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5 Commits
ac71522cc2 ... 524af160d8

Author SHA1 Message Date
gitea
524af160d8 v0.1.7.5(2024/07/03) 
1. [APIs: aio.py]
   - 增加触发急停和恢复急停功能逻辑
2. [APIs: do_current.py]
   - 重新调整运行顺序，增加数据处理的逻辑（惯量负载逻辑暂不实现，等待软件部解决了修改工程之后不生效的问题再考虑）
3. [APIs: btn_functions.py]
   - 增加触发急停和恢复急停的modbus实现，仅适用于自动化测试

v0.1.7.6(2024/07/04)
1. [APIs: aio.py]
   - Automatic Test逻辑中增加选择current时，需要选负载类型的逻辑
2. [APIs: do_current.py]
   - 单轴/场景电机电流的采集已完成
3. [APIs: openapi.py]
   - 增加了modbus读取浮点数的功能
   - 优化了get_from_id的逻辑
4. [autotest.xml]: 新增了scenario_time只写寄存器
 2024-07-04 13:34:04 +08:00
gitea
aedac4c90c 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
 2024-07-02 21:48:00 +08:00
gitea
4e4d760db4 修复了两个bug，详见readme 2024-07-01 19:06:18 +08:00
gitea
ad4b6ae8d6 v0.1.7.3(2024/07/01) 
1. [APIs: openapi.py] 继续完善封包解包操作，并优化了所有调试信息，默认打开状态，直到bug数量明显减少
2. [APIs: do_current.py] 使用原工程的工程名进行move操作，语义更加明确

> 目前看openapi.py封包解包没有任何问题了，但是所有的调试信息都默认打开，以便可以第一时间保留现场
 2024-07-01 14:09:47 +08:00
gitea
fc3d5482f8 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
 2024-06-30 20:29:49 +08:00
9 changed files with 1708 additions and 193 deletions
Expand all files Collapse all files

3
.gitignore vendored
View File

@ -6,4 +6,5 @@ aio/package/
aio/venv aio/venv
aio/__pycache__/ aio/__pycache__/
aio/code/automatic_test/__pycache__/ aio/code/automatic_test/__pycache__/
aio/code/data_process/__pycache__/ aio/code/data_process/__pycache__/
aio/assets/templates/c_msg.log

49
aio/README.md
View File

@ -367,8 +367,57 @@ 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. 增加了解包原理性文档
v0.1.7.3(2024/07/01)
1. [APIs: openapi.py]
- 继续完善封包解包操作，并优化了所有调试信息，默认打开状态，直到bug数量明显减少
- 修复了两个bug，删除了一个多余的break，另一个是补齐了self.broke的重置
2. [APIs: do_current.py] 使用原工程的工程名进行move操作，语义更加明确
> 目前看openapi.py封包解包没有任何问题了，但是所有的调试信息都默认打开，以便可以第一时间保留现场
> 打开诊断，跑了10多分钟，共计解包没有报错，应该是没有问题了
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
v0.1.7.5(2024/07/03)
1. [APIs: aio.py]
- 增加触发急停和恢复急停功能逻辑
2. [APIs: do_current.py]
- 重新调整运行顺序，增加数据处理的逻辑（惯量负载逻辑暂不实现，等待软件部解决了修改工程之后不生效的问题再考虑）
3. [APIs: btn_functions.py]
- 增加触发急停和恢复急停的modbus实现，仅适用于自动化测试
v0.1.7.6(2024/07/04)
1. [APIs: aio.py]
- Automatic Test逻辑中增加选择current时，需要选负载类型的逻辑
2. [APIs: do_current.py]
- 单轴/场景电机电流的采集已完成
3. [APIs: openapi.py]
- 增加了modbus读取浮点数的功能
- 优化了get_from_id的逻辑
4. [autotest.xml]: 新增了scenario_time只写寄存器

