xcore通信完成
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assets/files/projects/registers.json
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592
assets/files/projects/registers.json
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{
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"MODBUS": [
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{
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"property": {
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"device_name": "autotest",
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"endian": 1
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},
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"regs": {
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"rd": [
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{
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"addr": 40000,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_clear_alarm",
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"len": 1,
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"name": "r_clear_alarm",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40001,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_estop_reset",
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"len": 1,
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"name": "r_estop_reset",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40002,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_estop_reset_clear_alarm",
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"len": 1,
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"name": "r_onekey_reset",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40003,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_motor_off",
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"len": 1,
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"name": "r_motor_off",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40004,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_motor_on",
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"len": 1,
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"name": "r_motor_on",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40005,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_motoron_pptomain_start",
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"len": 1,
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"name": "r_onekey_start",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40006,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_motoron_start",
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"len": 1,
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"name": "r_motoron_start",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40007,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_pause_motoroff",
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"len": 1,
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"name": "r_pause_motoroff",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40008,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_pptomain",
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"len": 1,
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"name": "r_pp2main",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40009,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_program_start",
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"len": 1,
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"name": "r_prog_start",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40010,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_program_stop",
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"len": 1,
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"name": "r_prog_stop",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40011,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_reduced_mode",
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"len": 1,
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"name": "r_reduced_mode",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40012,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_soft_estop",
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"len": 1,
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"name": "r_soft_estop",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40013,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_switch_auto_motoron",
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"len": 1,
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"name": "r_auto_motoron",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40014,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_switch_operation_auto",
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"len": 1,
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"name": "r_switch_auto",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40015,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "ctrl_switch_operation_manu",
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"len": 1,
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"name": "r_switch_manual",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40016,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "enable_safe_region01",
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"len": 1,
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"name": "r_safe_region01",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40017,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "enable_safe_region02",
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"len": 1,
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"name": "r_safe_region02",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40018,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "enable_safe_region03",
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"len": 1,
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"name": "r_safe_region03",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40100,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_0",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40101,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_1",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40102,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_2",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40103,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_3",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40104,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_4",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40105,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_5",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40106,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_6",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40107,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_7",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40108,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_8",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40109,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "",
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"len": 1,
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"name": "signal_9",
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"retain": false,
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"type": "bool"
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}
