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v0.1.7.2(2024/06/30)

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1. 初步完成NB4h_R580_3BH7.zip工程的设计
2. 重新研究了解包操作，重新实现了一版
3. 修改openapi.pi中excution为execution函数
4. 增减了解包原理性文档
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gitea 2024-06-30 20:29:49 +08:00
parent ac71522cc2
commit fc3d5482f8
8 changed files with 1236 additions and 95 deletions
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7
aio/README.md
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@ -367,8 +367,15 @@ v0.1.7.1.1(2024/06/29)
- 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理 - 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理
- execution函数中合并了case条件 - execution函数中合并了case条件
- 增加了N多指令，多为诊断曲线和rl程序相关 - 增加了N多指令，多为诊断曲线和rl程序相关
- 日志保留条数修改为20000
3. [APIs: do_brake.py] 3. [APIs: do_brake.py]
- 实现自动推送工程到xCore并自动运行 - 实现自动推送工程到xCore并自动运行
- 初步实现了Modbus发送消息和检测状态 - 初步实现了Modbus发送消息和检测状态
4. [APIs: do_current.py] 4. [APIs: do_current.py]
- 将do_brake.py的内容完全拷贝到此文件，待修改 - 将do_brake.py的内容完全拷贝到此文件，待修改
v0.1.7.2(2024/06/30)
1. 初步完成NB4h_R580_3BH7.zip工程的设计
2. 重新研究了解包操作，重新实现了一版
3. 修改openapi.pi中excution为execution函数
4. 增减了解包原理性文档

926
aio/assets/autotest.xml Normal file
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@ -0,0 +1,926 @@
<?xml version="1.0" encoding="UTF-8"?>
<m>
<l>
<c name="addr" type="2" value="40000"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="清除伺服报警"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40000"/>
<c name="function" type="10" value="ctrl_clear_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_clear_alarm"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40001"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="重置软急停"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40001"/>
<c name="function" type="10" value="ctrl_estop_reset"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_reset_estop"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40002"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="下电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40002"/>
<c name="function" type="10" value="ctrl_motor_off"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_moror_off"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40003"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="上电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40003"/>
<c name="function" type="10" value="ctrl_motor_on"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_motor_on"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40004"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="上电或者下电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40004"/>
<c name="function" type="10" value="ctrl_motor_on_off"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_motor_on_off"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40005"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="上电/pp2main/start"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40005"/>
<c name="function" type="10" value="ctrl_motoron_pptomain_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_on_pp_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40006"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="依次上电/启动程序"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40006"/>
<c name="function" type="10" value="ctrl_motoron_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_motoron_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40007"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="暂停程序并下电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40007"/>
<c name="function" type="10" value="ctrl_pause_motoroff"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_pause_off"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40008"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="pp2main"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40008"/>
<c name="function" type="10" value="ctrl_pptomain"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_pp2main"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40009"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="开始运行程序"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40009"/>
<c name="function" type="10" value="ctrl_program_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_p_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40010"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="程序启停"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40010"/>
<c name="function" type="10" value="ctrl_program_start_stop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_p_on_off"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40011"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="暂停程序"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40011"/>
<c name="function" type="10" value="ctrl_program_stop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_p_stop"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40012"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="触发软急停"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40012"/>
<c name="function" type="10" value="ctrl_soft_estop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_trigger_estop"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40013"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="切换自动并上电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40013"/>
<c name="function" type="10" value="ctrl_switch_auto_motoron"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_auto_motoron"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40014"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="切换成自动模式"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40014"/>
<c name="function" type="10" value="ctrl_switch_operation_auto"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_switch_auto"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40015"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="切换手动和自动"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40015"/>
<c name="function" type="10" value="ctrl_switch_operation_auto_manu"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_auto_manual"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40016"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="切换成手动模式"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40016"/>
<c name="function" type="10" value="ctrl_switch_operation_manu"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_switch_manual"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40500"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="错误码"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40500"/>
<c name="function" type="10" value="ext_error_code"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_error_code"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="int16"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40501"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="执行完毕的响应"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40501"/>
<c name="function" type="10" value="ext_resp_set"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_response"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40502"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40509"/>
<c name="function" type="10" value="ext_response_data"/>
<c name="len" type="2" value="8"/>
<c name="name" type="10" value="w_mtcp_resp_data"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="int16"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40510"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="伺服告警状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40510"/>
<c name="function" type="10" value="sta_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_alarm_state"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40511"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="碰撞状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40511"/>
<c name="function" type="10" value="sta_collision"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_collision"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40512"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="碰撞告警"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40512"/>