947
aio/assets/autotest.xml Normal file
View File

@ -0,0 +1,947 @@
<?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"/>
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<l>
<c name="addr" type="2" value="40500"/>
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<c name="description" type="10" value="错误码"/>
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<c name="description" type="10" value="执行完毕的响应"/>
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<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40509"/>
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<l type="10" value=""/>
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<l type="10" value=""/>
<l type="10" value=""/>
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<l>
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<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"/>
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<c name="type" type="10" value="bool"/>
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<c name="value_single" type="10" value=""/>
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<l>
<c name="addr" type="2" value="40511"/>
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<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"/>
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<c name="name" type="10" value="w_mtcp_collision"/>
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<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
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<l>
<c name="addr" type="2" value="40512"/>
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<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"/>
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<l>
<c name="addr" type="2" value="40513"/>
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<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"/>
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<c name="name" type="10" value="w_mtcp_c_open"/>
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<c name="type" type="10" value="bool"/>
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<l>
<c name="addr" type="2" value="40514"/>
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<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"/>
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<c name="description" type="10" value="编码器欠压告警"/>
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<c name="function" type="10" value="sta_encoder_low_battery"/>
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<c name="name" type="10" value="w_mtcp_encoder_low"/>
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<c name="type" type="10" value="bool"/>
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<l>
<c name="addr" type="2" value="40516"/>
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<c name="description" type="10" value="机器人上报错误码"/>
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<c name="name" type="10" value="w_mtcp_robot_err"/>
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<c name="value_single" type="10" value=""/>
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<l>
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<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"/>
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<l>
<c name="addr" type="2" value="40518"/>
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<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"/>
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<c name="name" type="10" value="w_mtcp_heartbeat"/>
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<c name="value_single" type="10" value=""/>
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<l>
<c name="addr" type="2" value="40519"/>
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<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"/>
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<c name="name" type="10" value="w_mtcp_motor"/>
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<c name="type" type="10" value="bool"/>
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<c name="value_single" type="10" value=""/>
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<l>
<c name="addr" type="2" value="40520"/>
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<c name="description" type="10" value="操作模式"/>
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<c name="name" type="10" value="w_mtcp_mode"/>
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<c name="type" type="10" value="bool"/>
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<l>
<c name="addr" type="2" value="40521"/>
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<c name="description" type="10" value="当前程序状态"/>
<c name="dev_name" type="10" value="autotest"/>
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<c name="end_addr" type="2" value="40521"/>
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<c name="name" type="10" value="w_mtcp_p_state"/>
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<c name="type" type="10" value="bool"/>
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<l>
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<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"/>
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<c name="name" type="10" value="w_mtcp_cart_pose"/>
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<l>
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<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"/>
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<c name="name" type="10" value="w_mtcp_cart_vel"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
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<l type="10" value=""/>
<l type="10" value=""/>
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<l type="10" value=""/>
<l type="10" value=""/>
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<l>
<c name="addr" type="2" value="40551"/>
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<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"/>
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<c name="name" type="10" value="w_mtcp_jnt_pose"/>
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<c name="rw" type="10" value="rdwr"/>
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<l type="10" value=""/>
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<l type="10" value=""/>
<l type="10" value=""/>
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<c name="value_single" type="10" value=""/>
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<l>
<c name="addr" type="2" value="40565"/>
<c name="addr_1st" type="2" value="0"/>
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<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"/>
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<c name="name" type="10" value="w_mtcp_jnt_trq"/>
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<c name="rw" type="10" value="rdwr"/>
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<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
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<c name="value_single" type="10" value=""/>
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<l>
<c name="addr" type="2" value="40579"/>
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<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"/>
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<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=""/>
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<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=""/>
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<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="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="41000"/>
<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="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="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="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="41001"/>
<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=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="41002"/>
<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="41003"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="scenario_time"/>
<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=""/>
</l>
</m>

2
aio/assets/templates/heartbeat
View File

@ -1 +1 @@
0 1

38
aio/assets/unpackage_logic.txt Normal file
View File

@ -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}'

