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修复了两个bug，详见readme

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gitea
2024-07-01 19:06:18 +08:00
parent ad4b6ae8d6
commit 4e4d760db4
4 changed files with 35 additions and 9 deletions
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5
aio/README.md
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@@ -381,10 +381,13 @@ v0.1.7.2(2024/06/30)
4. 增加了解包原理性文档
v0.1.7.3(2024/07/01)
1. [APIs: openapi.py] 继续完善封包解包操作，并优化了所有调试信息，默认打开状态，直到bug数量明显减少
1. [APIs: openapi.py]
- 继续完善封包解包操作，并优化了所有调试信息，默认打开状态，直到bug数量明显减少
- 修复了两个bug，删除了一个多余的break，另一个是补齐了self.broke的重置
2. [APIs: do_current.py] 使用原工程的工程名进行move操作，语义更加明确
> 目前看openapi.py封包解包没有任何问题了，但是所有的调试信息都默认打开，以便可以第一时间保留现场
> 打开诊断，跑了10多分钟，共计解包没有报错，应该是没有问题了

27
aio/assets/templates/c_msg.log Normal file
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@@ -0,0 +1,27 @@
{'command': 'alarm.report', 'data': {'id': 10020, 'level': 'warning', 'msg': False, 'title': '拒绝新示教器连接[2024-07-01 16:29:26]'}, 'module': 'system'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822570.4244733'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822567.92287'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822565.4212413'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822562.9190633'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822560.4154985'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822557.913359'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822555.4105828'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822552.9065998'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822550.4040146'}
{'command': 'alarm.report', 'data': {'id': 10135, 'level': 'info', 'msg': False, 'title': '切换热插拔模式成功[2024-07-01 16:29:03]'}, 'module': 'system'}
{'data': {'tp_mode': 'without'}, 'id': 'state.set_tp_mode-1719822549.450559'}
{'data': {'devices': [{'servo_axis': 1, 'type': 0, 'vendor': '748', 'version': ''}, {'servo_axis': 2, 'type': 0, 'vendor': '748', 'version': ''}, {'servo_axis': 3, 'type': 0, 'vendor': '748', 'version': ''}, {'servo_axis': 4, 'type': 0, 'vendor': '748', 'version': ''}, {'servo_axis': 5, 'type': 0, 'vendor': '748', 'version': ''}, {'servo_axis': 6, 'type': 0, 'vendor': '748', 'version': ''}, {'servo_axis': 1, 'type': 1, 'vendor': '748', 'version': ''}, {'servo_axis': 2, 'type': 1, 'vendor': '748', 'version': ''}, {'servo_axis': 3, 'type': 1, 'vendor': '748', 'version': ''}, {'servo_axis': 4, 'type': 1, 'vendor': '748', 'version': ''}, {'servo_axis': 5, 'type': 1, 'vendor': '748', 'version': ''}, {'servo_axis': 6, 'type': 1, 'vendor': '748', 'version': ''}, {'servo_axis': 1, 'type': 8, 'vendor': '748', 'version': 'none'}, {'servo_axis': 2, 'type': 8, 'vendor': '748', 'version': 'none'}, {'servo_axis': 3, 'type': 8, 'vendor': '748', 'version': 'none'}, {'servo_axis': 4, 'type': 8, 'vendor': '748', 'version': 'none'}, {'servo_axis': 5, 'type': 8, 'vendor': '748', 'version': 'none'}, {'servo_axis': 6, 'type': 8, 'vendor': '748', 'version': 'none'}, {'type': 2, 'vendor': 'rokae', 'version': 'RSC : 2.0.0.4 && RSC.Algorithm : 1.0.4'}, {'type': 3, 'vendor': 'rokae', 'version': '2.2.1.5'}, {'type': 4, 'vendor': 'rokae', 'version': '3.2.10'}, {'type': 5, 'vendor': 'rokae', 'version': 'v2.2.1.2'}, {'type': 6, 'vendor': 'rokae', 'version': '2.2.0.1'}, {'type': 9, 'vendor': 'rokae', 'version': 'none'}, {'type': 10, 'vendor': 'rokae', 'version': 'A0_xC.v2.2.0.R1'}, {'type': 11, 'vendor': 'rokae', 'version': '1.0.1'}]}, 'id': 'device.get_params-1719822548.7621348'}
{'command': 'move.monitor', 'data': {'elb': 0.0, 'euler': [89.99110467974835, 29.9853154646663, -104.00466319666923], 'ext_joint': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'joint': [76.01114273071289, -59.998823126376905, -150.00352478027347, -90.00099179534756, -90.0136906550481, 0.017031260758614768], 'position': [-192.41938657578066, -462.13248519925634, 310.74790278930976], 'quaternion': [-0.2763893828152837, -0.5646272736310524, 0.4255922997043593, 0.6509040984440838], 'torque': [0.0, -0.0, -0.0, -0.0, -0.0, -0.0]}, 'module': 'motion'}
{'data': {'engine': 'off', 'operate': 'manual', 'rc_state': 'normal', 'robot_action': 'idle', 'safety_mode': 'normal', 'servo_mode': 'position', 'task_space': 'ready'}, 'id': 'state.get_state-1719822548.1687336'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822547.9009733'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822545.399719'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822542.8978984'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822540.395304'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822537.893616'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822535.3915236'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822532.8891878'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822530.387109'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822527.8851492'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822525.3829527'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822522.8800979'}
{'data': {'name': 'xCore'}, 'id': 'controller.heart-1719822520.3775096'}

5
aio/code/automatic_test/do_current.py
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@@ -139,11 +139,6 @@ def run_rl(hr, w2t):
{"name": "device_servo_trq_feedback", "channel": 4},
{"name": "device_servo_trq_feedback", "channel": 5},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
]
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
print(f"执行采样: {_response}")

7
aio/code/automatic_test/openapi.py
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@@ -1,4 +1,4 @@
from json import load, dumps
from json import load, dumps, loads
from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
from threading import Thread
import selectors
@@ -108,7 +108,7 @@ class HmiRequest(object):
sleep(2)
# with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
# for msg in self.c_msg:
# f.write(msg + '\n')
# f.write(str(loads(msg)) + '\n')
def msg_storage(self, response, flag=0):
messages = self.c_msg if flag == 0 else self.c_msg_xs
@@ -215,13 +215,14 @@ class HmiRequest(object):
print(f"in flag=0 else index = {self.index}")
print(f"in flag=0 else pkg size = {self.pkg_size}")
print(f"in flag=0 else leftover = {self.leftover}")
break
# break
elif self.flag == 1:
# 继续处理之前为接收完的数据，处理完之后将flag重置为0
# !!!需要注意的是，包头/帧头也是有可能被分割开的!!!但是目前该程序未实现此种情况!!!
if self.broke == 1:
self.index = 0
self.leftover = int.from_bytes(self.half, byteorder='big')
self.broke = 0
print(f"broke 1 leftover: {self.leftover}")
elif self.broke == 2:
self.leftover = int.from_bytes(self.half+data[:1], byteorder='big')