<c name="function" type="10" value="sta_collision_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_c_alarm"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40513"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="碰撞检测开启状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40513"/>
<c name="function" type="10" value="sta_collision_open"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_c_open"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40514"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="控制器是否运行"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40514"/>
<c name="function" type="10" value="sta_controller_is_running"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_ctl_running"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40515"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="编码器欠压告警"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40515"/>
<c name="function" type="10" value="sta_encoder_low_battery"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_encoder_low"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40516"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="机器人上报错误码"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40516"/>
<c name="function" type="10" value="sta_error_code"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_robot_err"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="int16"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40517"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="急停状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40517"/>
<c name="function" type="10" value="sta_estop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_estop"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40518"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="是否有心跳信号"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40518"/>
<c name="function" type="10" value="sta_heartbeat"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_heartbeat"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40519"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="上电状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40519"/>
<c name="function" type="10" value="sta_motor"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_motor"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40520"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="操作模式"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40520"/>
<c name="function" type="10" value="sta_operation_mode"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_mode"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40521"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="当前程序状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40521"/>
<c name="function" type="10" value="sta_program"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_p_state"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40522"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="软急停状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40522"/>
<c name="function" type="10" value="sta_soft_estop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_s_estop"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40523"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="查询当前笛卡尔位姿"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40536"/>
<c name="function" type="10" value="sta_cart_pose"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_mtcp_cart_pose"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40537"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="查询当前笛卡尔速度"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40550"/>
<c name="function" type="10" value="sta_cart_vel"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_mtcp_cart_vel"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40551"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="关节角度"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40564"/>
<c name="function" type="10" value="sta_jnt_pose"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_mtcp_jnt_pose"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40565"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="关节力矩"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40578"/>
<c name="function" type="10" value="sta_jnt_trq"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_mtcp_jnt_trq"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40579"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="关节速度"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40592"/>
<c name="function" type="10" value="sta_jnt_vel"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_mtcp_jnt_vel"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40593"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="tcp位姿"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40606"/>
<c name="function" type="10" value="sta_tcp_pose"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_mtcp_tcp_pose"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40607"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="tcp速度"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40620"/>
<c name="function" type="10" value="sta_tcp_vel"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_mtcp_tcp_vel"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40621"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="tcp合成线速度"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40622"/>
<c name="function" type="10" value="sta_tcp_vel_mag"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_vel_mag"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="41000"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="robot to pc"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="41000"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="ready_to_go"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="41001"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="pc to robot"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="41001"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="act"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="int16"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
</m>

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aio/assets/templates/heartbeat
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aio/assets/unpackage_logic.txt Normal file
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@ -0,0 +1,38 @@
b'\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340\x01o429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-h\x02\x00{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0'
b'.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.00012044146029883355,\n\t\t\t\t-0.0022272681986605192,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.002697798\x04\x008290070812,\n\t\t\t\t0.00050648330506263212,\n\t\t\t\t-0.0,\n\t\t\t\t0.0020753681479851243,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t3.5952674716069715e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.0001496530085056402,\n\t\t\t\t0.0001276319952420475,\n\t\t\t\t-0.0027252127434780845,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0026977988290070812,\n\t\t\t\t8.5387602450665581e-06,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t0.00206862702147'
b'58614,\n\t\t\t\t-0.0,\n\t\t\t\t7.1905349432139438e-06,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.1984224905356572e-06,\n\t\t\t\t0.00010705907582118537,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0024236097500266104,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0024240092241901226,\n\t\t\x04\x00\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.0018387795746452099,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.00010705907582118537,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t'
b'-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n'
b'\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-\x04\x000.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t'
b'\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0\x04\x00.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.'