35
aio/code/aio.py
View File

@ -43,6 +43,8 @@ class App(customtkinter.CTk):
self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold") self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
self.w_param = 84 self.w_param = 84
self.hr = None self.hr = None
self.md_at = None
self.md_dp = None
# ===================================================================== # =====================================================================
# configure window # configure window
self.title("AIO - All in one automatic toolbox") self.title("AIO - All in one automatic toolbox")
@ -114,7 +116,7 @@ class App(customtkinter.CTk):
# create buttons # create buttons
self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), dynamic_resizing=False, font=customtkinter.CTkFont(size=16, weight='bold'), command=lambda value='机器状态': self.thread_it(self.segmented_button_callback)) self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), dynamic_resizing=False, font=customtkinter.CTkFont(size=16, weight='bold'), command=lambda value='机器状态': self.thread_it(self.segmented_button_callback))
self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew") self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew")
self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "停止运动", "继续运动", "零点位姿", "机器状态", "告警信息"]) self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "恢复急停", "待定功能", "功能待定", "机器状态", "告警信息"])
self.seg_button.set("功能切换") self.seg_button.set("功能切换")
# create progress bar # create progress bar
self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test')) self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
@ -130,7 +132,7 @@ class App(customtkinter.CTk):
widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we') widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
widgits_at[widgit]['entry'].configure(state='disabled') widgits_at[widgit]['entry'].configure(state='disabled')
elif widgit in ['loadsel', ]: elif widgit in ['loadsel', ]:
widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100"], width=self.w_param, font=self.my_font) widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100", "inertia"], width=self.w_param, font=self.my_font)
widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we') widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we')
widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text']) widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
widgits_at[widgit]['optionmenu'].configure(state='disabled') widgits_at[widgit]['optionmenu'].configure(state='disabled')
@ -159,7 +161,7 @@ class App(customtkinter.CTk):
self.myThread.start() self.myThread.start()
def segmented_button_callback(self): def segmented_button_callback(self):
_btn_funcs = {'get_state': '机器状态', 'warning_info': '告警信息', '3': '4', '5': '6', '7': '8'} _btn_funcs = {'trigger_estop': '触发急停', 'reset_estop': '恢复急停', 'get_state': '机器状态', 'warning_info': '告警信息'}
value = self.seg_button.get() value = self.seg_button.get()
self.seg_button.configure(state='disabled') self.seg_button.configure(state='disabled')
@ -173,7 +175,7 @@ class App(customtkinter.CTk):
else: else:
for _func in _btn_funcs: for _func in _btn_funcs:
if _btn_funcs[_func] == value: if _btn_funcs[_func] == value:
btn_functions.main(self.hr, _func, self.write2textbox) btn_functions.main(self.hr, self.md_at, _func, self.write2textbox)
break break
self.seg_button.configure(state='normal') self.seg_button.configure(state='normal')
@ -183,6 +185,8 @@ class App(customtkinter.CTk):
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')
self.hr = openapi.HmiRequest(self.write2textbox) self.hr = openapi.HmiRequest(self.write2textbox)
self.md_at = openapi.ModbusRequest(self, 'Automatic Test')
self.md_dp = openapi.ModbusRequest(self, 'Data Process')
while True: while True:
with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb: with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb:
@ -192,7 +196,7 @@ class App(customtkinter.CTk):
if c_state == '0': if c_state == '0':
# self.textbox.delete(index1='1.0', index2='end') # self.textbox.delete(index1='1.0', index2='end')
self.hr.t_bool = False self.hr.t_bool = False
sleep(4) sleep(3)
del self.hr del self.hr
self.hr = openapi.HmiRequest(self.write2textbox) self.hr = openapi.HmiRequest(self.write2textbox)
sleep(3) sleep(3)
@ -284,7 +288,7 @@ class App(customtkinter.CTk):
widgits_at[widgit]['entry'].configure(state='normal') widgits_at[widgit]['entry'].configure(state='normal')
elif widgit in ['loadsel', ]: elif widgit in ['loadsel', ]:
widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text']) widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
widgits_at[widgit]['optionmenu'].configure(text_color='black', state='disabled') widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
else: else:
self.initialization() self.initialization()
self.menu_main_at.set("Start Here!") self.menu_main_at.set("Start Here!")
@ -430,8 +434,11 @@ class App(customtkinter.CTk):
return 0, 0 return 0, 0
elif func_name == 'current': elif func_name == 'current':
path = widgits_at['path']['entry'].get().strip() path = widgits_at['path']['entry'].get().strip()
if exists(path): loadsel = widgits_at['loadsel']['optionmenu'].get()
return 6, path c1 = exists(path)
c2 = loadsel in ['tool100', 'inertia']
if c1 and c2:
return 6, path, loadsel
else: else:
return 0, 0 return 0, 0
else: else:
@ -441,7 +448,7 @@ 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:
@ -451,10 +458,20 @@ class App(customtkinter.CTk):
elif flag == 4: elif flag == 4:
func_dict[flag](path=args[0], w2t=self.write2textbox) func_dict[flag](path=args[0], w2t=self.write2textbox)
elif flag == 5: elif flag == 5:
self.pre_warning()
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:
self.pre_warning()
func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], 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！", )
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): def func_check_callback(self):
self.textbox.delete(index1='1.0', index2='end') self.textbox.delete(index1='1.0', index2='end')

