v0.1.7.4(2024/07/02)
1. [APIs: openapi.py] - 增加了modbus的python实现 - heartbeat函数修改发送间隔为1s - 清除了绝大部分调试性输出，发现太多的这种输出也会导致心跳丢包...，不清楚这个原理是什么 - 在get_response函数中的while self.pkg > 0循环中，删除了else语句，因为它永不会被执行到 - 在get_response函数中，修复一个bug，在flag==0的else语句中，补齐了index==6的情况 2. [APIs: do_current.py] - 完成了六个轴的电机电流动作的执行，以及数据采集 - 完成了对应的RL程序的编写 3[APIs: aio.py] - 引入modbus实例化，并以参数的形式，传递给相应的tabview - 新增pre_warning函数，在做自动化测试之前，确保所有条件皆具备
This commit is contained in:
parent
4e4d760db4
commit
aedac4c90c
3
.gitignore
vendored
3
.gitignore
vendored
@ -6,4 +6,5 @@ aio/package/
|
||||
aio/venv
|
||||
aio/__pycache__/
|
||||
aio/code/automatic_test/__pycache__/
|
||||
aio/code/data_process/__pycache__/
|
||||
aio/code/data_process/__pycache__/
|
||||
aio/assets/templates/c_msg.log
|
||||
@ -389,5 +389,16 @@ v0.1.7.3(2024/07/01)
|
||||
> 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
|
||||
|
||||
|
||||
|
||||
v0.1.7.4(2024/07/02)
|
||||
1. [APIs: openapi.py]
|
||||
- 增加了modbus的python实现
|
||||
- heartbeat函数修改发送间隔为1s
|
||||
- 清除了绝大部分调试性输出，发现太多的这种输出也会导致心跳丢包...，不清楚这个原理是什么
|
||||
- 在get_response函数中的while self.pkg > 0循环中，删除了else语句，因为它永不会被执行到
|
||||
- 在get_response函数中，修复一个bug，在flag==0的else语句中，补齐了index==6的情况
|
||||
2. [APIs: do_current.py]
|
||||
- 完成了六个轴的电机电流动作的执行，以及数据采集
|
||||
- 完成了对应的RL程序的编写
|
||||
3[APIs: aio.py]
|
||||
- 引入modbus实例化，并以参数的形式，传递给相应的tabview
|
||||
- 新增pre_warning函数，在做自动化测试之前，确保所有条件皆具备
|
||||
|
||||
@ -1,27 +0,0 @@
|
||||
{'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'}
|
||||
@ -43,6 +43,8 @@ class App(customtkinter.CTk):
|
||||
self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
|
||||
self.w_param = 84
|
||||
self.hr = None
|
||||
self.md_at = None
|
||||
self.md_dp = None
|
||||
# =====================================================================
|
||||
# configure window
|
||||
self.title("AIO - All in one automatic toolbox")
|
||||
@ -183,6 +185,8 @@ class App(customtkinter.CTk):
|
||||
with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write('0')
|
||||
self.hr = openapi.HmiRequest(self.write2textbox)
|
||||
self.md_at = openapi.ModbusRequest(self, 'Automatic Test')
|
||||
self.md_dp = openapi.ModbusRequest(self, 'Data Process')
|
||||
|
||||
while True:
|
||||
with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb:
|
||||
@ -451,12 +455,20 @@ class App(customtkinter.CTk):
|
||||
elif flag == 4:
|
||||
func_dict[flag](path=args[0], w2t=self.write2textbox)
|
||||
elif flag == 5:
|
||||
self.pre_warning()
|
||||
func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox)
|
||||
elif flag == 6:
|
||||
func_dict[flag](path=args[0], hr=self.hr, w2t=self.write2textbox)
|
||||
self.pre_warning()
|
||||
func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, w2t=self.write2textbox)
|
||||
else:
|
||||
tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
|
||||
|
||||
def pre_warning(self):
|
||||
if tkinter.messagebox.askyesno(title="开始运行", message="确认机器已按照测试规范更新固件，并提按照测试机型前修改好工程？"):
|
||||
pass
|
||||
else:
|
||||
self.write2textbox("请按照测试规范更新机器固件，并在实际运行前确认工程已经修改完毕，以防撞机！！！", 0, 123, 'red', 'Automatic Test')
|
||||
|
||||
def func_check_callback(self):
|
||||
self.textbox.delete(index1='1.0', index2='end')
|
||||
|
||||
|
||||
@ -82,10 +82,6 @@ def prj_to_xcore(prj_file):
|
||||
ssh.close()
|
||||
|
||||
|
||||
def modify_prj():
|
||||
pass
|
||||
|
||||
|
||||
def validate_resp(_id, response, w2t):
|
||||
match _id:
|
||||
case 'DATA ERR':
|
||||
@ -102,76 +98,120 @@ def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 0, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
validate_resp(_id, _response, w2t)
|
||||
return _response
|
||||
|
||||
|
||||
def run_rl(hr, w2t):
|
||||
prj_path = 'target/_build/target.prj'
|
||||
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'current'])
|
||||
print(f"reload prj: {_response}")