b'0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\x04\x00\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n'
b'\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.\x04\x000,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n'
b'\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1\x04\x00.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.'
b'0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t\x04\x001.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : '
b'\n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5\x04\x00.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429'
b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-\x8f\x02\x00{\n\t"command"'
\x04\x00\x00\x00-h\x02\x00
pkg_size = 11624
10240 + 402 + 1004 - 20 - 2(首个帧头) = 11624
第一帧有效 - 402
b'{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0'
中间有 10 帧，共计 10240 个字节，也有 10 个 \x04\x00，共计 20 个字节
最后一帧有效 - 1004
b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}'
b'\x00\\\x00\x00\x00V\x02\x00{\n\t"data" : \n\t{\n\t\t"name" : "xCore"\n\t},\n\t"id" : "controller.heart-1719734550.9790015"\n}'
frame size 92
package size 86
length 86 {\n\t"data" : \n\t{\n\t\t"name" : "xCore"\n\t},\n\t"id" : "controller.heart-1719734550.9790015"\n}'

4
aio/code/aio.py
View File

@ -441,7 +441,7 @@ class App(customtkinter.CTk):
self.textbox.delete(index1='1.0', index2='end') self.textbox.delete(index1='1.0', index2='end')
flag, *args = self.check_param() flag, *args = self.check_param()
func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main} func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main, 6: do_current.main}
if flag == 1: if flag == 1:
func_dict[flag](path=args[0], vel=args[1], trq=args[2], estop=args[3], w2t=self.write2textbox) func_dict[flag](path=args[0], vel=args[1], trq=args[2], estop=args[3], w2t=self.write2textbox)
elif flag == 2: elif flag == 2:
@ -452,6 +452,8 @@ class App(customtkinter.CTk):
func_dict[flag](path=args[0], w2t=self.write2textbox) func_dict[flag](path=args[0], w2t=self.write2textbox)
elif flag == 5: elif flag == 5:
func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox) 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)
else: else:
tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", ) tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )

2
aio/code/automatic_test/btn_functions.py
View File

@ -15,7 +15,7 @@ def validate_resp(_id, response, w2t):
def execution(cmd, hr, w2t, **kwargs): def execution(cmd, hr, w2t, **kwargs):
_id = hr.excution(cmd, **kwargs) _id = hr.execution(cmd, **kwargs)
_msg = hr.get_from_id(_id) _msg = hr.get_from_id(_id)
if not _msg: 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, 6, 'red', tab_name='Automatic Test')

98
aio/code/automatic_test/do_current.py
View File

@ -7,9 +7,6 @@ from json import loads
def traversal_files(path, w2t): def traversal_files(path, w2t):
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
# 参数：路径
# 返回值：路径下的文件夹列表 路径下的文件列表
if not exists(path): if not exists(path):
msg = f'数据文件夹{path}不存在，请确认后重试......' msg = f'数据文件夹{path}不存在，请确认后重试......'