44
aio/code/automatic_test/btn_functions.py
View File

@ -1,4 +1,4 @@
import json from json import loads
from sys import argv from sys import argv
@ -15,16 +15,26 @@ 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')
else: else:
_response = json.loads(_msg) _response = loads(_msg)
validate_resp(_id, _response, w2t) validate_resp(_id, _response, w2t)
return _response return _response
def trigger_estop(md, w2t):
md.trigger_estop()
w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
def reset_estop(md, w2t):
md.reset_estop()
w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
def get_state(hr, w2t): def get_state(hr, w2t):
# 获取机器状态 # 获取机器状态
_response = execution('state.get_state', hr, w2t) _response = execution('state.get_state', hr, w2t)
@ -48,17 +58,21 @@ def get_state(hr, w2t):
def warning_info(hr, w2t): def warning_info(hr, w2t):
for msg in hr.c_msg: for msg in hr.c_msg:
if 'alarm' in msg.lower(): if 'alarm' in msg.lower():
w2t(msg, tab_name='Automatic Test') w2t(str(loads(msg)), tab_name='Automatic Test')
for msg in hr.c_msg_xs: for msg in hr.c_msg_xs:
if 'alarm' in msg.lower(): if 'alarm' in msg.lower():
w2t(msg, tab_name='Automatic Test') w2t(str(loads(msg)), tab_name='Automatic Test')
def main(hr, func, w2t): def main(hr, md, func, w2t):
if hr is None: if hr is None:
w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test') w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test')
# func: get_state/ # func: get_state/
match func: match func:
case 'trigger_estop':
trigger_estop(md, w2t)
case 'reset_estop':
reset_estop(md, w2t)
case 'get_state': case 'get_state':
get_state(hr, w2t) get_state(hr, w2t)
case 'warning_info': case 'warning_info':
@ -68,21 +82,3 @@ def main(hr, func, w2t):
if __name__ == '__main__': if __name__ == '__main__':
main(*argv[1:]) main(*argv[1:])
# 一、设置/检测机器人状态：
# 1. 上电
# 2. 软限位打开
# 3. 示教器断开
# 4. 操作模式/机器人类型
# 5. 控制器状态/工作任务控件/机器人动态
# 二、加载RL程序开始运行
# 1. 怎么触发急停
# 2. 怎么恢复急停
# 3. 怎么采集曲线
# 4.
# 三、运行过程中，收集数据，并处理出结果
# 四