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],
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"rdwr": [
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{
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"addr": 40500,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_alarm",
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"len": 1,
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"name": "w_alarm_state",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40501,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_collision",
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"len": 1,
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"name": "w_clsn_alarm_stat",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40502,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_collision_open",
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"len": 1,
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"name": "w_clsn_open_stat",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40503,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_controller_is_running",
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"len": 1,
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"name": "w_controller_running",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40504,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_encoder_low_battery",
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"len": 1,
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"name": "w_encoder_low",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40505,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_estop",
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"len": 1,
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"name": "w_estop_stat",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40506,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_motor",
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"len": 1,
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"name": "w_motor_stat",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40507,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_operation_mode",
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"len": 1,
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"name": "w_operation_mode",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40508,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_program",
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"len": 1,
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"name": "w_prog_stat",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40509,
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"addr_1st": 0,
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||||
"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_program_not_run",
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"len": 1,
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"name": "w_prog_not_run",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40510,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_program_reset",
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"len": 1,
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"name": "w_prog_reset",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40511,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_reduced_mode",
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"len": 1,
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"name": "w_reduced_mode_stat",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40512,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_robot_is_busy",
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"len": 1,
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"name": "w_robot_is_busy",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40513,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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"function": "sta_robot_moving",
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"len": 1,
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"name": "w_robot_moving",
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"retain": false,
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"type": "bool"
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},
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{
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"addr": 40514,
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"addr_1st": 0,
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"addr_2nd": 0,
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"bit_bias": 0,
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"byte_bias": 0,
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||||
"function": "sta_safe_door",
|
||||
"len": 1,
|
||||
"name": "w_safe_door",
|
||||
"retain": false,
|
||||
"type": "bool"
|
||||
},
|
||||
{
|
||||
"addr": 40515,
|
||||
"addr_1st": 0,
|
||||
"addr_2nd": 0,
|
||||
"bit_bias": 0,
|
||||
"byte_bias": 0,
|
||||
"function": "sta_safe_region01",
|
||||
"len": 1,
|
||||
"name": "w_safe_region01",
|
||||
"retain": false,
|
||||
"type": "bool"
|
||||
},
|
||||
{
|
||||
"addr": 40516,
|
||||
"addr_1st": 0,
|
||||
"addr_2nd": 0,
|
||||
"bit_bias": 0,
|
||||
"byte_bias": 0,
|
||||
"function": "sta_safe_region02",
|
||||
"len": 1,
|
||||
"name": "w_safe_region02",
|
||||
"retain": false,
|
||||
"type": "bool"
|
||||
},
|
||||
{
|
||||
"addr": 40517,
|
||||
"addr_1st": 0,
|
||||
"addr_2nd": 0,
|
||||
"bit_bias": 0,
|
||||
"byte_bias": 0,
|
||||
"function": "sta_safe_region03",
|
||||
"len": 1,
|
||||
"name": "w_safe_region03",
|
||||
"retain": false,
|
||||
"type": "bool"
|
||||
},
|
||||
{
|
||||
"addr": 40518,
|
||||
"addr_1st": 0,
|
||||
"addr_2nd": 0,
|
||||
"bit_bias": 0,
|
||||
"byte_bias": 0,
|
||||
"function": "sta_soft_estop",
|
||||
"len": 1,
|
||||
"name": "w_soft_estop_stat",
|
||||
"retain": false,
|
||||
"type": "bool"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
915
assets/files/projects/registers.xml
Normal file
915
assets/files/projects/registers.xml
Normal file
@ -0,0 +1,915 @@
|
||||
<?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=""/>
|
||||
<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_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=""/>
|
||||
</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=""/>
|
||||
<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_estop_reset"/>
|
||||
<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=""/>
|
||||
</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=""/>
|
||||
<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_estop_reset_clear_alarm"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_onekey_reset"/>
|
||||
<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=""/>
|
||||
</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=""/>
|
||||
<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_off"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_motor_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=""/>
|
||||
</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=""/>
|
||||
<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"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_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=""/>
|
||||
</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=""/>
|
||||
<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_onekey_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=""/>
