1132 lines
49 KiB
Python
1132 lines
49 KiB
Python
import json
|
||
import socket
|
||
import time
|
||
import os
|
||
import selectors
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||
import threading
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||
from datetime import datetime
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||
import hashlib
|
||
from typing import Callable, Dict
|
||
|
||
from loguru import logger
|
||
from pymodbus.client.tcp import ModbusTcpClient
|
||
from paramiko import SSHClient, AutoAddPolicy
|
||
import plotly.graph_objects as go
|
||
|
||
from codes import clibs
|
||
|
||
|
||
class HmiRequest:
|
||
def __init__(self):
|
||
self.c: socket.socket
|
||
self.c_xs: socket.socket
|
||
self.t_rx_pkg: threading.Thread
|
||
self.t_rx_pkg_xs: threading.Thread
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||
self.t_s_heart: threading.Thread
|
||
self.data = self.data_xs = b""
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||
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)
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||
self.c_xs.settimeout(clibs.interval * 3)
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||
self.c_xs.connect((clibs.ip_addr, clibs.xService_port))
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||
self.c_xs.setblocking(False)
|
||
for _ in range(3):
|
||
_ = self.exec_cmd("controller.heart")
|
||
time.sleep(clibs.interval/4)
|
||
count += 1
|
||
if count > 3:
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||
logger.success("hr: HMI connection success")
|
||
break
|
||
except Exception as e:
|
||
clibs.to_logdb("error", "HmiRequest", str(e))
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||
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,))
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||
self.t_rx_pkg_xs.daemon = True
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||
self.t_rx_pkg_xs.start()
|
||
self.t_s_heart = threading.Thread(target=self.s_heart)
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self.t_s_heart.daemon = True
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self.t_s_heart.start()
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||
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||
def close(self):
|
||
self.is_connected = False
|
||
time.sleep(clibs.interval)
|
||
try:
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||
self.c.close()
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||
self.c_xs.close()
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||
except Exception as e:
|
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clibs.to_logdb("error", "HmiRequest", str(e))
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||
finally:
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logger.info("hr: HMI connection has been disconnected")
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def s_heart(self):
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while self.is_connected:
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self.exec_cmd("controller.heart")
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time.sleep(clibs.interval)
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||
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||
@staticmethod
|
||
def tx_pkg(cmd):
|
||
frm = (len(cmd) + 6).to_bytes(length=2)
|
||
pkg = len(cmd).to_bytes(length=4)
|
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protocol = int(2).to_bytes()
|
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reserved = int(0).to_bytes()
|
||
return frm + pkg + protocol + reserved + cmd.encode()
|
||
|
||
@staticmethod
|
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def tx_pkg_xs(cmd):
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return "".join([cmd, "\r"]).encode()
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||
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def rx_pkg(self, sock):
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||
def to_read(conn, mask):
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data = conn.recv(clibs.MAX_RECEIVED_SIZE)
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if data:
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ip, port = sock.getpeername()
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func_dict[port](data)
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||
|
||
else:
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||
sel.unregister(conn)
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||
conn.close()
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||
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func_dict: Dict[int, Callable[[bytes], None]] = {clibs.socket_port: self.get_response, clibs.xService_port: self.get_response_xs}
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try:
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sel = selectors.DefaultSelector()
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sel.register(sock, selectors.EVENT_READ, to_read)
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while self.is_connected:
|
||
events = sel.select()
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for key, mask in events:
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callback = key.data
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callback(key.fileobj, mask)
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except Exception as e:
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||
clibs.to_logdb("error", "HmiRequest", str(e))
|
||
|
||
def get_response(self, data: bytes) -> None:
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def get_valid_data():
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nonlocal record, frm_number, pkg_number
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valid_data, is_first_frame = b"", True
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||
while len(record) != 0:
|
||
if is_first_frame is True:
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is_first_frame = False
|
||
valid_data += record[8:8 + frm_number - 6]
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record = record[8 + frm_number - 6:]
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||
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frm_number = int.from_bytes(record[:2])
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valid_data += record[2:2 + frm_number]
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record = record[2 + frm_number:]
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else:
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if len(valid_data) != pkg_number:
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logger.error("hr: 数据校验失败，解包有误，需要检查！")
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raise Exception()
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||
return str(json.loads(valid_data.decode()))
