket_port)) + self.c.setblocking(False) + self.c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.c_xs.settimeout(clibs.interval * 3) + self.c_xs.connect((clibs.ip_addr, clibs.xService_port)) + self.c_xs.setblocking(False) + for _ in range(3): + _ = self.exec_cmd("controller.heart") + time.sleep(clibs.interval/4) + count += 1 + if count > 3: + logger.success("hr: HMI connection success") + break + except Exception as e: + clibs.to_logdb("error", "HmiRequest", str(e)) + logger.warning(f"hr: HMI connection failed, will retry after {clibs.retry_time}s") + try: + self.c.close() + self.c_xs.close() + except Exception as e: + clibs.to_logdb("error", "HmiRequest", str(e)) + count = 0 + time.sleep(clibs.retry_time) + + self.t_rx_pkg = threading.Thread(target=self.rx_pkg, args=(self.c,)) + self.t_rx_pkg.daemon = True + self.t_rx_pkg.start() + self.t_rx_pkg_xs = threading.Thread(target=self.rx_pkg, args=(self.c_xs,)) + self.t_rx_pkg_xs.daemon = True + self.t_rx_pkg_xs.start() + self.t_s_heart = threading.Thread(target=self.s_heart) + self.t_s_heart.daemon = True + self.t_s_heart.start() + + def close(self): + self.is_connected = False + time.sleep(clibs.interval) + try: + self.c.close() + self.c_xs.close() + except Exception as e: + clibs.to_logdb("error", "HmiRequest", str(e)) + finally: + logger.info("hr: HMI connection has been disconnected") + + def s_heart(self): + while self.is_connected: + self.exec_cmd("controller.heart") + time.sleep(clibs.interval) + + @staticmethod + def tx_pkg(cmd): + frm = (len(cmd) + 6).to_bytes(length=2) + pkg = len(cmd).to_bytes(length=4) + protocol = int(2).to_bytes() + reserved = int(0).to_bytes() + return frm + pkg + protocol + reserved + cmd.encode() + + @staticmethod + def tx_pkg_xs(cmd): + return "".join([cmd, "\r"]).encode() + + def rx_pkg(self, sock): + def to_read(conn, mask): + data = conn.recv(clibs.MAX_RECEIVED_SIZE) + if data: + ip, port = sock.getpeername() + func_dict[port](data) + + else: + sel.unregister(conn) + conn.close() + + func_dict: Dict[int, Callable[[bytes], None]] = {clibs.socket_port: self.get_response, clibs.xService_port: self.get_response_xs} + try: + sel = selectors.DefaultSelector() + sel.register(sock, selectors.EVENT_READ, to_read) + while self.is_connected: + events = sel.select() + for key, mask in events: + callback = key.data + callback(key.fileobj, mask) + except Exception as e: + clibs.to_logdb("error", "HmiRequest", str(e)) + + def get_response(self, data: bytes) -> None: + def get_valid_data(): + nonlocal record, frm_number, pkg_number + valid_data, is_first_frame = b"", True + while len(record) != 0: + if is_first_frame is True: + is_first_frame = False + valid_data += record[8:8 + frm_number - 6] + record = record[8 + frm_number - 6:] + + frm_number = int.from_bytes(record[:2]) + valid_data += record[2:2 + frm_number] + record = record[2 + frm_number:] + else: + if len(valid_data) != pkg_number: + logger.error("hr: 数据校验失败，解包有误，需要检查！") + raise Exception() + return str(json.loads(valid_data.decode())) + + self.data += data + frm_number = int.from_bytes(self.data[0:2]) + pkg_number = int.from_bytes(self.data[2:6]) + protocol = int.from_bytes(self.data[6:7]) + reserved = int.from_bytes(self.data[7:8]) + + if frm_number == pkg_number + 6 and protocol == 2 and reserved == 0: + record_len = pkg_number+8 + record, self.data = self.data[:record_len], self.data[record_len:] + clibs.to_logdb("debug", "HmiRequest", str(json.loads(record[8:].decode()))) + + elif frm_number == clibs.max_frame_size and pkg_number > clibs.max_frame_size - 8 and protocol == 2 and reserved == 0: + one_or_zero = 1 if (pkg_number - 1018) % clibs.max_frame_size > 0 else 0 + record_len = pkg_number + 8 + ((pkg_number - 1018) // clibs.max_frame_size + one_or_zero) * 2 + if len(self.data) < record_len: + return + record, self.data = self.data[:record_len], self.data[record_len:] + clibs.to_logdb("debug", "HmiRequest", get_valid_data()) + + else: + logger.critical(f"hr: 其他未考虑到的情况：data = {self.data}") + raise Exception() + + def get_response_xs(self, data: bytes) -> None: + self.data_xs += data + res = self.data_xs.split(b"\r", 1) + if len(res) != 2: + return + + record, self.data_xs = res + clibs.to_logdb("debug", "HmiRequest", str(json.loads(record))) + + @staticmethod + def get_from_id(msg_id: str) -> str: + f_text, flag, records, time_delay = f"%{msg_id}%", False, "Null", clibs.interval*10 + cmd, ts = msg_id.split("@") + t = ts.replace("T", " ") + t_ts = datetime.timestamp(datetime.strptime(t, "%Y-%m-%d %H:%M:%S.%f")) + t_send = datetime.strftime(datetime.fromtimestamp(t_ts-time_delay), '%Y-%m-%d %H:%M:%S.