w2t(msg, 0, 1, 'red', tab_name='Automatic Test') w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
@ -26,33 +23,29 @@ def traversal_files(path, w2t):
def check_files(data_dirs, data_files, w2t): def check_files(data_dirs, data_files, w2t):
if len(data_dirs) != 0 or len(data_files) != 5: if len(data_dirs) != 0 or len(data_files) != 3:
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
config_file = reach33 = reach66 = reach100 = prj_file = None config_file = current_file = prj_file = None
for data_file in data_files: for data_file in data_files:
filename = data_file.split('\\')[-1] filename = data_file.split('\\')[-1]
if filename == 'configs.xlsx': if filename == 'configs.xlsx':
config_file = data_file config_file = data_file
elif filename.startswith('reach33_') and filename.endswith('.xlsx'): elif filename == 'T_电机电流.xlsx':
reach33 = data_file current_file = data_file
elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
reach66 = data_file
elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
reach100 = data_file
elif filename.endswith('.zip'): elif filename.endswith('.zip'):
prj_file = data_file prj_file = data_file
else: else:
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test') w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
if config_file and reach33 and reach66 and reach100 and prj_file: if config_file and current_file and prj_file:
w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test') w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
return config_file, reach33, reach66, reach100, prj_file return config_file, current_file, prj_file
else: else:
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
def prj_to_xcore(prj_file): def prj_to_xcore(prj_file):
@ -105,7 +98,7 @@ def validate_resp(_id, response, w2t):
def execution(cmd, hr, w2t, **kwargs): def execution(cmd, hr, w2t, **kwargs):
_id = hr.excution(cmd, **kwargs) _id = hr.execution(cmd, **kwargs)
_msg = hr.get_from_id(_id) _msg = hr.get_from_id(_id)
if not _msg: 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, 6, 'red', tab_name='Automatic Test')
@ -116,38 +109,54 @@ def execution(cmd, hr, w2t, **kwargs):
def run_rl(hr, w2t): def run_rl(hr, w2t):
# prj_path = 'target/_build/target.prj' prj_path = 'target/_build/target.prj'
# _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com']) _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'current'])
# print(f"reload prj: {_response}") print(f"reload prj: {_response}")
# # _response = execution('overview.get_cur_prj', hr, w2t) _response = execution('overview.get_cur_prj', hr, w2t)
# # print(f"get cur prj name: {_response}") print(f"get cur prj name: {_response}")
# _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com']) _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake'])
# print(f"set pp2main of prj: {_response}") print(f"set pp2main of prj: {_response}")
#
# _response = execution('state.switch_auto', hr, w2t) _response = execution('state.switch_auto', hr, w2t)
# _response = execution('state.switch_motor_on', hr, w2t) _response = execution('state.switch_motor_on', hr, w2t)
#
# _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
# print(f"run prj: {_response}")
# sleep(10)
#
# _response = execution('state.switch_motor_off', hr, w2t)
# _response = execution('state.switch_manual', hr, w2t)
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
print(f"打开诊断: {_response}") print(f"打开诊断: {_response}")
# _response = execution('diagnosis.get_params', hr, w2t) # _response = execution('diagnosis.get_params', hr, w2t)
# print(f"显示诊断状态: {_response}") # print(f"显示诊断状态: {_response}")
display_pdo_params = [ display_pdo_params = [
{"name": "device_servo_trq_feedback", "channel": 0} {"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},
{"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) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
print(f"执行采样: {_response}") print(f"执行采样: {_response}")
sleep(5)
_response = execution('rl_task.run', hr, w2t, tasks=['brake'])