345
aio/code/automatic_test/do_current.py
View File

@ -1,15 +1,14 @@
from time import sleep import os
from time import sleep, time
from sys import argv from sys import argv
from os import scandir from os import scandir
from os.path import exists from os.path import exists
from paramiko import SSHClient, AutoAddPolicy from paramiko import SSHClient, AutoAddPolicy
from json import loads from json import loads
import pandas
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')
@ -25,34 +24,36 @@ def traversal_files(path, w2t):
return dirs, files return dirs, files
def check_files(data_dirs, data_files, w2t): def check_files(path, 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 os.mkdir(f"{path}\\single")
os.mkdir(f"{path}\\s_1")
os.mkdir(f"{path}\\s_2")
os.mkdir(f"{path}\\s_3")
os.mkdir(f"{path}\\inertia")
os.mkdir(f"{path}\\hold")
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):
@ -63,11 +64,8 @@ def prj_to_xcore(prj_file):
# stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip') # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
# ssh.exec_command('rm /tmp/target.zip') # ssh.exec_command('rm /tmp/target.zip')
sftp.put(prj_file, '/tmp/target.zip') sftp.put(prj_file, '/tmp/target.zip')
cmd = 'cd /tmp; ' cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
cmd += 'rm -rf target/; ' cmd += 'chmod 777 -R target/; rm target.zip'
cmd += 'mkdir target; '
cmd += 'unzip -d target/ -q target.zip; '
cmd += 'rm target.zip; '
ssh.exec_command(cmd) ssh.exec_command(cmd)
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; ' cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
@ -78,20 +76,17 @@ def prj_to_xcore(prj_file):
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo 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 print(stderr.read().decode()) # 顺便也执行以下stderr
cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj ' _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
cmd = 'cd /home/luoshi/bin/controller/; '
cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
stdin.write('luoshi2019' + '\n') stdin.write('luoshi2019' + '\n')
stdin.flush() stdin.flush()
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo 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 print(stderr.read().decode()) # 顺便也执行以下stderr
ssh.close() ssh.close()
def modify_prj():
pass
def validate_resp(_id, response, w2t): def validate_resp(_id, response, w2t):
match _id: match _id:
case 'DATA ERR': case 'DATA ERR':
@ -105,70 +100,262 @@ 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, 7, 'red', tab_name='Automatic Test')
else: else:
_response = loads(_msg) _response = loads(_msg)
validate_resp(_id, _response, w2t) validate_resp(_id, _response, w2t)
return _response return _response
def run_rl(hr, w2t): def data_proc(path, filename, channel):
# prj_path = 'target/_build/target.prj' if channel in list(range(6)):
# _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com']) with open(filename, 'r', encoding='utf-8') as f_obj:
# print(f"reload prj: {_response}") lines = f_obj.readlines()
# # _response = execution('overview.get_cur_prj', hr, w2t) _d2d_vel = {'hw_joint_vel_feedback': []}
# # print(f"get cur prj name: {_response}") _d2d_trq = {'device_servo_trq_feedback': []}
# _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com']) for line in lines:
# print(f"set pp2main of prj: {_response}") data = eval(line.strip())['data']
# for item in data:
# _response = execution('state.switch_auto', hr, w2t) if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
# _response = execution('state.switch_motor_on', hr, w2t) _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
# elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
# _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com']) _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
# 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) df1 = pandas.DataFrame.from_dict(_d2d_vel)
print(f"打开诊断: {_response}") df2 = pandas.DataFrame.from_dict(_d2d_trq)
# _response = execution('diagnosis.get_params', hr, w2t) df = pandas.concat([df1, df2], axis=1)
# print(f"显示诊断状态: {_response}") _filename = f'{path}\\single\\j{channel+1}_single.data'
display_pdo_params = [ df.to_csv(_filename, sep='\t', index=False)
{"name": "device_servo_trq_feedback", "channel": 0} elif channel in list(range(6, 9)):
with open(filename, 'r', encoding='utf-8') as f_obj:
lines = f_obj.readlines()
_d2d_vel_0 = {'hw_joint_vel_feedback': []}
_d2d_trq_0 = {'device_servo_trq_feedback': []}
_d2d_vel_1 = {'hw_joint_vel_feedback': []}
_d2d_trq_1 = {'device_servo_trq_feedback': []}
_d2d_vel_2 = {'hw_joint_vel_feedback': []}
_d2d_trq_2 = {'device_servo_trq_feedback': []}
_d2d_vel_3 = {'hw_joint_vel_feedback': []}
_d2d_trq_3 = {'device_servo_trq_feedback': []}
_d2d_vel_4 = {'hw_joint_vel_feedback': []}
_d2d_trq_4 = {'device_servo_trq_feedback': []}
_d2d_vel_5 = {'hw_joint_vel_feedback': []}
_d2d_trq_5 = {'device_servo_trq_feedback': []}
for line in lines:
data = eval(line.strip())['data']
for item in data:
if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
_d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq_0['device_servo_trq_feedback'].extend(item['value'])
elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback':
_d2d_vel_1['hw_joint_vel_feedback'].extend(item['value'])
elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq_1['device_servo_trq_feedback'].extend(item['value'])
elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback':
_d2d_vel_2['hw_joint_vel_feedback'].extend(item['value'])
elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq_2['device_servo_trq_feedback'].extend(item['value'])
elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback':
_d2d_vel_3['hw_joint_vel_feedback'].extend(item['value'])
elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq_3['device_servo_trq_feedback'].extend(item['value'])
elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback':
_d2d_vel_4['hw_joint_vel_feedback'].extend(item['value'])
elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq_4['device_servo_trq_feedback'].extend(item['value'])
elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback':
_d2d_vel_5['hw_joint_vel_feedback'].extend(item['value'])
elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
df_01 = pandas.DataFrame.from_dict(_d2d_vel_0)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_0)
df = pandas.concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j1_s_1.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_1)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_1)
df = pandas.concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j2_s_1.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_2)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_2)
df = pandas.concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j3_s_1.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_3)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_3)
df = pandas.concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j4_s_1.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_4)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_4)
df = pandas.concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j5_s_1.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_5)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_5)
df = pandas.concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j6_s_1.data'
df.to_csv(_filename, sep='\t', index=False)
def gen_result_file(path, loadsel, disc, number):
filename = path + f'\\data.txt'
with open(filename, 'w', encoding='utf-8') as f_obj:
for line in disc[number][1]:
f_obj.write(str(line)+'\n')
if loadsel == 'tool100':
data_proc(path, filename, number)
elif loadsel == 'inertia':
data_proc(path, filename, 'all')
def regular_load(path, hr, md, loadsel, w2t):
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) for condition in conditions:
print(f"执行采样: {_response}") disc = {
sleep(5) 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][0]}测试......", 0, 0, 'purple', 'Automatic Test')
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) # 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，切手动模式并下电
print(f"关闭诊断: {_response}") _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
# sleep(1) md.trigger_estop()
for _msg in hr.c_msg: md.reset_estop()
if 'diagnosis.result' in _msg: _response = execution('state.switch_manual', hr, w2t)
print(_msg) _response = execution('state.switch_motor_off', hr, w2t)
# _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
# 2. 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 = 'cd /home/luoshi/bin/controller/; '
cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; '
cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/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
# 3. reload工程后，pp2main，并且自动模式和上电
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'])
_response = execution('state.switch_auto', hr, w2t)
_response = execution('state.switch_motor_on', hr, w2t)
# 4. 开始运行程序，单轴运行15s
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
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)
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')
# 5. 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)
if number < 6:
sleep(15)
else:
_t_start = time()
while True:
scenario_time = md.read_scenario_time()
if float(scenario_time) > 1:
w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', 'Automatic Test')
break
else:
if (time()-_t_start)//60 > 3:
w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
else:
sleep(5)
sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
sleep(float(md.read_scenario_time())*0.2) # 再运行周期的20%即可
# 6. 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(2) # 保证所有数据均已返回
# 7. 保留数据并处理输出
for _msg in hr.c_msg:
if 'diagnosis.result' in _msg:
disc[number][1].insert(0, loads(_msg))
else:
_index = 210
for _msg in hr.c_msg:
if 'diagnosis.result' in _msg:
_index = hr.c_msg.index(_msg)
break
del hr.c_msg[_index-10:]
hr.c_msg_xs.clear()
gen_result_file(path, loadsel, disc, number)
else: else:
sleep(1) w2t("满载情况下，单轴和场景电机电流采集完毕。", 0, 0, 'green', 'Automatic Test')
def main(path, hr, loadsel, w2t): def inertia_load(path, hr, md, loadsel, w2t):
pass
def run_rl(path, hr, md, loadsel, w2t):
if loadsel == 'tool100':
regular_load(path, hr, md, loadsel, w2t)
elif loadsel == 'inertia':
inertia_load(path, hr, md, loadsel, w2t)
def main(path, hr, md, 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(path, data_dirs, data_files, w2t)
# prj_to_xcore(prj_file) prj_to_xcore(prj_file)
run_rl(hr, w2t) run_rl(path, hr, md, loadsel, w2t)
if __name__ == '__main__': if __name__ == '__main__':