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||
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self.data += data
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frm_number = int.from_bytes(self.data[0:2])
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pkg_number = int.from_bytes(self.data[2:6])
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protocol = int.from_bytes(self.data[6:7])
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reserved = int.from_bytes(self.data[7:8])
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if frm_number == pkg_number + 6 and protocol == 2 and reserved == 0:
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record_len = pkg_number+8
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record, self.data = self.data[:record_len], self.data[record_len:]
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clibs.to_logdb("debug", "HmiRequest", str(json.loads(record[8:].decode())))
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elif frm_number == clibs.max_frame_size and pkg_number > clibs.max_frame_size - 8 and protocol == 2 and reserved == 0:
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one_or_zero = 1 if (pkg_number - 1018) % clibs.max_frame_size > 0 else 0
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record_len = pkg_number + 8 + ((pkg_number - 1018) // clibs.max_frame_size + one_or_zero) * 2
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if len(self.data) < record_len:
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return
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record, self.data = self.data[:record_len], self.data[record_len:]
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clibs.to_logdb("debug", "HmiRequest", get_valid_data())
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else:
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||
logger.critical(f"hr: 其他未考虑到的情况：data = {self.data}")
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raise Exception()
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||
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||
def get_response_xs(self, data: bytes) -> None:
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self.data_xs += data
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res = self.data_xs.split(b"\r", 1)
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if len(res) != 2:
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return
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record, self.data_xs = res
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clibs.to_logdb("debug", "HmiRequest", str(json.loads(record)))
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||
|
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@staticmethod
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||
def get_from_id(msg_id: str) -> str:
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f_text, flag, records, time_delay = f"%{msg_id}%", False, "Null", clibs.interval*10
|
||
cmd, ts = msg_id.split("@")
|
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t = ts.replace("T", " ")
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t_ts = datetime.timestamp(datetime.strptime(t, "%Y-%m-%d %H:%M:%S.%f"))
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t_send = datetime.strftime(datetime.fromtimestamp(t_ts-time_delay), "%Y-%m-%d %H:%M:%S.%f")
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t_receive = datetime.strftime(datetime.fromtimestamp(t_ts+time_delay), "%Y-%m-%d %H:%M:%S.%f")
|
||
for idx in range(time_delay):
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||
time.sleep(clibs.interval)
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||
try:
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clibs.lock.acquire(True)
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clibs.cursor.execute(f"SELECT content FROM logs WHERE timestamp BETWEEN '{t_send}' AND '{t_receive}' AND content LIKE '{f_text}'")
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||
records = clibs.cursor.fetchall()
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flag = True if len(records) == 1 else False
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finally:
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clibs.lock.release()
|
||
if flag is True:
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return records[0][0]
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else:
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logger.error(f"hr: {time_delay}s内无法找到请求 {msg_id} 的响应！")
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# raise Exception()
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||
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def exec_cmd(self, cmd: str, **kwargs):
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try:
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with open(f"{clibs.base_path}/assets/protocols/{cmd}.json", mode="r", encoding="utf-8") as f_cmd:
|
||
req = json.load(f_cmd)
|
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t = datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")
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req["id"] = f"{cmd}@{t}"
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p_type = req["p_type"]
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||
del req["p_type"]
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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}")
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raise Exception()
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||
|
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if cmd in ["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"]:
|
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req["data"].update(kwargs)
|
||
elif cmd in ["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)
|
||
elif cmd in ["log_code.data.code_list"]:
|
||
req["s"]["log_code.data"]["code_list"] = kwargs["code_list"]
|
||
else:
|
||
pass
|
||
|
||
cmd = json.dumps(req, separators=(",", ":"))
|
||
if p_type == 0:
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||
self.c.send(self.tx_pkg(cmd))
|
||
elif p_type == 1:
|
||
self.c_xs.send(self.tx_pkg_xs(cmd))
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||
else:
|
||
raise Exception("Unexpected CMD Input")
|
||
|
||
time.sleep(clibs.interval/4)
|
||
return req["id"]
|
||
|
||
|
||
class ModbusRequest:
|
||
def __init__(self):
|
||
self.c: ModbusTcpClient
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self.sock_conn()
|
||
|
||
def sock_conn(self):
|
||
self.c = ModbusTcpClient(host=clibs.ip_addr, port=clibs.modbus_port)
|
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if self.c.connect():
|
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logger.success(f"md: Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) success!")