|
||||
_response = execution('overview.get_cur_prj', hr, w2t)
|
||||
print(f"get cur prj name: {_response}")
|
||||
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake'])
|
||||
print(f"set pp2main of prj: {_response}")
|
||||
|
||||
_response = execution('state.switch_auto', hr, w2t)
|
||||
_response = execution('state.switch_motor_on', hr, w2t)
|
||||
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
print(f"打开诊断: {_response}")
|
||||
# _response = execution('diagnosis.get_params', hr, w2t)
|
||||
# print(f"显示诊断状态: {_response}")
|
||||
display_pdo_params = [
|
||||
{"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 2},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 3},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 4},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 5},
|
||||
{"name": "device_servo_trq_feedback", "channel": 0},
|
||||
{"name": "device_servo_trq_feedback", "channel": 1},
|
||||
{"name": "device_servo_trq_feedback", "channel": 2},
|
||||
{"name": "device_servo_trq_feedback", "channel": 3},
|
||||
{"name": "device_servo_trq_feedback", "channel": 4},
|
||||
{"name": "device_servo_trq_feedback", "channel": 5},
|
||||
{"name": "device_safety_estop", "channel": 0},
|
||||
def run_rl(hr, md, w2t):
|
||||
# need to run
|
||||
conditions = [
|
||||
" scenario(0, j1_p, j1_n, p_speed, p_tool)",
|
||||
" scenario(0, j2_p, j2_n, p_speed, p_tool)",
|
||||
" scenario(0, j3_p, j3_n, p_speed, p_tool)",
|
||||
" scenario(0, j4_p, j4_n, p_speed, p_tool)",
|
||||
" scenario(0, j5_p, j5_n, p_speed, p_tool)",
|
||||
" scenario(0, j6_p, j6_n, p_speed, p_tool)",
|
||||
" scenario(1, j5_p, j5_n, p_speed, p_tool)",
|
||||
" scenario(2, j5_p, j5_n, p_speed, p_tool)",
|
||||
" scenario(3, j5_p, j5_n, p_speed, p_tool)",
|
||||
]
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
print(f"执行采样: {_response}")
|
||||
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['brake'])
|
||||
print(f"run prj: {_response}")
|
||||
sleep(10)
|
||||
for condition in conditions:
|
||||
disc = {0: '一轴', 1: '二轴', 2: '三轴', 3: '四轴', 4: '五轴', 5: '六轴', 6: '场景一', 7: '场景二', 8: '场景三'}
|
||||
number = conditions.index(condition)
|
||||
w2t(f"正在执行{disc[number]}测试......", 0, 0, 'purple', 'Automatic Test')
|
||||
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
print(f"关闭诊断: {_response}")
|
||||
# 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
md.trigger_estop()
|
||||
md.reset_estop()
|
||||
_response = execution('state.switch_manual', hr, w2t)
|
||||
|
||||
_response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
|
||||
_response = execution('state.switch_motor_off', hr, w2t)
|
||||
_response = execution('state.switch_manual', hr, w2t)
|
||||
# 3. 修改未要执行的场景
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
cmd = f'cd /home/luoshi/bin/controller/; '
|
||||
cmd += f'sudo sed -i "/scenario/d" projects/target/current/main.mod; '
|
||||
cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/current/main.mod; '
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
|
||||
for _msg in hr.c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
print(_msg)
|
||||
# _msg = json.loads(_msg)
|
||||
# if 'channel' in _msg and 'name' in _msg:
|
||||
# if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
|
||||
# print(f"diagnosis.result: {_msg}")
|
||||
# count += 1
|
||||
# if count * 50 > 5 * 1000:
|
||||
# break
|
||||
# 4. reload工程后，pp2main
|
||||
prj_path = 'target/_build/target.prj'
|
||||
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
|
||||
_response = execution('overview.get_cur_prj', hr, w2t)
|
||||
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
|
||||
print(f"set pp2main of prj: {_response}")
|
||||
|
||||
# 5. 切换自动并上电
|
||||
_response = execution('state.switch_auto', hr, w2t)
|
||||
