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v0.1.7.4(2024/07/02)

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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:
gitea
2024-07-02 21:48:00 +08:00
parent 4e4d760db4
commit aedac4c90c
6 changed files with 318 additions and 178 deletions
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27
aio/assets/templates/c_msg.log
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{'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'}