|
||||
</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=""/>
|
||||
<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_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=""/>
|
||||
</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=""/>
|
||||
<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_pause_motoroff"/>
|
||||
<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=""/>
|
||||
</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=""/>
|
||||
<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_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=""/>
|
||||
</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=""/>
|
||||
<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_prog_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=""/>
|
||||
</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=""/>
|
||||
<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_stop"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_prog_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=""/>
|
||||
</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=""/>
|
||||
<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_reduced_mode"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_reduced_mode"/>
|
||||
<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=""/>
|
||||
</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=""/>
|
||||
<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_soft_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=""/>
|
||||
</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=""/>
|
||||
<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_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=""/>
|
||||
</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=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40014"/>
|
||||
<c name="function" type="10" value="ctrl_switch_operation_auto"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_switch_auto"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rd"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40015"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40015"/>
|
||||
<c name="function" type="10" value="ctrl_switch_operation_manu"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_switch_manual"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rd"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40016"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40016"/>
|
||||
<c name="function" type="10" value="enable_safe_region01"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_safe_region01"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40017"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40017"/>
|
||||
<c name="function" type="10" value="enable_safe_region02"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_safe_region02"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40018"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40018"/>
|
||||
<c name="function" type="10" value="enable_safe_region03"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="r_safe_region03"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40100"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40100"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_0"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40101"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40101"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_1"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40102"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40102"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_2"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40103"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40103"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_3"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40104"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40104"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_4"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40105"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40105"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_5"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40106"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40106"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_6"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40107"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40107"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_7"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40108"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40108"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_8"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40109"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40109"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_9"/>
|
||||
<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=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40500"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40500"/>
|
||||
<c name="function" type="10" value="sta_alarm"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_alarm_state"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40501"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40501"/>
|
||||
<c name="function" type="10" value="sta_collision"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_clsn_alarm_stat"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40502"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40502"/>
|
||||
<c name="function" type="10" value="sta_collision_open"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_clsn_open_stat"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40503"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40503"/>
|
||||
<c name="function" type="10" value="sta_controller_is_running"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_controller_running"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40504"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40504"/>
|
||||
<c name="function" type="10" value="sta_encoder_low_battery"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_encoder_low"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40505"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40505"/>
|
||||
<c name="function" type="10" value="sta_estop"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_estop_stat"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40506"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40506"/>
|
||||
<c name="function" type="10" value="sta_motor"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_motor_stat"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40507"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40507"/>
|
||||
<c name="function" type="10" value="sta_operation_mode"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_operation_mode"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40508"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40508"/>
|
||||
<c name="function" type="10" value="sta_program"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_prog_stat"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40509"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40509"/>
|
||||