_response = execution('state.switch_motor_on', hr, w2t)
|
||||
|
||||
# 6. 开始运行程序，单轴运行15s
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
|
||||
print(f"run prj: {_response}")
|
||||
for i in range(3):
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(True)
|
||||
sleep(1)
|
||||
md.write_act(False)
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
continue
|
||||
else:
|
||||
w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
|
||||
# 7. 打开诊断曲线，并执行采集
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
display_pdo_params = [
|
||||
{"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 2},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 3},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 4},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 5},
|
||||
{"name": "device_servo_trq_feedback", "channel": 0},
|
||||
{"name": "device_servo_trq_feedback", "channel": 1},
|
||||
{"name": "device_servo_trq_feedback", "channel": 2},
|
||||
{"name": "device_servo_trq_feedback", "channel": 3},
|
||||
{"name": "device_servo_trq_feedback", "channel": 4},
|
||||
{"name": "device_servo_trq_feedback", "channel": 5},
|
||||
{"name": "device_safety_estop", "channel": 0},
|
||||
]
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
sleep(8)
|
||||
# 8. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
|
||||
_response = execution('state.switch_motor_off', hr, w2t)
|
||||
_response = execution('state.switch_manual', hr, w2t)
|
||||
sleep(1)
|
||||
# 9. 处理数据并输出文件
|
||||
# for _msg in hr.c_msg:
|
||||
# if 'diagnosis.result' in _msg:
|
||||
# print(_msg)
|
||||
# _msg = json.loads(_msg)
|
||||
# if 'channel' in _msg and 'name' in _msg:
|
||||
# if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
|
||||
# print(f"diagnosis.result: {_msg}")
|
||||
# count += 1
|
||||
# if count * 50 > 5 * 1000:
|
||||
# break
|
||||
|
||||
|
||||
def main(path, hr, w2t):
|
||||
def main(path, hr, md, w2t):
|
||||
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t)
|
||||
prj_to_xcore(prj_file)
|
||||
run_rl(hr, w2t)
|
||||
run_rl(hr, md, w2t)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
@ -5,12 +5,115 @@ import selectors
|
||||
from time import time, sleep
|
||||
from os.path import dirname
|
||||
from binascii import b2a_hex, a2b_hex
|
||||
from pymodbus.client.tcp import ModbusTcpClient
|
||||
|
||||
MAX_FRAME_SIZE = 1024
|
||||
setdefaulttimeout(2)
|
||||
current_path = dirname(__file__)
|
||||
|
||||
|
||||
class ModbusRequest(object):
|
||||
def __init__(self, w2t, tab_name):
|
||||
super().__init__()
|
||||
self.w2t = w2t
|
||||
self.tab_name = tab_name
|
||||
self.host = '192.168.0.160'
|
||||
self.port = 502
|
||||
self.c = ModbusTcpClient(self.host, self.port)
|
||||
self.c.connect()
|
||||
|
||||
def motor_off(self):
|
||||
try:
|
||||
self.c.write_register(40002, 1)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def motor_on(self):
|
||||
try:
|
||||
self.c.write_register(40003, 1)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def trigger_estop(self):
|
||||
try:
|
||||
self.c.write_register(40012, 0)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法触发软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def reset_estop(self):
|
||||
try:
|
||||
self.c.write_register(40012, 1)
|
||||
# self.c.write_register(40001, 1)
|
||||
# sleep(0.2)
|
||||
# self.c.write_register(40001, 1)
|
||||
# sleep(0.2)
|
||||
# self.c.write_register(40001, 0)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def clear_alarm(self):
|
||||
try:
|
||||
self.c.write_register(40000, 1)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法清除告警，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def get_cart_vel(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(40537, 7)
|
||||
print(f"cart vel: {results.registers}")