438
aio/code/automatic_test/openapi.py
View File

@ -1,15 +1,130 @@
from json import load, dumps from json import load, dumps, loads
from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
from threading import Thread 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 pymodbus.client.tcp import ModbusTcpClient
from pymodbus.payload import BinaryPayloadDecoder
from pymodbus.constants import Endian
MAX_FRAME_SIZE = 1024 MAX_FRAME_SIZE = 1024
setdefaulttimeout(2) setdefaulttimeout(2)
current_path = dirname(__file__) 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)
def read_scenario_time(self):
try:
results = self.c.read_holding_registers(41002, 2)
result = BinaryPayloadDecoder.fromRegisters(results.registers, byteorder=Endian.BIG, wordorder=Endian.LITTLE)
result = f"{result.decode_32bit_float():.3f}"
return result
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): class HmiRequest(object):
def __init__(self, w2t): def __init__(self, w2t):
super().__init__() super().__init__()
@ -25,15 +140,21 @@ 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.index = 0
self.reset_index = 0
self.sock_conn() self.sock_conn()
self.t_heartbeat = Thread(target=self.heartbeat) self.t_heartbeat = Thread(target=self.heartbeat)
self.t_heartbeat.daemon = True self.t_heartbeat.daemon = True
self.t_heartbeat.start() self.t_heartbeat.start()
self.t_unpackage = Thread(target=self.unpackage, args=(self.c, )) self.t_unpackage = Thread(target=self.unpackage, args=(self.c,))
self.t_unpackage.daemon = True self.t_unpackage.daemon = True
self.t_unpackage.start() self.t_unpackage.start()
self.t_unpackage_xs = Thread(target=self.unpackage_xs, args=(self.c_xs, )) self.t_unpackage_xs = Thread(target=self.unpackage_xs, args=(self.c_xs,))
self.t_unpackage_xs.daemon = True self.t_unpackage_xs.daemon = True
self.t_unpackage_xs.start() self.t_unpackage_xs.start()
@ -55,43 +176,58 @@ 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')
md = ModbusRequest(self.w2t, self.tab_name)
md.reset_estop()
md.clear_alarm()
md.write_act(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')
_reserved = int.from_bytes(data[index+7:index+8], byteorder='big') _reserved = int.from_bytes(data[index + 7:index + 8], byteorder='big')
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(f"index = {index}")
except Exception as Err: # print(f"reserve = {_reserved}")
print(f"Err = {Err}") # print(f"protocol = {_protocol}")
print("无法读取数据，需要确认") # print("head check 数据有误，需要确认")
return 'DATA READ ERR' self.w2t("Header Check: 解包数据有误，需要确认！", 0, 1, 'red', tab_name=self.tab_name)
else:
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}")
self.broke = 100
index += MAX_FRAME_SIZE
return index, 0, 0
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=' ')
print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
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(_flag) f_hb.write(_flag)
if _flag == '0': 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) 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(2) sleep(2)
print(len(self.c_msg), end=' ')
# with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f: # with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
# for msg in self.c_msg: # for msg in self.c_msg:
# f.write(msg + '\n') # f.write(str(loads(msg)) + '\n')
def msg_storage(self, response, flag=0): def msg_storage(self, response, flag=0):
messages = self.c_msg if flag == 0 else self.c_msg_xs messages = self.c_msg if flag == 0 else self.c_msg_xs
@ -103,55 +239,199 @@ 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
while _index < len(data): if self.broke == 100:
# 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}")
_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)
self.w2t("in get_response: 解包数据有误，需要确认！", 0, 1, 'red', tab_name=self.tab_name)
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}")
else:
if self.reset_index == 1:
self.index = 0
while self.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
self.response = data[_index:_index+_pkg_size].decode()
self.msg_storage(flag=0, response=self.response)
_index += _pkg_size
self.flag = 0
self.response = ''
self.leftover = 0
elif _pkg_size > len(data) - _index:
# 说有有分包的情况发生了，需要flag=1的处理
self.flag = 1
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
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: else:
if _index+_frame_size <= MAX_FRAME_SIZE: self.index, _frame_size, self.pkg_size = self.header_check(self.index, data)
self.response += data[_index:_index+_frame_size].decode() # print(f"broke == 0 index = {self.index-8}")
self.msg_storage(flag=0, response=self.response) # print(f"broke == 0 INIT pkg size = {self.pkg_size}")
self.flag = 0 # print(f"broke == 0 data = {data}")
self.response = '' if self.index > MAX_FRAME_SIZE:
self.leftover = 0
break 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
if self.pkg_size <= len(data) - self.index:
# 说明剩余部分的数据就在当前data内，没有被分割
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}")
self.flag = 0
self.response = ''
self.leftover = 0
self.pkg_size = 0
self.reset_index = 0 if self.index < len(data) else 1
elif self.pkg_size > len(data) - self.index:
# 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):
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
self.reset_index = 0
if self.index + 2 < len(data):
self.leftover = int.from_bytes(data[self.index:self.index + 2], byteorder='big')
self.index += 2
self.reset_index = 0
else:
if self.index + 2 == len(data):
self.broke = 1
self.half = data[-2:]
# 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}")
elif self.index == len(data):