%f') + t_receive = datetime.strftime(datetime.fromtimestamp(t_ts+time_delay), '%Y-%m-%d %H:%M:%S.%f') + for idx in range(time_delay): + time.sleep(clibs.interval) + try: + clibs.lock.acquire(True) + clibs.cursor.execute(f"SELECT content FROM logs WHERE timestamp BETWEEN '{t_send}' AND '{t_receive}' AND content LIKE '{f_text}'") + records = clibs.cursor.fetchall() + flag = True if len(records) == 1 else False + finally: + clibs.lock.release() + if flag is True: + return records[0][0] + else: + logger.error(f"hr: {time_delay}s内无法找到请求 {msg_id} 的响应！") + # raise Exception() + + def exec_cmd(self, cmd, **kwargs): + try: + with open(f"{clibs.base_path}/assets/protocols/{cmd}.json", mode="r", encoding="utf-8") as f_cmd: + req = json.load(f_cmd) + t = datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f") + req["id"] = f"{cmd}@{t}" + p_type = req["p_type"] + del req["p_type"] + except FileNotFoundError as err: + logger.error(f"hr: 暂不支持 {cmd} 功能，或确认该功能存在，err = {err}") + raise Exception() + + match cmd: + case "state.set_tp_mode" | "overview.set_autoload" | "overview.reload" | "rl_task.pp_to_main" | "rl_task.run" | "rl_task.stop" | "rl_task.set_run_params" | "diagnosis.set_params" | "diagnosis.open" | "drag.set_params" | "controller.set_params" | "collision.set_params" | "move.set_quickstop_distance" | "move.set_params" | "move.set_monitor_cfg" | "modbus.get_values" | "modbus.set_params" | "system_io.update_configuration" | "diagnosis.get_params" | "jog.set_params" | "jog.start" | "move.stop" | "move.quick_turn" | "move.set_quickturn_pos" | "soft_limit.set_params" | "fieldbus_device.set_params" | "socket.set_params" | "diagnosis.save" | "register.set_value": + req["data"].update(kwargs) + case "safety.safety_area.signal_enable" | "safety.safety_area.overall_enable" | "safety.safety_area.safety_area_enable" | "safety.safety_area.set_param": + req["c"].update(kwargs) + case "log_code.data.code_list": + req["s"]["log_code.data"]["code_list"] = kwargs["code_list"] + case _: + pass + + cmd = json.dumps(req, separators=(",", ":")) + if p_type == 0: + self.c.send(self.tx_pkg(cmd)) + elif p_type == 1: + self.c_xs.send(self.tx_pkg_xs(cmd)) + else: + raise Exception("Unexpected CMD Input") + + return req["id"] + + +class ModbusRequest: + def __init__(self): + self.c = None + self.sock_conn() + + def sock_conn(self): + self.c = ModbusTcpClient(host=clibs.ip_addr, port=clibs.modbus_port) + if self.c.connect(): + logger.success(f"md: Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) success!") + else: + logger.error(f"md: Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed!") + raise Exception() + + def __reg_high_pulse(self, addr: int, desc: str) -> None: + self.c.write_register(addr, 0) + time.sleep(clibs.interval/4) + self.c.write_register(addr, 1) + time.sleep(clibs.interval/4) + self.c.write_register(addr, 0) + logger.info(f"md: {addr}-010 执行{desc}的操作") + + def r_clear_alarm(self): + self.__reg_high_pulse(40000, "清除告警信息") + + def r_reset_estop(self): + self.__reg_high_pulse(40001, "复位外部急停状态") + + def r_reset_estop_clear_alarm(self): + self.__reg_high_pulse(40002, "复位外部急停状态，并清除告警信息") + + def r_motor_off(self): + self.__reg_high_pulse(40004, "上电") + + def r_motor_on(self): + self.__reg_high_pulse(40005, "下电") + + def r_motor_on_off(self, action: bool): + self.c.write_register(40006, action) + desc = {False: "下电", True: "上电"} + logger.info(f"md: 40006-{action} 执行{desc[action]}的操作") + time.sleep(clibs.interval) + + def r_motoron_pp2main_start(self): + self.__reg_high_pulse(40007, "上电/pp2main/开始运行程序") + + def r_motoron_start(self): + self.__reg_high_pulse(40008, "上电/开始运行程序") + + def r_pulse_motoroff(self): + self.__reg_high_pulse(40009, "停止并下电") + + def r_pp2main(self): + self.__reg_high_pulse(40010, "pp2main") + + def r_program_start(self): + self.__reg_high_pulse(40011, "启动程序运行") + + def r_program_stop(self): + self.__reg_high_pulse(40012, "停止程序运行") + + def r_program_start_stop(self, action: bool): + self.c.write_register(40013, action) + desc = {False: "停止程序运行", True: "启动程序运行"} + logger.info(f"md: 40013-{action} 执行{desc[action]}的操作") + time.sleep(clibs.interval) + + def r_set_program_speed(self, speed: int): + result = self.c.convert_to_registers(int(speed), self.c.DATATYPE.INT32, "little") + self.c.write_registers(40014, result) + logger.info(f"md: 40014 设置程序运行速度为程序给定速度的{speed}%") + + def r_soft_estop(self, action: bool): + self.c.write_register(40015, action) + desc = {False: "触发软急停状态", True: "解除软急停状态"} + logger.info(f"md: 40015-{action} 执行{desc[action]}的操作") + time.sleep(clibs.interval) + + def r_switch_auto_motoron(self): + self.