|
||||
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取笛卡尔速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def get_jnt_vel(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(40579, 7)
|
||||
print(f"joint vel: {results.registers}")
|
||||
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取关节速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def get_tcp_vel(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(40607, 7)
|
||||
print(f"tcp vel: {results.registers}")
|
||||
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取TCP速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def get_tcp_mag_vel(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(40621, 1)
|
||||
print(f"tcp mag: {results.registers}")
|
||||
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取TCP合成速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def write_act(self, number):
|
||||
try:
|
||||
self.c.write_register(41000, number)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法发送执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def read_ready_to_go(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(41001, 1)
|
||||
return results.registers[0]
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
|
||||
class HmiRequest(object):
|
||||
def __init__(self, w2t):
|
||||
super().__init__()
|
||||
@ -62,6 +165,10 @@ class HmiRequest(object):
|
||||
self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write('1')
|
||||
md = ModbusRequest(self.w2t, self.tab_name)
|
||||
md.reset_estop()
|
||||
md.clear_alarm()
|
||||
md.write_act(False)
|
||||
except Exception as Err:
|
||||
self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
@ -87,9 +194,9 @@ class HmiRequest(object):
|
||||
self.half_length = len(data) - index
|
||||
self.half = data[index:]
|
||||
|
||||
print(f"in head check half: {self.half}")
|
||||
print(f"in head check length: {self.half_length}")
|
||||
print(f"in head check data: {data}")
|
||||
# print(f"in head check half: {self.half}")
|
||||
# print(f"in head check length: {self.half_length}")
|
||||
# print(f"in head check data: {data}")
|
||||
|
||||
self.broke = 100
|
||||
index += MAX_FRAME_SIZE
|
||||
@ -101,11 +208,12 @@ class HmiRequest(object):
|
||||
_flag = '0' if self.get_from_id(_id) is None else '1'
|
||||
print(f"hb = {_flag}", end=' ')
|
||||
print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
|
||||
print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end=' ')
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write(_flag)
|
||||
if _flag == '0':
|
||||
self.w2t(f"心跳丢失，连接失败，重新连接中...", 0, 0, 'red', tab_name=self.tab_name)
|
||||
sleep(2)
|
||||
self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
|
||||
sleep(1)
|
||||
# with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
|
||||
# for msg in self.c_msg:
|
||||
# f.write(str(loads(msg)) + '\n')
|
||||
@ -122,12 +230,12 @@ class HmiRequest(object):
|
||||
def get_response(self, data):
|
||||
# 流式获取单次请求的响应
|
||||
if self.broke == 100:
|
||||
print("*****************************************")
|
||||
print(f"in get_response if broke == 100 half = {self.half}")
|
||||
# print("*****************************************")
|
||||
# print(f"in get_response if broke == 100 half = {self.half}")
|
||||
_half_1 = self.half
|
||||
_half_2 = data[:8-self.half_length]
|
||||
_full = _half_1 + _half_2
|
||||
print(f"in get_response if broke == 100 _full = {_full}")
|
||||
# print(f"in get_response if broke == 100 _full = {_full}")
|
||||
|
||||
_frame_size = int.from_bytes(_full[:2], byteorder='big')
|
||||
_pkg_size = int.from_bytes(_full[2:6], byteorder='big')
|
||||
@ -139,9 +247,9 @@ class HmiRequest(object):
|
||||
|
||||
self.pkg_size = _pkg_size
|
||||
self.index = 8 - self.half_length
|
||||
print(f"broke == 100 index = {self.index}")