<c name="function" type="10" value="sta_program_not_run"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_prog_not_run"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40510"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<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_program_reset"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_prog_reset"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40511"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<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_reduced_mode"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_reduced_mode_stat"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40512"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40512"/>
|
||||
<c name="function" type="10" value="sta_robot_is_busy"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_robot_is_busy"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40513"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<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_robot_moving"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_robot_moving"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40514"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<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_safe_door"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_safe_door"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40515"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40515"/>
|
||||
<c name="function" type="10" value="sta_safe_region01"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_safe_region01"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40516"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40516"/>
|
||||
<c name="function" type="10" value="sta_safe_region02"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_safe_region02"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40517"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40517"/>
|
||||
<c name="function" type="10" value="sta_safe_region03"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_safe_region03"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40518"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
|
||||
<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_soft_estop"/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="w_soft_estop_stat"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
</l>
|
||||
</m>
|
||||
BIN
assets/files/protocols/原理/协议原理.xlsx
Normal file
BIN
assets/files/protocols/原理/协议原理.xlsx
Normal file
Binary file not shown.
56
assets/files/protocols/原理/解包示例.txt
Normal file
56
assets/files/protocols/原理/解包示例.txt
Normal file
@ -0,0 +1,56 @@
|
||||
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"'
|
||||
|
||||
|
||||
|
||||
> - 封包解包顺序：帧长度二字节/包长度四字节/协议二字节/预留二字节，\x04\x00:\x00\x00\tR:\x02:\x00
|
||||
> - 帧长度和包长度没有必然关系，单帧的时候是帧长度减去包长度等于6，包长度指的是所有内容的长度
|
||||
> - HMI内部每次发送1024个字节，进行分包，有效内容长度规则是：第一帧 frm_value-6(帧大小减去包头长度)，第二帧（包含）及之后的帧，帧大小即是数据长度
|
||||
|
||||
|
||||
==================================================================================================
|
||||
单包多帧示例
|
||||
\x04\x00\x00\x00-h\x02\x00
|
||||
frm_value = int.from_bytes(b"\x04\x00") = 1024 | 每次发送的帧的报文总长度，包括包头（如果有），但不包括帧头
|
||||
pkg_value = int.from_bytes(b"\x00\x00-h") = 11624 | 包长度是不包括所有的帧和包报文头的，单包单帧的情况也是一样的
|
||||
pkg_size = 6 字节
|
||||
有效数据长度 = 10240 + 402 + 1004 - 20 - 2(首个帧头) = 11624
|
||||
有效数据长度+包报文头 = 11624 + 6 = 11630
|
||||
有效数据长度+包报文头+帧报文头 = 11624 + 6 + 22 = 11652
|
||||
首帧长度 1018=frm_value-pkg_size=1024-6：如下是第一帧和第二帧的拼接
|
||||
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\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\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'
|
||||
单帧长度 1024：如下是第二帧和第三帧的拼接
|
||||
b'8290070812,\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\t0.0020686270214758614,\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'
|
||||
|
||||
---------------------------------------------------------------------------------------------------
|
||||
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}'
|
||||
---------------------------------------------------------------------------------------------------
|
||||
|
||||
==================================================================================================
|
||||
单包单帧示例
|
||||
\x00\\\x00\x00\x00V\x02\x00
|
||||
frm_value = int.from_bytes(b"\x00\\") = 92 | 每次发送的帧的报文总长度，包括包头（如果有），但不包括帧头
|
||||
pkg_value = int.from_bytes(b"\x00\x00\x00V") = 86 | 包长度是不包括所有的帧和包报文头的，单包单帧的情况也是一样的
|
||||
pkg_size = 6
|
||||
有效数据长度 = 86
|
||||
有效数据长度+包报文头 = 86 + 6 = 92
|
||||
有效数据长度+包报文头+帧报文头 = 86 + 6 +2 = 94
|
||||
帧长度 86=frm_value-pkg_size=92-6
|
||||
|
||||
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}'
|
||||
165
code/aio.py
165
code/aio.py
@ -13,7 +13,7 @@ import webbrowser
|
||||
import sqlite3
|
||||
from datetime import datetime
|
||||
import os
|
||||
from common import clibs
|
||||
from common import clibs, openapi
|
||||
from data_process import current, brake, iso, wavelogger
|
||||
import threading
|
||||
import re
|
||||
@ -76,14 +76,15 @@ class App:
|
||||
self.om_sub_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["tool33", "tool66", "tool100", "inertia"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
|
||||
self.label_ip_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), anchor="e", text="IP", font=self.f_common)
|
||||
self.entry_ip_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=160, textvariable=self.entry_ip_atv, font=self.f_entry, text_color="#818181")
|
||||
self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0)
|
||||
self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=lambda: self.__thread_it(self.__conn_xcore))
|
||||
self.progressbar_at = ctk.CTkProgressBar(self.tabview_top.tab("自动测试"), width=160, mode="indeterminate")
|
||||
self.label_path_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), width=50, anchor="e", text="Path", font=self.f_common)
|
||||
self.entry_path_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=80, state="disabled", textvariable=self.entry_path_atv, font=self.f_entry, text_color="#818181")
|
||||
self.frame_top = ctk.CTkFrame(self.tabview_top.tab("自动测试"), width=120, height=10, fg_color="#E9E9E9")
|
||||
self.btn_trig_estop = ctk.CTkButton(self.frame_top, width=100, text="触发急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=print)
|
||||
self.btn_reset_estop = ctk.CTkButton(self.frame_top, width=100, text="恢复急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=print)
|
||||
self.btn_robot_state = ctk.CTkButton(self.frame_top, width=100, text="机器信息", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_info)
|
||||
self.btn_robot_init = ctk.CTkButton(self.frame_top, width=100, text="初始操作", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_init)
|
||||
self.btn_trig_estop = ctk.CTkButton(self.frame_top, width=100, text="触发急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__trig_estop)
|
||||
self.btn_reset_estop = ctk.CTkButton(self.frame_top, width=100, text="恢复急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__reset_estop)
|
||||
self.popupmenu_ip = tk.Menu(self.entry_ip_at, tearoff=False)
|
||||
self.popupmenu_ip.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy(self.entry_ip_at))
|
||||
self.popupmenu_ip.add_command(label="剪切", accelerator="Ctrl+X", font=self.f_treeview, command=lambda: self.__cut(self.entry_ip_at))
|
||||
@ -130,15 +131,57 @@ class App:
|
||||
|
||||
# ========================================================================
|
||||
self.__draw()
|
||||
clibs.insert_logdb("INFO", "aio", "AIO starts running......")