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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)
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self.c.write_register(addr, 1)
|
||
time.sleep(clibs.interval/4)
|
||
self.c.write_register(addr, 0)
|
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logger.info(f"md: {addr}-010 执行{desc}的操作")
|
||
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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_on(self):
|
||
self.__reg_high_pulse(40004, "上电")
|
||
|
||
def r_motor_off(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: socket.socket
|
||
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: str):
|
||
# 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: str, local_prj_path: str):
|
||
# 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: str, server_file: str):
|
||
# 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: str, local_file: str):
|
||
# 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, hr: HmiRequest, pd: PreDos):
|
||
self.hr: HmiRequest = hr
|
||
self.pd: PreDos = pd
|
||
|
||
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: str):
|
||
"""
|
||
: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: socket.socket
|
||
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"})
|
||
|
||
|
||
class PlotTrajectory:
|
||
# hw_cart_pos_feedback_motorside：笛卡尔空间下电机侧位置反馈，单位m,rad
|
||
# hw_cart_pos_feedback_linkside：笛卡尔空间下连杆侧位置反馈，单位m,rad
|
||
# hw_cart_pos_feedback_encoder_tcp_in_world：笛卡尔位置反馈（关节端编码器数据），单位m,rad
|
||
# hw_cart_pos_feedback_flan_in_world：笛卡尔位置反馈（法兰相对于世界坐标系）
|
||
# hw_cart_pos_feedback_tcp_in_world：笛卡尔位置反馈（tcp相对于世界坐标系）
|
||
def __init__(self, hr: HmiRequest, md: ModbusRequest, prj_name: str, tasks: list, curve_name: str = "hw_cart_pos_feedback_tcp_in_world"):
|
||
self.hr: HmiRequest = hr
|
||
self.md: ModbusRequest = md
|
||
self.curve_name: str = curve_name
|
||
self.prj_name: str = prj_name
|
||
self.tasks: list = tasks
|
||
|
||
def __change_curve_state(self, stat):
|
||
if not stat:
|
||
display_pdo_params = [{"name": "count", "channel": 0}]
|
||
else:
|
||
display_pdo_params = [{"name": self.curve_name, "channel": chl} for chl in range(3)]
|
||
self.hr.exec_cmd("diagnosis.set_params", display_pdo_params=display_pdo_params)
|
||
self.hr.exec_cmd("diagnosis.open", open=stat, display_open=stat)
|
||
|
||
def __plot_trajectory(self, start_time, end_time):
|
||
x, y, z = [], [], []
|
||
try:
|
||
clibs.lock.acquire(True)
|
||
clibs.cursor.execute(f"SELECT content FROM logs WHERE timestamp BETWEEN '{start_time}' AND '{end_time}' AND content LIKE '%diagnosis.result%' ORDER BY id ASC")
|
||
records = clibs.cursor.fetchall()
|
||
finally:
|
||
clibs.lock.release()
|
||
|
||
for record in records:
|
||
data = eval(record[0])["data"]
|
||
for item in data:
|
||
item_rm = [x * 1000 for x in reversed(item["value"])]
|
||
# item_rm = item["value"]
|
||
if item.get("channel", None) == 0 and item.get("name", None) == self.curve_name:
|
||
x.extend(item_rm)
|
||
elif item.get("channel", None) == 1 and item.get("name", None) == self.curve_name:
|
||
y.extend(item_rm)
|
||
elif item.get("channel", None) == 2 and item.get("name", None) == self.curve_name:
|
||
z.extend(item_rm)
|
||
|
||
# pyplot
|
||
trace_path = go.Scatter3d(x=x, y=y, z=z, mode="lines", line=dict(color="blue", width=4), name="运动轨迹")
|
||
trace_start = go.Scatter3d(x=[x[0]], y=[y[0]], z=[z[0]], mode="markers+text", marker=dict(color="green", size=8), text=["起点"], textposition="top center", name="起点")
|
||
trace_end = go.Scatter3d(x=[x[-1]], y=[y[-1]], z=[z[-1]], mode="markers+text", marker=dict(color="red", size=8), text=["终点"], textposition="bottom center", name="终点")
|
||
fig = go.Figure(data=[trace_path, trace_start, trace_end])
|
||
fig.write_html("trajectory.html", auto_open=False)
|
||
|
||
fig.update_layout(
|
||
scene=dict(
|
||
xaxis_title="X",
|
||
yaxis_title="Y",
|
||
zaxis_title="Z"
|
||
),
|
||
margin=dict(l=0, r=0, b=0, t=30),
|
||
legend=dict(x=0, y=1),
|
||
dragmode="orbit"
|
||
)
|
||
|
||
fig.show(config={"scrollZoom": True})
|
||
|
||
def draw_traj(self):
|
||
self.md.r_soft_estop(True)
|
||
self.md.r_reset_estop_clear_alarm()
|
||
self.md.r_switch_auto()
|
||
self.md.r_motor_on()
|
||
|
||
self.__change_curve_state(True)
|
||
self.hr.exec_cmd("overview.reload", prj_path=f"{self.prj_name}/_build/{self.prj_name}.prj", tasks=self.tasks)
|
||
self.hr.exec_cmd("rl_task.set_run_params", loop_mode=False, override=1.0)
|
||
self.hr.exec_cmd("rl_task.pp_to_main", tasks=self.tasks)
|
||
self.hr.exec_cmd("rl_task.run", tasks=self.tasks)
|
||
|
||
t_start = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
|
||
time.sleep(clibs.interval)
|
||
while self.md.w_sta_robot_is_moving:
|
||
time.sleep(clibs.interval * 10)
|
||
time.sleep(clibs.interval * 5)
|
||
t_end = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
|
||
self.__change_curve_state(False)
|
||
|
||
self.__plot_trajectory(t_start, t_end)
|