|
||||
print(f"broke == 100 INIT pkg size = {self.pkg_size}")
|
||||
print(f"broke == 100 data = {data}")
|
||||
# print(f"broke == 100 index = {self.index}")
|
||||
# print(f"broke == 100 INIT pkg size = {self.pkg_size}")
|
||||
# print(f"broke == 100 data = {data}")
|
||||
else:
|
||||
if self.reset_index == 1:
|
||||
self.index = 0
|
||||
@ -153,9 +261,9 @@ class HmiRequest(object):
|
||||
self.broke = 0
|
||||
else:
|
||||
self.index, _frame_size, self.pkg_size = self.header_check(self.index, data)
|
||||
print(f"broke == 0 index = {self.index-8}")
|
||||
print(f"broke == 0 INIT pkg size = {self.pkg_size}")
|
||||
print(f"broke == 0 data = {data}")
|
||||
# print(f"broke == 0 index = {self.index-8}")
|
||||
# print(f"broke == 0 INIT pkg size = {self.pkg_size}")
|
||||
# print(f"broke == 0 data = {data}")
|
||||
if self.index > MAX_FRAME_SIZE:
|
||||
break
|
||||
# 详见解包原理数据.txt，self.pkg_size 永远是除了当前data之外剩余未处理的数据大小
|
||||
@ -164,10 +272,10 @@ class HmiRequest(object):
|
||||
self.response = data[self.index:self.index + self.pkg_size].decode()
|
||||
self.msg_storage(flag=0, response=self.response)
|
||||
self.index += self.pkg_size
|
||||
print(f"in flag=0 if data = {data}")
|
||||
print(f"in flag=0 if index = {self.index}")
|
||||
print(f"in flag=0 if pkg size = {self.pkg_size}")
|
||||
print(f"in flag=0 if leftover = {self.leftover}")
|
||||
# print(f"in flag=0 if data = {data}")
|
||||
# print(f"in flag=0 if index = {self.index}")
|
||||
# print(f"in flag=0 if pkg size = {self.pkg_size}")
|
||||
# print(f"in flag=0 if leftover = {self.leftover}")
|
||||
self.flag = 0
|
||||
self.response = ''
|
||||
self.leftover = 0
|
||||
@ -177,7 +285,7 @@ class HmiRequest(object):
|
||||
# 执行到这里说明该data是首包，且有有分包的情况发生了也就是该响应数据量稍微比较大
|
||||
# 分散在了相邻的两个及以上的data中，需要flag=1的处理
|
||||
self.flag = 1
|
||||
if self.index+_frame_size-6 < len(data):
|
||||
if self.index+_frame_size-6 <= len(data):
|
||||
self.response = data[self.index:self.index+_frame_size-6].decode()
|
||||
self.index += (_frame_size-6)
|
||||
self.pkg_size -= (_frame_size-6) # 详见解包原理数据.txt，self.pkg_size
|
||||
@ -191,13 +299,13 @@ class HmiRequest(object):
|
||||
if self.index + 2 == len(data):
|
||||
self.broke = 1
|
||||
self.half = data[-2:]
|
||||
print(f"flag = 0 encounter broke == 1 - half = {self.half}")
|
||||
# print(f"flag = 0 encounter broke == 1 - half = {self.half}")
|
||||
elif self.index + 1 == len(data):
|
||||
self.broke = 2
|
||||
self.half = data[-1:]
|
||||
print(f"flag = 0 encounter broke == 2 - half = {self.half}")
|
||||
# print(f"flag = 0 encounter broke == 2 - half = {self.half}")
|
||||
elif self.index == len(data):
|
||||
print('flag = 0 encounter broke == 3')
|
||||
# print('flag = 0 encounter broke == 3')
|
||||
self.broke = 3
|
||||
|
||||
self.index += MAX_FRAME_SIZE
|
||||
@ -211,10 +319,10 @@ class HmiRequest(object):
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
|
||||
print(f"in flag=0 else data = {data}")
|
||||
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}")
|
||||
# print(f"in flag=0 else data = {data}")
|
||||
# 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
|
||||
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
|
||||
@ -223,23 +331,23 @@ class HmiRequest(object):
|
||||
self.index = 0
|
||||
self.leftover = int.from_bytes(self.half, byteorder='big')
|
||||
self.broke = 0
|
||||
print(f"broke 1 leftover: {self.leftover}")
|
||||
# print(f"broke 1 leftover: {self.leftover}")
|
||||
elif self.broke == 2:
|
||||
self.leftover = int.from_bytes(self.half+data[:1], byteorder='big')
|
||||
self.index = 1
|
||||
self.broke = 0
|
||||
print(f"broke 2 leftover: {self.leftover}")
|
||||
# print(f"broke 2 leftover: {self.leftover}")
|
||||
if self.broke == 3:
|
||||
self.leftover = int.from_bytes(data[:2], byteorder='big')