print(f"run prj: {_response}")
sleep(10)
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
print(f"关闭诊断: {_response}") print(f"关闭诊断: {_response}")
# sleep(1)
_response = execution('state.switch_motor_off', hr, w2t)
_response = execution('state.switch_manual', hr, w2t)
for _msg in hr.c_msg: for _msg in hr.c_msg:
if 'diagnosis.result' in _msg: if 'diagnosis.result' in _msg:
print(_msg) print(_msg)
@ -160,14 +169,11 @@ def run_rl(hr, w2t):
# break # break
else: def main(path, hr, w2t):
sleep(1)
def main(path, hr, loadsel, w2t):
data_dirs, data_files = traversal_files(path, w2t) data_dirs, data_files = traversal_files(path, w2t)
config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t) config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t)
# prj_to_xcore(prj_file) prj_to_xcore(prj_file)
run_rl(hr, w2t) run_rl(hr, w2t)

254
aio/code/automatic_test/openapi.py
View File

@ -4,6 +4,7 @@ from threading import Thread
import selectors import selectors
from time import time, sleep from time import time, sleep
from os.path import dirname from os.path import dirname
from binascii import b2a_hex, a2b_hex
MAX_FRAME_SIZE = 1024 MAX_FRAME_SIZE = 1024
setdefaulttimeout(2) setdefaulttimeout(2)
@ -25,6 +26,10 @@ class HmiRequest(object):
self.response_xs = '' self.response_xs = ''
self.t_bool = True self.t_bool = True
self.tab_name = 'Automatic Test' self.tab_name = 'Automatic Test'
self.pkg_size = 0
self.broke = 0
self.half = 0
self.half_length = 0
self.sock_conn() self.sock_conn()
self.t_heartbeat = Thread(target=self.heartbeat) self.t_heartbeat = Thread(target=self.heartbeat)
@ -55,14 +60,20 @@ class HmiRequest(object):
self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name) 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: with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
f_hb.write('1') f_hb.write('1')
# print(f"打开诊断:")
# self.execution('diagnosis.open', open=True, display_open=True)
# display_pdo_params = []
# print(f"执行采样")
# self.execution('diagnosis.set_params', display_pdo_params=display_pdo_params)
# print(f"关闭诊断")
# self.execution('diagnosis.open', open=False, display_open=False)
except Exception as Err: except Exception as Err:
self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name) 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: with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
f_hb.write('0') f_hb.write('0')
def header_check(self, index, data): def header_check(self, index, data):
try: if index + 8 < len(data):
_frame_size = int.from_bytes(data[index:index+2], byteorder='big') _frame_size = int.from_bytes(data[index:index+2], byteorder='big')
_pkg_size = int.from_bytes(data[index+2:index+6], byteorder='big') _pkg_size = int.from_bytes(data[index+2:index+6], byteorder='big')
_protocol = int.from_bytes(data[index+6:index+7], byteorder='big') _protocol = int.from_bytes(data[index+6:index+7], byteorder='big')
@ -71,16 +82,31 @@ class HmiRequest(object):
if _reserved == 0 and _protocol == 2: if _reserved == 0 and _protocol == 2:
return index+8, _frame_size, _pkg_size return index+8, _frame_size, _pkg_size
else: else:
print("数据有误，需要确认") print(data)
return 'DATA ERR' print("head check 数据有误，需要确认")
except Exception as Err: self.w2t("", 0, 1, 'red', 'Automatic Test')
print(f"Err = {Err}") else:
print("无法读取数据，需要确认") self.half_length = len(data)-index
return 'DATA READ ERR' if self.half_length == 1:
self.half = a2b_hex(str(hex(data[-1]))[2:].rjust(1, '0'))
else:
self.half = data[index:]
print(f"in head check half data: {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
return index, 0, 0
# except Exception as Err:
# print(data)
# print(f"Err = {Err}")
# print("无法读取数据，需要确认")
def heartbeat(self): def heartbeat(self):
while self.t_bool: while self.t_bool:
_id = self.excution('controller.heart') _id = self.execution('controller.heart')
_flag = '0' if self.get_from_id(_id) is None else '1' _flag = '0' if self.get_from_id(_id) is None else '1'