__reg_high_pulse(40016, "切换为自动模式并上电") + + def r_switch_auto(self): + self.__reg_high_pulse(40017, "切换为自动模式") + + def r_switch_manual(self): + self.__reg_high_pulse(40018, "切换为手动模式") + + def r_switch_auto_manual(self, action: bool): + self.c.write_register(40019, action) + desc = {False: "切换为手动模式", True: "切换为自动模式"} + logger.info(f"md: 40019-{action} 执行{desc[action]}的操作") + time.sleep(clibs.interval) + + def r_reduced_mode(self, action: bool): + self.c.write_register(40020, action) + desc = {False: "退出缩减模式", True: "进入缩减模式"} + logger.info(f"md: 40020-{action} 执行{desc[action]}的操作") + time.sleep(clibs.interval) + + def r_switch_safe_region(self, idx: int, enable: bool): + addr = 40020 + idx + if enable: + self.c.write_register(addr, False) + time.sleep(clibs.interval) + self.c.write_register(addr, True) + else: + self.c.write_register(addr, True) + time.sleep(clibs.interval) + self.c.write_register(addr, False) + desc = {False: "关闭安全区域", True: "打开安全区域"} + logger.info(f"md: {addr}-{enable} 执行{desc[enable]}[{idx}]的操作") + + def __get_state(self, addr: int, count: int = 1, **kwargs): + res = self.c.read_holding_registers(addr, count=count).registers[0] + logger.info(f"md: {addr}-{kwargs['func']}，结果为{res} {kwargs['desc']}") + return res + + @property + def w_alarm_state(self): + return self.__get_state(41000, func="告警状态", desc=":--: 0表示无告警，1表示有告警") + + @property + def w_sta_collision(self): + return self.__get_state(41001, func="碰撞检测状态", desc=":--: 0表示无碰撞，1表示检测到碰撞") + + @property + def w_sta_collision_alarm(self): + return self.__get_state(41002, func="碰撞检测报警", desc=":--: 0表示无碰撞，1表示检测到碰撞") + + @property + def w_sta_collision_open(self): + return self.__get_state(41003, func="碰撞检测开启状态", desc=":--: 0表示未开启，1表示已开启") + + @property + def w_controller_is_running(self): + return self.__get_state(41004, func="控制器运行状态", desc=":--: 0表示未运行，1表示已运行") + + @property + def w_encoder_low_battery(self): + return self.__get_state(41005, func="编码器低电压报警状态", desc=":--: 0表示正常，1表示异常") + + @property + def w_sta_error_code(self): + result = self.c.read_holding_registers(41006, count=2) + error_code = self.c.convert_from_registers(registers=result.registers, data_type=self.c.DATATYPE.INT16, word_order="little")[0] + return error_code+30000 + + @property + def w_sta_estop(self): + return self.__get_state(41007, func="外部急停状态", desc=":--: 0表示非急停，1表示急停") + + @property + def w_sta_heartbeat(self): + return self.__get_state(41008, func="心跳电平状态", desc=":--: 0表示低电平，1表示高电平") + + @property + def w_sta_home(self): + return self.__get_state(41009, func="当前点是否是home点", desc=":--: 0表示非home点，1表示home点") + + @property + def w_sta_motor(self): + return self.__get_state(41011, func="上电状态", desc=":--: 0表示下电，1表示上电") + + @property + def w_sta_operation_mode(self): + return self.__get_state(41012, func="运行模式", desc=":--: 0表示手动，1表示自动") + + @property + def w_sta_program(self): + return self.__get_state(41013, func="程序运行状态", desc=":--: 0表示未运行，1表示正在运行") + + @property + def w_sta_program_full(self): + result = self.c.read_holding_registers(41014, count=2) + return self.c.convert_from_registers(registers=result.registers, data_type=self.c.DATATYPE.INT16, word_order="little")[0] + + @property + def w_sta_program_not_run(self): + return self.__get_state(41015, func="程序未运行状态", desc=":--: 0表示正在运行，1表示未运行") + + @property + def w_sta_program_reset(self): + return self.__get_state(41016, func="程序指针复位状态", desc=":--: 0表示未复位，1表示已复位") + + @property + def w_sta_program_speed(self): + result = self.c.read_holding_registers(41017, count=2) + return self.c.convert_from_registers(registers=result.registers, data_type=self.c.DATATYPE.INT16, word_order="little")[0] + + @property + def w_sta_reduce_mode(self): + return self.__get_state(41018, func="缩减模式状态", desc=":--: 0表示非缩减模式，1表示缩减模式") + + @property + def w_sta_robot_is_busy(self): + return self.__get_state(41019, func="机器人忙碌状态", desc=":--: 0表示空闲，1表示忙碌") + + @property + def w_sta_robot_is_moving(self): + return self.__get_state(41020, func="机器人运动状态", desc=":--: 0表示非运动状态，1表示正在运动") + + @property + def w_safe_door_state(self): + return self.__get_state(41021, func="安全门状态", desc=":--: 0表示未触发，1表示已触发") + + @property + def w_sta_safe_jnt_pos(self): + res = [self.c.read_holding_registers(41022+idx, count=1).registers[0] for idx in range(8)] + logger.info(f"md: 41022-41029-安全位置触发状态 结果为{res}") + return res + + @property + def w_sta_soft_estop(self): + return self.