|
||||
print(f"broke 3 leftover: {self.leftover}")
|
||||
# print(f"broke 3 leftover: {self.leftover}")
|
||||
self.index = 2
|
||||
self.broke = 0
|
||||
while self.pkg_size > 0:
|
||||
if self.index + self.leftover <= len(data):
|
||||
print(f"in pkg size > 0 loop before if data = {data}")
|
||||
print(f"in pkg size > 0 loop before if index = {self.index}")
|
||||
print(f"in pkg size > 0 loop before if pkg size = {self.pkg_size}")
|
||||
print(f"in pkg size > 0 loop before if leftover = {self.leftover}")
|
||||
# print(f"in pkg size > 0 loop before if data = {data}")
|
||||
# print(f"in pkg size > 0 loop before if index = {self.index}")
|
||||
# print(f"in pkg size > 0 loop before if pkg size = {self.pkg_size}")
|
||||
# print(f"in pkg size > 0 loop before if leftover = {self.leftover}")
|
||||
if self.leftover < 0 or self.leftover > 1024:
|
||||
self.w2t("", 0, 111, 'red')
|
||||
self.response += data[self.index:self.index + self.leftover].decode()
|
||||
@ -252,10 +360,10 @@ class HmiRequest(object):
|
||||
self.leftover = 0
|
||||
self.pkg_size = 0
|
||||
self.reset_index = 0 if self.index < len(data) else 1
|
||||
print(f"in pkg size > 0 loop break if data = {data}")
|
||||
print(f"in pkg size > 0 loop break if index = {self.index}")
|
||||
print(f"in pkg size > 0 loop break if pkg size = {self.pkg_size}")
|
||||
print(f"in pkg size > 0 loop break if leftover = {self.leftover}")
|
||||
# print(f"in pkg size > 0 loop break if data = {data}")
|
||||
# print(f"in pkg size > 0 loop break if index = {self.index}")
|
||||
# print(f"in pkg size > 0 loop break if pkg size = {self.pkg_size}")
|
||||
# print(f"in pkg size > 0 loop break if leftover = {self.leftover}")
|
||||
break
|
||||
|
||||
self.index += self.leftover
|
||||
@ -268,29 +376,29 @@ class HmiRequest(object):
|
||||
if self.index + 2 == len(data):
|
||||
self.broke = 1
|
||||
self.half = data[-2:]
|
||||
print(f"flag = 1 encounter broke == 1 - half = {self.half}")
|
||||
# print(f"flag = 1 encounter broke == 1 - half = {self.half}")
|
||||
elif self.index + 1 == len(data):
|
||||
self.broke = 2
|
||||
self.half = data[-1:]
|
||||
print(f"flag = 1 encounter broke == 2 - half = {self.half}")
|
||||
# print(f"flag = 1 encounter broke == 2 - half = {self.half}")
|
||||
elif self.index == len(data):
|
||||
print('flag = 1 encounter broke == 3')
|
||||
# print('flag = 1 encounter broke == 3')
|
||||
self.broke = 3
|
||||
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
|
||||
print(f"in pkg size > 0 loop after if data = {data}")
|
||||
print(f"in pkg size > 0 loop after if index = {self.index}")
|
||||
print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
|
||||
print(f"in pkg size > 0 loop after if leftover = {self.leftover}")
|
||||
# print(f"in pkg size > 0 loop after if data = {data}")
|
||||
# print(f"in pkg size > 0 loop after if index = {self.index}")
|
||||
# print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
|
||||
# print(f"in pkg size > 0 loop after if leftover = {self.leftover}")
|
||||
if self.leftover < 0 or self.leftover > 1024:
|
||||
self.w2t("", 0, 111, 'red')
|
||||
else:
|
||||
print(f"in pkg size > 0 loop before else data = {data}")
|
||||
print(f"in pkg size > 0 loop before else index = {self.index}")
|
||||
print(f"in pkg size > 0 loop before else pkg size = {self.pkg_size}")
|
||||
print(f"in pkg size > 0 loop before else leftover = {self.leftover}")
|
||||
# print(f"in pkg size > 0 loop before else data = {data}")
|
||||
# print(f"in pkg size > 0 loop before else index = {self.index}")
|
||||
# print(f"in pkg size > 0 loop before else pkg size = {self.pkg_size}")
|
||||
# print(f"in pkg size > 0 loop before else leftover = {self.leftover}")
|
||||
if self.leftover < 0 or self.leftover > 1024:
|
||||
self.w2t("", 0, 111, 'red')