print(f"hb = {_flag}", end=' ') print(f"hb = {_flag}", end=' ')
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
@ -103,55 +129,191 @@ class HmiRequest(object):
messages.pop() messages.pop()
def get_response(self, data): def get_response(self, data):
_index = 0 # 流式获取单次请求的响应
if self.broke == 100:
print("*****************************************")
print(f"half data: {self.half}")
_half_1 = self.half
if self.half_length == 7:
_half_2 = a2b_hex(str(hex(data[0]))[2:].rjust(1, '0'))
else:
_half_2 = data[:8-self.half_length]
_full = _half_1 + _half_2
print(f"full data: {_full}")
_frame_size = _full[:2]
_frame_size = int.from_bytes(_full[:2], byteorder='big')
_pkg_size = int.from_bytes(_full[2:6], byteorder='big')
_protocol = int.from_bytes(_full[6:7], byteorder='big')
_reserved = int.from_bytes(_full[7:8], byteorder='big')
if _reserved != 0 or _protocol != 2:
print(data)
print("数据有误，需要确认")
self.w2t("", 0, 1, 'red', 'Automatic Test')
self.pkg_size = _pkg_size
_index = 8 - self.half_length
else:
_index = 0
while _index < len(data): while _index < len(data):
# flag 为 0，则说明是一次新的请求对应的一次新的相应，也就是需要首次解包
if self.flag == 0: if self.flag == 0:
_index, _frame_size, _pkg_size = self.header_check(_index, data) if self.broke == 100:
if _pkg_size <= len(data) - _index: self.broke = 0
# 说明剩余部分的数据正好就是完整的包数据 else:
self.response = data[_index:_index+_pkg_size].decode() _index, _frame_size, self.pkg_size = self.header_check(_index, data)
if _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
print(f"INIT pkg size = {self.pkg_size}")
if self.pkg_size <= len(data) - _index:
# 说明剩余部分的数据就在当前data内，没有被分割
self.response = data[_index:_index+self.pkg_size].decode()
self.msg_storage(flag=0, response=self.response) self.msg_storage(flag=0, response=self.response)
_index += _pkg_size _index += self.pkg_size
print(f"in flag=0 if data = {data}")
print(f"in flag=0 if index = {_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.flag = 0
self.response = '' self.response = ''
self.leftover = 0 self.leftover = 0
elif _pkg_size > len(data) - _index: elif self.pkg_size > len(data) - _index:
# 说有有分包的情况发生了，需要flag=1的处理 # 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 self.flag = 1
self.response = data[_index:].decode() self.response = data[_index:].decode()
self.leftover = _frame_size - 6 - (len(data) - _index) # 其实就是常量 2，其中 6 就是六个字节的包头 self.leftover = _frame_size - 6 - (len(data) - _index) # 这里的 _index 不一定是 0
self.pkg_size -= (len(data) - _index) # 详见解包原理数据.txt，self.pkg_size
print(f"in flag=0 else data = {data}")
print(f"in flag=0 else index = {_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: elif self.flag == 1:
# 处理完之后，将flag重置为0 # 继续处理之前为接收完的数据，处理完之后将flag重置为0
_index = self.leftover # !!!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!!!
self.response += data[:_index].decode() if self.broke == 1:
_index += 2 self.leftover = int.from_bytes(int(self.half).to_bytes(1, byteorder='big') + data[0:1], byteorder='big')
_index = 1
self.broke = 0
print(f"broke 1 leftover: {self.leftover}")
if self.broke == 2:
self.leftover = int.from_bytes(data[:2], byteorder='big')
print(f"broke 2 leftover: {self.leftover}")
_index = 2
self.broke = 0
while self.pkg_size > 0:
print(f"flag = 1 INIT _index = {_index}")
if _index + self.leftover <= len(data):
self.response += data[_index:_index + self.leftover].decode()
self.pkg_size -= self.leftover
if self.pkg_size == 0:
self.msg_storage(flag=0, response=self.response)
_index += self.leftover
print(f"break _index = {_index}")
print(data)
self.flag = 0
self.response = ''
self.leftover = 0
self.pkg_size = 0
break
_frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big') _index += self.leftover
if _frame_size == 0: if _index+2 <= len(data):
self.leftover = int.from_bytes(data[_index:_index+2], byteorder='big')
_index += 2
else:
self.leftover = 4096
if _index == len(data) -1:
self.broke = 1
self.half = data[-1]
print(f"half = {self.half}")
print('+++++++++++++++++++++')
_index += MAX_FRAME_SIZE
elif _index == len(data):