__get_state(41030, func="软急停状态", desc=":--: 0表示未触发，1表示已触发") + + @property + def w_sta_safe_region(self): + res = [self.c.read_holding_registers(41031+idx, count=1).registers[0] for idx in range(10)] + logger.info(f"md: 41031-41040-安全区域触发状态 结果为{res} :--: 0表示未触发，1表示已触发") + return res + + @property + def w_sta_on_path(self): + return self.__get_state(41030, func="当前是否在预设轨迹上", desc=":--: 0表示偏离预设轨迹，1表示在规划轨迹上") + + @property + def w_sta_near_path(self): + return self.__get_state(41030, func="当前是否在预设轨迹附近", desc=":--: 0表示偏离预设轨迹附近的标准，1表示在规划轨迹附近") + + @property + def w_sta_cart_pose(self) -> list: + res = self.c.read_holding_registers(41043, count=14) + return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little") + + @property + def w_sta_cart_vel(self) -> list: + res = self.c.read_holding_registers(41057, count=14) + return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little") + + @property + def w_sta_jnt_pose(self) -> list: + res = self.c.read_holding_registers(41071, count=14) + return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little") + + @property + def w_sta_jnt_vel(self) -> list: + res = self.c.read_holding_registers(41085, count=14) + return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little") + + @property + def w_sta_tcp_pose(self) -> list: + res = self.c.read_holding_registers(41113, count=14) + return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little") + + @property + def w_sta_tcp_vel(self) -> list: + res = self.c.read_holding_registers(41127, count=14) + return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little") + + @property + def w_sta_tcp_vel_mag(self): + res = self.c.read_holding_registers(41141, count=2) + return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little") + + def io_write_coils(self, addr, value: bool): + # e.g. io_write_coils(0, 1) 给0号DI赋值为1 + self.c.write_coils(addr, [value, ]) + logger.info(f"md: 执行给DI地址{addr}赋值为{value}") + + def io_read_coils(self): + res = self.c.read_coils(0, count=16).bits + logger.info(f"md: 执行读取所有DI的结果为{res}") + return res + + def io_read_discretes(self): + res = self.c.read_discrete_inputs(0, count=16).bits + logger.info(f"md: 执行读取所有DO的结果为{res}") + return res + + +class EcRequest: + def __init__(self): + self.c = None + self.exec_desc = " :--: true表示执行成功，false表示执行失败" + self.sock_conn() + + def sock_conn(self): + try: + self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.c.setblocking(False) + self.c.settimeout(clibs.interval*3) + self.c.connect((clibs.ip_addr, clibs.external_port)) + logger.success(f"ec: 外部通信连接成功") + except Exception as e: + logger.success(f"ec: 外部通信连接失败 -- {e}") + raise Exception() + + def sr_string(self, directive, description, more_desc=""): + self.s_string(directive) + time.sleep(clibs.interval/2) + result = self.r_string() + logger.info(f"ec: 执行{description}指令是{directive}，返回值为{result}{more_desc}") + return result + + def s_string(self, directive: str): + cmd = "".join([directive, clibs.suffix]) + self.c.send(cmd.encode()) + + def r_string(self): + result = self.c.recv(10240).decode().strip() + return result + + # =================================== ↓↓↓ specific functions ↓↓↓ =================================== + def motor_on(self): # auto | manual + return self.sr_string("motor_on", "机器人上电", self.exec_desc) + + def motor_off(self): # auto | manual + return self.sr_string("motor_off", "机器人下电", self.exec_desc) + + def pp_to_main(self): # auto + return self.sr_string("pp_to_main", "程序pptomain", self.exec_desc) + + def program_start(self): # auto + return self.sr_string("start", "程序启动(必要时需清告警)", self.exec_desc) + + def program_stop(self): # auto + return self.sr_string("stop", "程序停止", self.exec_desc) + + def clear_alarm(self): # auto | manual + return self.sr_string("clear_alarm", "清除伺服报警", self.exec_desc) + + def switch_operation_auto(self): # auto | manual + return self.sr_string("switch_mode:auto", "切换到自动模式", self.exec_desc) + + def switch_operation_manual(self): # auto | manual + return self.sr_string("switch_mode:manual", "切换到手动模式", self.exec_desc) + + def open_drag_mode(self): # manual + return self.sr_string("open_drag", "打开拖动", self.exec_desc) + + def close_drag_mode(self): # manual + return self.sr_string("close_drag", "关闭拖动", self.exec_desc) + + def get_project_list(self): # auto | manual + return self.sr_string("list_prog", "获取工程列表") + + def get_current_project(self): # auto | manual + return self.sr_string("current_prog", "当前工程") + + def load_project(self, project_name): # auto | manual + return self.sr_string(f"load_prog:{project_name}", "加载工程", self.exec_desc) + + def estop_reset(self): # auto | manual | 复原外部 IO 急停和安全门急停，前提是硬件已复原 + return self.sr_string("estop_reset", "急停复位", self.exec_desc) + + def