|
||||
self.response += data[self.index:].decode()
|
||||
@ -298,22 +406,21 @@ class HmiRequest(object):
|
||||
self.pkg_size -= (len(data) - self.index)
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
print(f"in pkg size > 0 loop after else data = {data}")
|
||||
print(f"in pkg size > 0 loop after else index = {self.index}")
|
||||
print(f"in pkg size > 0 loop after else pkg size = {self.pkg_size}")
|
||||
print(f"in pkg size > 0 loop after else leftover = {self.leftover}")
|
||||
# print(f"in pkg size > 0 loop after else data = {data}")
|
||||
# print(f"in pkg size > 0 loop after else index = {self.index}")
|
||||
# print(f"in pkg size > 0 loop after else pkg size = {self.pkg_size}")
|
||||
# print(f"in pkg size > 0 loop after else leftover = {self.leftover}")
|
||||
if self.leftover < 0 or self.leftover > 1024:
|
||||
self.w2t("", 0, 111, 'red')
|
||||
break # 该data内数据已经处理完毕，需要跳出大循环，通过break和index
|
||||
else:
|
||||
self.msg_storage(flag=0, response=self.response)
|
||||
self.flag = 0
|
||||
self.response = ''
|
||||
self.leftover = 0
|
||||
self.pkg_size = 0
|
||||
self.index -= 2
|
||||
# self.reset_index = 1
|
||||
self.reset_index = 0 if (len(data) > self.index > 0) else 1
|
||||
# else:
|
||||
# self.msg_storage(flag=0, response=self.response)
|
||||
# self.flag = 0
|
||||
# self.response = ''
|
||||
# self.leftover = 0
|
||||
# self.pkg_size = 0
|
||||
# self.index -= 2
|
||||
# self.reset_index = 0 if (len(data) > self.index > 0) else 1
|
||||
|
||||
def get_response_xs(self, data):
|
||||
if self.flag_xs == 0:
|
||||
@ -354,8 +461,8 @@ class HmiRequest(object):
|
||||
for i in range(3):
|
||||
for msg in messages:
|
||||
if msg_id is None:
|
||||
self.w2t("未能成功获取到 message id...", 0, 10, 'red', tab_name=self.tab_name)
|
||||
if msg_id in msg:
|
||||
return None
|
||||
elif msg_id in msg:
|
||||
return msg
|
||||
sleep(1)
|
||||
else:
|
||||
@ -372,37 +479,13 @@ class HmiRequest(object):
|
||||
return f"{dumps(cmd, separators=(',', ':'))}\r".encode()
|
||||
|
||||
def unpackage(self, sock):
|
||||
def to_read(conn):
|
||||
def to_read(conn, mask):
|
||||
data = conn.recv(MAX_FRAME_SIZE)
|
||||
if data:
|
||||
# print(data)
|
||||
self.get_response(data)
|
||||
else:
|
||||
print('closing', sock)
|
||||
sel.unregister(conn)
|
||||
conn.close()
|
||||
|
||||
sel = selectors.DefaultSelector()
|
||||
sel.register(sock, selectors.EVENT_READ, to_read)
|
||||
|
||||
while self.t_bool:
|
||||
try:
|
||||
events = sel.select()
|
||||
except:
|
||||
sleep(1)
|
||||
continue
|
||||
for key, mask in events:
|
||||
callback = key.data
|
||||
callback(key.fileobj)
|
||||
|
||||
def unpackage_xs(self, sock):
|
||||
def to_read(conn):
|
||||
data = conn.recv(1024) # Should be ready
|
||||
if data:
|
||||
# print(data)
|
||||
self.get_response_xs(data)
|
||||
else:
|
||||
print('closing', sock)
|
||||
print('closing', conn)
|
||||
sel.unregister(conn)
|
||||
conn.close()
|
||||
|
||||
@ -413,7 +496,27 @@ class HmiRequest(object):
|
||||
events = sel.select()
|
||||
for key, mask in events:
|
||||
callback = key.data
|
||||
callback(key.fileobj)
|
||||
callback(key.fileobj, mask)
|
||||
|
||||
def unpackage_xs(self, sock):
|
||||
def to_read(conn, mask):
|
||||
data = conn.recv(1024) # Should be ready
|
||||
if data:
|
||||
# print(data)
|
||||
self.get_response_xs(data)
|
||||
else:
|
||||
print('closing', conn)
|
||||
sel.unregister(conn)
|
||||
conn.close()
|
||||
|
||||
sel = selectors.DefaultSelector()
|
||||
sel.register(sock, selectors.EVENT_READ, to_read)
|
||||
|
||||
while self.t_bool:
|
||||
events = sel.select()
|
||||
for key, mask in events:
|
||||
callback = key.data
|
||||
callback(key.fileobj, mask)
|
||||
|
||||
def gen_id(self, command):
|
||||
_now = time()
|
||||
|
||||
Reference in New Issue
Block a user