# print('flag = 0 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
elif self.index+_frame_size-6 > len(data):
self.response = data[self.index:].decode()
self.pkg_size -= (len(data) - self.index) # 详见解包原理数据.txt，self.pkg_size
self.leftover = (_frame_size-6-(len(data)-self.index))
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}")
# break
elif self.flag == 1:
# 继续处理之前为接收完的数据，处理完之后将flag重置为0
# !!!需要注意的是，包头/帧头也是有可能被分割开的!!!但是目前该程序未实现此种情况!!!
if self.broke == 1:
self.index = 0
self.leftover = int.from_bytes(self.half, byteorder='big')
self.broke = 0
# print(f"broke 1 leftover: {self.leftover}")
elif self.broke == 2:
self.leftover = int.from_bytes(self.half+data[:1], byteorder='big')
self.index = 1
self.broke = 0
# 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}")
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}")
if self.leftover < 0 or self.leftover > 1024:
self.w2t("", 0, 111, 'red')
self.response += data[self.index:self.index + self.leftover].decode()
self.pkg_size -= self.leftover
if self.pkg_size == 0:
self.msg_storage(flag=0, response=self.response)
self.index += self.leftover
self.flag = 0
self.response = ''
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}")
break
self.index += self.leftover
if self.index + 2 < len(data):
self.leftover = int.from_bytes(data[self.index:self.index + 2], byteorder='big')
self.index += 2
self.reset_index = 0
else:
# self.leftover = 4096
if self.index + 2 == len(data):
self.broke = 1
self.half = data[-2:]
# 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}")
elif self.index == len(data):
# 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}")
if self.leftover < 0 or self.leftover > 1024:
self.w2t("", 0, 111, 'red')
else: else:
self.response += data[_index:].decode() # print(f"in pkg size > 0 loop before else data = {data}")
self.leftover = _index + _frame_size - MAX_FRAME_SIZE # print(f"in pkg size > 0 loop before else index = {self.index}")
break # 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()
self.leftover -= (len(data) - self.index)
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}")
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 = 0 if (len(data) > self.index > 0) else 1
def get_response_xs(self, data): def get_response_xs(self, data):
if self.flag_xs == 0: if self.flag_xs == 0:
@ -188,19 +468,19 @@ class HmiRequest(object):
self.flag_xs = 1 self.flag_xs = 1
def get_from_id(self, msg_id, flag=0): def get_from_id(self, msg_id, flag=0):
messages = self.c_msg if flag == 0 else self.c_msg_xs
for i in range(3): for i in range(3):
messages = self.c_msg if flag == 0 else self.c_msg_xs
for msg in messages: for msg in messages:
if msg_id is None: if msg_id is None:
self.w2t("未能成功获取到 message id...", 0, 10, 'red', tab_name=self.tab_name) return None
if msg_id in msg: elif msg_id in msg:
return msg return msg
sleep(1) sleep(1)
else: else:
return None return None
def package(self, cmd): def package(self, cmd):
_frame_head = (len(cmd)+6).to_bytes(length=2, byteorder='big') _frame_head = (len(cmd) + 6).to_bytes(length=2, byteorder='big')
_pkg_head = len(cmd).to_bytes(length=4, byteorder='big') _pkg_head = len(cmd).to_bytes(length=4, byteorder='big')
_protocol = int(2).to_bytes(length=1, byteorder='big') _protocol = int(2).to_bytes(length=1, byteorder='big')
_reserved = int(0).to_bytes(length=1, byteorder='big') _reserved = int(0).to_bytes(length=1, byteorder='big')
@ -210,13 +490,13 @@ class HmiRequest(object):
return f"{dumps(cmd, separators=(',', ':'))}\r".encode() return f"{dumps(cmd, separators=(',', ':'))}\r".encode()
def unpackage(self, sock): def unpackage(self, sock):
def to_read(conn): def to_read(conn, mask):
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', conn)
sel.unregister(conn) sel.unregister(conn)
conn.close() conn.close()
@ -227,16 +507,16 @@ class HmiRequest(object):
events = sel.select() events = sel.select()
for key, mask in events: for key, mask in events:
callback = key.data callback = key.data
callback(key.fileobj) callback(key.fileobj, mask)
def unpackage_xs(self, sock): def unpackage_xs(self, sock):
def to_read(conn): def to_read(conn, mask):
data = conn.recv(1024) # Should be ready data = conn.recv(1024) # Should be ready
if data: if data:
# print(data) # print(data)
self.get_response_xs(data) self.get_response_xs(data)
else: else:
print('closing', sock) print('closing', conn)
sel.unregister(conn) sel.unregister(conn)
conn.close() conn.close()
@ -247,22 +527,22 @@ class HmiRequest(object):
events = sel.select() events = sel.select()
for key, mask in events: for key, mask in events:
callback = key.data callback = key.data
callback(key.fileobj) callback(key.fileobj, mask)
def gen_id(self, command): def gen_id(self, command):
_now = time() _now = time()
_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:
with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8', mode='r') as f_json: with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8',
mode='r') as f_json:
req = load(f_json) req = load(f_json)
except: except:
print(f"暂不支持 {command} 功能，或确认该功能存在...") self.w2t(f"暂不支持 {command} 功能，或确认该功能存在...", 0, 1, 'red', tab_name=self.tab_name)
return 'NOT SUPPORT'
match command: match command:
case 'state.set_tp_mode': case 'state.set_tp_mode':
@ -283,11 +563,11 @@ class HmiRequest(object):
pass pass
req['id'] = self.gen_id(command) req['id'] = self.gen_id(command)
print(f"req = {req}") # print(f"req = {req}")
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(0.5)
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)