estopreset_and_clearalarm(self): # auto | manual | 外部 IO/安全门急停/安全碰撞告警都可以清除，前提是硬件已复原 + return self.sr_string("estopreset_and_clearalarm", "急停复位并清除报警", self.exec_desc) + + def motoron_pp2main_start(self): # auto | manual + return self.sr_string("motoron_pptomain_start", "依次执行上电，程序指针到main，启动程序(必要时需清告警)", self.exec_desc) + + def motoron_start(self): # auto | manual + return self.sr_string("motoron_start", "依次执行上电，启动程序(必要时需清告警)", self.exec_desc) + + def pause_motoroff(self): # auto | manual + return self.sr_string("pause_motoroff", "暂停程序并下电", self.exec_desc) + + def set_program_speed(self, speed: int = 20): # auto | manual | 1-100 + return self.sr_string(f"set_program_speed:{speed}", "设置程序运行速率(滑块)", self.exec_desc) + + def set_soft_estop(self, enable: str): # auto | manual + return self.sr_string(f"set_soft_estop:{enable}", "触发(true)/解除(false)机器人软急停", self.exec_desc) + + def switch_auto_motoron(self): # auto | manual + return self.sr_string("switch_auto_motoron", "切换自动模式并上电", self.exec_desc) + + def open_safe_region(self, number: int): # auto | manual | 1-10 + return self.sr_string(f"open_safe_region:{number}", f"打开第 {number} 个安全区域(信号控制开关需打开)", self.exec_desc) + + def close_safe_region(self, number: int): # auto | manual | 1-10 + return self.sr_string(f"close_safe_region:{number}", f"关闭第 {number} 个安全区域(信号控制开关需打开)", self.exec_desc) + + def open_reduced_mode(self): # auto | manual + return self.sr_string("open_reduced_mode", "开启缩减模式", self.exec_desc) + + def close_reduced_mode(self): # auto | manual + return self.sr_string("close_reduced_mode", "关闭缩减模式", self.exec_desc) + + def setdo_value(self, do_name: str, do_value: str): # - | do_value 为 true/false + return self.sr_string(f"setdo:{do_name},{do_value}", f"设置 {do_name} 的值为 {do_value} ", self.exec_desc) + + def set_robot_time(self, robot_time: str = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime())): # auto | manual | YY-mm-dd HH:MM:SS + return self.sr_string(f"set_robot_time:{robot_time}", f"修改控制器和示教器的时间为 {robot_time} 的", self.exec_desc) + + # -------------------------------------------------------------------------------------------------- + @property + def motor_on_state(self): # auto | manual + return self.sr_string("motor_on_state", "获取上电状态", " :--: 返回true表示已上电，false表示已下电") + + @property + def robot_running_state(self): # auto | manual | 只针对运动任务和常规任务 + return self.sr_string("robot_running_state", "获取程序运行状态", " :--: 返回true表示正在运行，false表示未运行") + + @property + def estop_state(self): # auto | manual | 只表示外部急停，安全门触发不会返回true，只要有急停标识E字母，且非软急停就会返回true + return self.sr_string("estop_state", "急停状态", " :--: 返回true表示处于急停状态，false表示非急停") + + @property + def operation_mode(self): # auto | manual + return self.sr_string("operating_mode", "获取工作模式", " :--: 返回true表示自动模式，false手动模式") + + @property + def home_state(self): # # auto | manual | 需要设置一下 "HMI 设置->快速调整" + return self.sr_string("home_state", "获取HOME输出状态", " :--: 返回true表示法兰中心处于HOME点，false 未处于HOME点") + + @property + def fault_state(self): # - + return self.sr_string("fault_state", "获取 故障状态", " :--: 返回true表示处于故障状态，false表示非故障状态") + + @property + def collision_state(self): # - + return self.sr_string("collision_state", "获取碰撞触发状态", " :--: 返回true表示碰撞已触发，false表示未触发") + + @property + def task_state(self): # auto | manual | 只适用于运动任务和常规任务 + return self.sr_string("task_state", "获取机器人运行任务状态", " :--: 返回program表示任务正在运行，ready表示未运行") + + @property + def get_cart_pos(self): # auto | manual | cart_pos/cart_pos_name都可以正常返回，区别在于前者直接返回value，后者返回的是"cart_pos" : value的形式 + return self.sr_string("cart_pos", "获取笛卡尔位置") + + @property + def get_joint_pos(self): # auto | manual | jnt_pos/jnt_pos_name都可以正常返回，区别在于前者直接返回value，后者返回的是"joint_pos" : value的形式 + return self.sr_string("jnt_pos", "获取轴位置") + + @property + def get_joint_vel(self): # auto | manual | jnt_vel/jnt_vel_name都可以正常返回，区别在于前者直接返回value，后者返回的是"jnt_vel" : value的形式 + return self.sr_string("jnt_vel", "获取轴速度") + + @property + def get_joint_trq(self): # auto | manual | jnt_trq/jnt_trq_name都可以正常返回，区别在于前者直接返回value，后者返回的是"jnt_trq" : value的形式 + return self.sr_string("jnt_trq", "获取轴力矩") + + @property + def reduced_mode_state(self): # auto | manual + return self.sr_string("reduced_mode_state", "获取缩减模式状态", " :--: 返回true表示缩减模式，false表示非缩减模式") + + def get_io_state(self, io_list: str): # - | DO0_0,DI1_3,DO2_5，不能有空格 + return self.sr_string(f"io_state:{io_list}", "获取 IO 状态值") + + @property + def alarm_state(self): # auto | manual + return self.sr_string("alarm_state", "获取报警状态", " :--: 返回true表示当前有告警，false 没有告警") + + @property + def collision_alarm_state(self): # - + return