_index += MAX_FRAME_SIZE
self.broke = 2
print(f"in if data = {data}")
print(f"in if index = {_index}")
print(f"in if pkg size = {self.pkg_size}")
print(f"in if leftover = {self.leftover}")
if self.leftover > 1024:
print('============================')
else:
self.response += data[_index:].decode()
self.leftover -= (len(data) - _index)
self.pkg_size -= (len(data) - _index)
# if self.pkg_size == 0:
# self.msg_storage(flag=0, response=self.response)
# _index += MAX_FRAME_SIZE
# self.flag = 0
# self.response = ''
# self.leftover = 0
# break
_index += MAX_FRAME_SIZE
print(f"in else data = {data}")
print(f"in else index = {_index}")
print(f"in else pkg size = {self.pkg_size}")
print(f"in else leftover = {self.leftover}")
if self.leftover > 1024:
print('============================')
break
else:
self.msg_storage(flag=0, response=self.response) self.msg_storage(flag=0, response=self.response)
self.flag = 0 self.flag = 0
self.response = '' self.response = ''
self.leftover = 0 self.leftover = 0
break _index -= 2
# _index = 0
if _frame_size == MAX_FRAME_SIZE: # while _index < len(data):
self.leftover = MAX_FRAME_SIZE - (len(data) - _index) # if self.flag == 0:
self.response += data[_index:].decode() # _index, _frame_size, _pkg_size = self.header_check(_index, data)
break # if _pkg_size <= len(data) - _index:
else: # # 说明剩余部分的数据正好就是完整的包数据
if _index+_frame_size <= MAX_FRAME_SIZE: # self.response = data[_index:_index+_pkg_size].decode()
self.response += data[_index:_index+_frame_size].decode() # self.msg_storage(flag=0, response=self.response)
self.msg_storage(flag=0, response=self.response) # _index += _pkg_size
self.flag = 0 # self.flag = 0
self.response = '' # self.response = ''
self.leftover = 0 # self.leftover = 0
break # elif _pkg_size > len(data) - _index:
else: # # 说有有分包的情况发生了，需要flag=1的处理
self.response += data[_index:].decode() # self.flag = 1
self.leftover = _index + _frame_size - MAX_FRAME_SIZE # self.response = data[_index:].decode()
break # self.leftover = _frame_size - 6 - (len(data) - _index) # 其实就是常量 2，其中 6 就是六个字节的包头
# break
#
# elif self.flag == 1:
# # 处理完之后，将flag重置为0
# _index = self.leftover
# self.response += data[:_index].decode()
# _index += 2
#
# _frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big')
# if _frame_size == 0:
# self.msg_storage(flag=0, response=self.response)
# self.flag = 0
# self.response = ''
# self.leftover = 0
# break
#
# if _frame_size == MAX_FRAME_SIZE:
# self.leftover = MAX_FRAME_SIZE - (len(data) - _index)
# self.response += data[_index:].decode()
# break
# else:
# if _index+_frame_size <= MAX_FRAME_SIZE:
# self.response += data[_index:_index+_frame_size].decode()
# self.msg_storage(flag=0, response=self.response)
# self.flag = 0
# self.response = ''
# self.leftover = 0
# break
# else:
# self.response += data[_index:].decode()
# self.leftover = _index + _frame_size - MAX_FRAME_SIZE
# break
def get_response_xs(self, data): def get_response_xs(self, data):
if self.flag_xs == 0: if self.flag_xs == 0:
@ -213,7 +375,7 @@ class HmiRequest(object):
def to_read(conn): def to_read(conn):
data = conn.recv(MAX_FRAME_SIZE) data = conn.recv(MAX_FRAME_SIZE)
if data: if data:
# print(data) print(data)
self.get_response(data) self.get_response(data)
else: else:
print('closing', sock) print('closing', sock)
@ -254,7 +416,7 @@ class HmiRequest(object):
_id = f"{command}-{_now}" _id = f"{command}-{_now}"
return _id return _id
def excution(self, command, flg=0, **kwargs): def execution(self, command, flg=0, **kwargs):
if flg == 0: # for old protocols if flg == 0: # for old protocols
req = None req = None
try: try:
@ -287,7 +449,7 @@ class HmiRequest(object):
cmd = dumps(req, separators=(',', ':')) cmd = dumps(req, separators=(',', ':'))
try: try:
self.c.send(self.package(cmd)) self.c.send(self.package(cmd))
sleep(2) sleep(1)
except Exception as Err: except Exception as Err:
self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name) self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)