gitea
79797a3bdd
9. [aio.py] 修改了版本 10. [current.py] max/avg功能结束之前会将结果数据追加写入源文件，avg算法更改为average+3×std 11. [wavelogger.py] 算法更改为 average+3×std
89 lines
2.7 KiB
Python
89 lines
2.7 KiB
Python
import json
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from sys import argv
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def validate_resp(_id, response, w2t):
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match _id:
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case 'DATA ERR':
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w2t(f"数据处理错误，需要确认", 0, 4, 'red')
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case 'DATA READ ERR':
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w2t(f"无法读取数据，需要确认", 0, 3, 'red')
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case 'NOT SUPPORT':
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w2t(f"不支持的功能，需要确认", 0, 2, 'red')
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if not response:
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w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red')
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def execution(cmd, hr, w2t, **kwargs):
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_id = hr.excution(cmd, **kwargs)
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
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else:
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_response = json.loads(_msg)
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validate_resp(_id, _response, w2t)
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return _response
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def get_state(hr, w2t):
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# 获取机器状态
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_response = execution('state.get_state', hr, w2t)
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stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
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for component, state in _response['data'].items():
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w2t(f"{stat_desc[component]}: {state}")
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# 获取设备伺服信息
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_response = execution('device.get_params', hr, w2t)
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dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'}
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dev_vers = {}
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for device in _response['data']['devices']:
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dev_vers[device['type']] = device['version']
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for i in sorted(dev_desc.keys()):
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w2t(f"{dev_desc[i]}: {dev_vers[i]}")
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# 设置示教器模式
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_response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
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def warning_info(hr, w2t):
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for msg in hr.c_msg:
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if 'alarm' in msg.lower():
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w2t(msg)
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for msg in hr.c_msg_xs:
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if 'alarm' in msg.lower():
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w2t(msg)
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def main(hr, func, w2t):
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if hr is None:
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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')
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# func: get_state/
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match func:
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case 'get_state':
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get_state(hr, w2t)
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case 'warning_info':
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warning_info(hr, w2t)
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if __name__ == '__main__':
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main(*argv[1:])
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# 一、设置/检测机器人状态：
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# 1. 上电
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# 2. 软限位打开
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# 3. 示教器断开
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# 4. 操作模式/机器人类型
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# 5. 控制器状态/工作任务控件/机器人动态
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# 二、加载RL程序开始运行
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# 1. 怎么触发急停
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# 2. 怎么恢复急停
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# 3. 怎么采集曲线
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# 4.
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# 三、运行过程中，收集数据，并处理出结果
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# 四
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