self.sr_string("collision_alarm_state", "获取碰撞报警状态", " :--: 返回true表示有碰撞告警，false表示没有碰撞告警") + + @property + def collision_open_state(self): # auto | manual + return self.sr_string("collision_open_state", "获取碰撞检测开启状态", " :--: 返回true表示已开启碰撞检测，false表示未开启") + + @property + def controller_is_running(self): # auto | manual + return self.sr_string("controller_is_running", "判断控制器是否开机", " :--: 返回true表示控制器正在运行，false表示未运行") + + @property + def encoder_low_battery_state(self): # auto | manual + return self.sr_string("encoder_low_battery_state", "编码器低电压报警状态", " :--: 返回true表示编码器处于低电压状态，false表示电压正常") + + @property + def robot_error_code(self): # auto | manual + return self.sr_string("robot_error_code", "获取机器人错误码") + + @property + def rl_pause_state(self): # - + # 0 -- 初始化状态，刚开机上电时 + # 1 -- RL 运行中 + # 2 -- HMI 暂停 + # 3 -- 系统 IO 暂停 + # 4 -- 寄存器功能码暂停 + # 5 -- 外部通讯暂停 + # 6 -- + # 7 -- Pause 指令暂停 + # 8 -- + # 9 -- + # 10 -- 外部 IO 急停 + # 11 -- 安全门急停 + # 12 -- 其他因素停止，比如碰撞检测 + return self.sr_string("program_full", "获取RL的暂停状态", " :--: 返回值含义详见功能定义") + + @property + def program_reset_state(self): # auto | manual + return self.sr_string("program_reset_state", "获取程序复位状态", " :--: 返回true表示指针指向main，false表示未指向main") + + @property + def program_speed_value(self): # auto | manual | 速度滑块 + return self.sr_string("program_speed", "获取程序运行速度") + + @property + def robot_is_busy(self): # auto | manual | 触发条件为 pp2main/重载工程/推送到控制器，最好测试工程大一些，比较容易触发 + return self.sr_string("robot_is_busy", "获取程序忙碌状态", " :--: 返回1表示控制器忙碌，0表示非忙碌状态") + + @property + def robot_is_moving(self): # auto | manual + return self.sr_string("robot_is_moving", "获取程序运行状态", " :--: 返回true表示机器人正在运动，false未运动") + + @property + def safe_door_state(self): # - + return self.sr_string("safe_door_state", "获取安全门状态", " :--: 返回true表示安全门已触发，false表示未触发") + + @property + def soft_estop_state(self): # auto | manual + return self.sr_string("soft_estop_state", "获取软急停状态", " :--: 返回true表示软急停已触发，false表示未触发") + + @property + def get_cart_vel(self): # auto | manual + return self.sr_string("cart_vel", "获取笛卡尔速度") + + @property + def get_tcp_pos(self): # auto | manual + return self.sr_string("tcp_pose", "获取TCP位姿") + + @property + def get_tcp_vel(self): # auto | manual + return self.sr_string("tcp_vel", "获取TCP速度") + + @property + def get_tcp_vel_mag(self): # auto | manual + return self.sr_string("tcp_vel_mag", "获取TCP合成线速度") + + @property + def ext_estop_state(self): # - + return self.sr_string("ext_estop_state", "获取外部轴急停状态", " :--: 返回true表示外部轴急停已触发，false表示未触发") + + @property + def hand_estop_state(self): # - + return self.sr_string("hand_estop_state", "获取手持急停状态", " :--: 返回true表示手持急停已触发，false表示未触发") + + @property + def sta_on_path(self): # auto | manual + return self.sr_string("sta_on_path", "获取当前坐标是否在路径上", " :--: 返回true表示在规划路径上，false表示不在规划路径上") + + @property + def sta_near_path(self): # - + return self.sr_string("sta_near_path", "获取当前坐标是否在路径附近", " :--: 返回true表示在规划路径附近，false表示不在规划路径附近") + + +class PreDos(object): + def __init__(self): + self.__ssh = None + self.__sftp = None + + def __ssh2server(self): + try: + self.__ssh = SSHClient() + self.__ssh.set_missing_host_key_policy(AutoAddPolicy()) + self.__ssh.connect(hostname=clibs.ip_addr, port=clibs.ssh_port, username=clibs.username, password=clibs.password) + self.__sftp = self.__ssh.open_sftp() + # logger.success("pd: SSH连接成功") + except Exception as e: + logger.error(f"pd: SSH无法连接，需检查网络连通性或者登录信息是否正确 -- {e}") + raise Exception() + + def push_prj_to_server(self, prj_file): + # prj_file：工程的本地完整路径 + self.__ssh2server() + prj_name, postfix = os.path.basename(prj_file).split(".") + self.__sftp.put(prj_file, f"/tmp/{prj_name}.zip") + cmd = f"cd /tmp; mkdir {prj_name}; unzip -q {prj_name}.zip; rm -rf /tmp/{prj_name}.zip; " + cmd += f"sudo rm -rf /home/luoshi/bin/controller/projects/{prj_name}; " + cmd += f"sudo mv /tmp/{prj_name}/ /home/luoshi/bin/controller/projects/" + stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True) + stdin.write(clibs.password + "\n") + _ = stdout.read().decode() # 需要read一下才能正常执行 + _ = stderr.read().decode() + self.__ssh.close() + + def pull_prj_from_server(self, prj_name, local_prj_path): + # prj_name：要拉取的服务端工程名 + # local_prj_path：存放工程文件的本地路径 + self.__ssh2server() + cmd = f"cd /tmp/; sudo rm -rf {prj_name}*; sudo cp -rf /home/luoshi/bin/controller/projects/{prj_name} .; " + cmd += f"sudo zip -q -r {prj_name}.zip {prj_name}/; sudo rm -rf {prj_name}" + stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True) + stdin.write(clibs.password + "\n") + _ = stdout.read().decode() + _ = stderr.read().decode() + + self.__sftp.get(f"/tmp/{prj_name}.zip", f"{local_prj_path}/{prj_name}.zip") + cmd = f"sudo rm -rf /tmp/{prj_name}.zip" + stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True) + stdin.write(clibs.password + "\n") + _ = stdout.read().decode() + _ = stderr.read().decode() + + self.__ssh.close() + + def push_file_to_server(self, local_file, server_file): + # local_file：本地文件完整路径 + # server_file：服务端文件完整路径 + self.__ssh2server() + filename = os.path.basename(local_file) + self.__sftp.put(local_file, f"/tmp/{filename}") + cmd = f"sudo mv /tmp/{filename} {server_file}" + stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True) + stdin.write(clibs.password + "\n") + _ = stdout.read().decode() # 需要read一下才能正常执行 + _ = stderr.read().decode() + self.__ssh.close() + + def pull_file_from_server(self, server_file, local_file): + # local_file：本地文件完整路径 + # server_file：服务端文件完整路径 + self.__ssh2server() + cmd = f"sudo cp {server_file} /tmp/" + stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True) + stdin.write(clibs.password + "\n") + _ = stdout.read().decode() # 需要read一下才能正常执行 + _ = stderr.read().decode() + + filename = server_file.split("/")[-1] + self.__sftp.get(f"/tmp/{filename}", f"{local_file}") + cmd = f"sudo rm -rf /tmp/{filename}" + stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True) + stdin.write(clibs.password + "\n") + _ = stdout.read().decode() # 需要read一下才能正常执行 + _ = stderr.read().decode() + self.__ssh.close() + + +class RobotInit(object): + def __init__(self): + self.pd = PreDos() + self.hr = HmiRequest() + + def robot_init(self): + # 推送配置文件 + msg_id = self.hr.exec_cmd("controller.get_params") + record = self.hr.get_from_id(msg_id) + robot_params = eval(record) + robot_type = robot_params["data"]["robot_type"] + security_type = robot_params["data"]["security_type"] + controller_type = robot_params["data"]["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 = [ + f"{clibs.base_path}/assets/confs/fieldbus_device.json", + f"{clibs.base_path}/assets/confs/registers.json", + f"{clibs.base_path}/assets/confs/registers.xml" + ] + for config_file in config_files: + filename = os.path.basename(config_file) + self.pd.push_file_to_server(config_file, f"{user_settings}/{filename}") + self.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_file_local = f"{io_device_file}" + io_device_file_local_tmp = f"{io_device_file}_tmp" + io_device_file_server = f"{user_settings}/{io_device_file}" + self.pd.pull_file_from_server(io_device_file_server, 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, separators=(",", ":"), indent=4) + self.pd.push_file_to_server(io_device_file_local_tmp, f"{user_settings}/{io_device_file}") + self.pd.push_file_to_server(io_device_file_local_tmp, f"{interactive_data}/{io_device_file}") + try: + os.remove(io_device_file_local) + os.remove(io_device_file_local_tmp) + except FileNotFoundError: + pass + self.hr.exec_cmd("fieldbus_device.load_cfg") + self.hr.exec_cmd("fieldbus_device.set_params", device_name="autotest", enable=True) + self.hr.exec_cmd("io_device.load_cfg") + self.hr.exec_cmd("modbus.load_cfg") + + def fw_updater(self, fw_file): + """ + :param fw_file: xCore升级文件/机型文件的绝对路径 + :return: None + """ + + def get_xcore_version(): + msg_id = self.hr.exec_cmd("controller.get_params") + record = self.hr.get_from_id(msg_id) + self.hr.close() + return eval(record)["data"]["version"] + + conn = None + try: + conn = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + conn.setblocking(False) + conn.settimeout(clibs.interval * 3) + conn.connect((clibs.ip_addr, clibs.upgrade_port)) + logger.success(f"ri: 升级服务连接成功") + except Exception as e: + logger.error(f"ri: 升级服务连接失败\n{e}") + + previous_version = get_xcore_version() + fw_size = os.path.getsize(fw_file) # Byte + remote_file_path = "./upgrade/lircos.zip" + fw_content = package_data = package_data_with_head = b"" + + # construct package data: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634148 + # 1 protocol id + protocol_id = int(0).to_bytes(length=2) + # 2 write type + write_type = int(0).to_bytes(length=1) + # 6 file + with open(fw_file, "rb") as f_fw: + fw_content += f_fw.read() + # 3 md5 + md5_hash = hashlib.md5() + md5_hash.update(fw_content) + fw_md5 = bytes.fromhex(md5_hash.hexdigest()) + # 4 remote file path len + remote_file_path_len = len(remote_file_path).to_bytes(length=2) + # 5 remote path + remote_path = remote_file_path.encode() + # 7 组包，注意顺序 + package_data += (protocol_id + write_type + fw_md5 + remote_file_path_len + remote_path + fw_content) + # construct communication protocol: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634045 + # 1 get package data with header + package_size = len(package_data).to_bytes(length=4) + package_type = int(1).to_bytes() # 0-无协议 1-文件 2-json + package_reserve = int(0).to_bytes() # 预留位 + package_data_with_head += (package_size + package_type + package_reserve + package_data) + # 2 send data to server + logger.info("ri: 正在发送数据到xCore......") + 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 = conn.send((package_data_with_head[start:end])) + # time.sleep(0.01) + if sent == 0: + raise RuntimeError("socket connection broken") + else: + start += sent + + if fw_size > 1000000: # 1MB + self.hr = HmiRequest() + current_version = get_xcore_version() + logger.success(f"update firmware: 控制器升级成功：from {previous_version} to {current_version} :)") + else: + logger.success(f"update firmware: 配置文件升级成功 :)") + + conn.close() + + +class UpgradeRequest: + """ + http://confluence.i.rokae.com/pages/viewpage.action?pageId=21531754 + """ + def __init__(self): + self.c = None + self.sock_conn() + + def sock_conn(self): + try: + self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.c.setblocking(False) + self.c.settimeout(clibs.interval*3) + self.c.connect((clibs.ip_addr, clibs.upgrade_port)) + logger.success(f"ur: 升级协议通信连接成功") + except Exception as e: + logger.error(f"ur: 升级协议通信连接失败 -- {e}") + raise Exception() + + def s_pkg(self, command: dict): + cmd = json.dumps(command, separators=(",", ":")).encode("utf-8") + package_size = len(cmd).to_bytes(length=4) + package_type = int(2).to_bytes() + reserved_byte = int(0).to_bytes() + pkg = package_size + package_type + reserved_byte + cmd + self.c.send(pkg) + + def r_pkg(self): + try: + res = self.c.recv(10240)[8:].decode() + except Exception as e: + res = e + return res + + def sr_pkg(self, command: dict): + self.s_pkg(command) + time.sleep(clibs.interval/2) + res = self.r_pkg() + logger.info(f"upgrade: 请求命令 {str(command)} 的返回信息：\n{res}") + + def erase_cfg(self): # OK 抹除配置，重启后生效 + self.sr_pkg({"cmd": "erase"}) + + def clear_rubbish(self): # OK 清理垃圾 + self.sr_pkg({"cmd": "clearRubbish"}) + + def soft_reboot(self): # OK 重启xCore + self.sr_pkg({"cmd": "soft_reboot"}) + + def version_query(self): # OK 查询升级程序版本信息 + self.sr_pkg({"query": "version"}) + + def robot_reboot(self): # OK 重启系统 + self.sr_pkg({"cmd": "reboot"}) + + def backup_origin(self): # OK 生成备份 + self.sr_pkg({"cmd": "backup_origin"}) + + def origin_recovery(self): # OK 恢复备份，恢复后手动设置，并重启生效 + self.sr_pkg({"cmd": "recover"}) diff --git a/rokae/testbench.py b/rokae/testbench.py new file mode 100644 index 0000000..9d655b2 --- /dev/null +++ b/rokae/testbench.py @@ -0,0 +1,57 @@ +from codes import openapi, clibs +import time +from pathlib import Path +import os + + +# =================================================================================== +# hr = openapi.HmiRequest() +# time.sleep(2) +# hr.close() +# msg_id = hr.exec_cmd("controller.get_params") +# record = hr.get_from_id(msg_id) +# print(f"version = {eval(record)['data']['version']}") + +# =================================================================================== +# ur = openapi.UpgradeRequest() +# ur.version_query() +# ur.robot_reboot() + +# =================================================================================== +# ec = openapi.EcRequest() +# _ = ec.get_cart_pos +# ec.close_reduced_mode() +# ec.collaboration_state + +# =================================================================================== +# pd = openapi.PreDos() +# downloads = str(Path.home()) + "\\Downloads\\" +# downloads = r"C:\Users\Administrator\Downloads" +# downloads = "C:/Users/Administrator/Downloads" +# pd.pull_prj_from_server("testM", downloads) + +# local_prj = downloads + "/aio.db" +# pd.push_prj_to_server(local_prj) + +# local_file = downloads + "/aio.sh" +# server_file = "/root/detect_rc_local.sh--111" +# server_file = "/tmp/aio.txt" +# pd.push_file_to_server(local_file, server_file) +# pd.pull_file_from_server(server_file, local_file) + +# =================================================================================== +# md = openapi.ModbusRequest() +# _ = md.w_sta_tcp_vel +# print(_) + +# =================================================================================== +# ri = openapi.RobotInit() +# ri.robot_init() +# ri.fw_updater("C:/Users/Administrator/Downloads/FW/v3.1.1.rpa") +# ri.fw_updater("C:/Users/Administrator/Downloads/FW/v3.1.0.16.rpa") +# ri.fw_updater("C:/Users/Administrator/Downloads/XMS3-R580-W4G3C2_ME_AE_SS_xC.v3.1.0.R0.rpa") +# =================================================================================== + + + +