|
||||
|
||||
def detect_network(self):
|
||||
while True:
|
||||
try:
|
||||
if clibs.c_hr.status:
|
||||
self.btn_conn.configure(fg_color="#2E8B57")
|
||||
else:
|
||||
self.btn_conn.configure(fg_color="#979DA2")
|
||||
except Exception as Err:
|
||||
self.btn_conn.configure(fg_color="#979DA2")
|
||||
time.sleep(2)
|
||||
|
||||
def __conn_xcore(self):
|
||||
if self.btn_conn.cget("fg_color") == "#979DA2":
|
||||
try:
|
||||
if clibs.c_hr.status:
|
||||
self.btn_conn.configure(fg_color="#2E8B57")
|
||||
return
|
||||
except Exception as Err:
|
||||
...
|
||||
|
||||
clibs.ip_addr = self.entry_ip_atv.get().strip()
|
||||
ip_pattern = re.compile(r'(([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])\.){3}([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])')
|
||||
if not ip_pattern.fullmatch(clibs.ip_addr):
|
||||
messagebox.showerror(title="非法地址", message=f"{clibs.ip_addr} 不是一个有效的 IP 地址")
|
||||
clibs.insert_logdb("ERROR", "aio", f"connection: {clibs.ip_addr} 不是一个有效的 IP 地址")
|
||||
return
|
||||
# clibs.c_md = openapi.ModbusRequest(clibs.ip_addr, clibs.modbus_port)
|
||||
clibs.c_hr = openapi.HmiRequest(clibs.ip_addr, clibs.socket_port, clibs.xService_port)
|
||||
else:
|
||||
try:
|
||||
# clibs.c_md.close()
|
||||
clibs.c_hr.close()
|
||||
except Exception as Err:
|
||||
...
|
||||
self.btn_conn.configure(fg_color="#979DA2")
|
||||
|
||||
def __robot_info(self):
|
||||
clibs.cursor.execute("select * from logs")
|
||||
records = clibs.cursor.fetchall()
|
||||
self.text_output.insert(ctk.END, records)
|
||||
...
|
||||
|
||||
def __robot_init(self):
|
||||
...
|
||||
|
||||
def __trig_estop(self):
|
||||
...
|
||||
|
||||
def __reset_estop(self):
|
||||
...
|
||||
|
||||
def __thread_it(self, func, *args):
|
||||
""" 将函数打包进线程 """
|
||||
""" 将函数打包进线程，必须使用 lambda """
|
||||
self.myThread = threading.Thread(target=func, args=args)
|
||||
self.myThread.daemon = True # 主线程退出就直接让子线程跟随退出,不论是否运行完成。
|
||||
self.myThread.start()
|
||||
@ -208,7 +251,6 @@ class App:
|
||||
return data
|
||||
|
||||
def init_op():
|
||||
clibs.w2t = self.__w2t
|
||||
self.text_output.delete("1.0", ctk.END)
|
||||
self.tabview_bottom.set("输出")
|
||||
if clibs.db_state != "readwrite":
|
||||
@ -241,6 +283,7 @@ class App:
|
||||
|
||||
exec_function()
|
||||
|
||||
@clibs.db_lock
|
||||
def __reset_state(self):
|
||||
def reset_methods():
|
||||
self.btn_load.configure(fg_color="#979DA2")
|
||||
@ -272,8 +315,9 @@ class App:
|
||||
reset_methods()
|
||||
# TBD: something signifies status of program and terminate some thread ect.
|
||||
|
||||
@clibs.db_lock
|
||||
def __get_realtime_log(self):
|
||||
clibs.cursor.execute("select * from logs order by id desc")
|
||||
clibs.cursor.execute("select id from logs")
|
||||
len_records = len(clibs.cursor.fetchall())
|
||||
pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
|
||||
self.label_pages_logs.set(f"{pages_all} / {pages_all}")
|
||||
@ -292,6 +336,7 @@ class App:
|
||||
|
||||
self.__reset_entry_keyword()
|
||||
|
||||
@clibs.db_lock
|
||||
def __get_previous_log(self):
|
||||
if self.btn_find.cget("fg_color") == "#979DA2":
|
||||
try:
|
||||
@ -334,47 +379,56 @@ class App:
|
||||
self.label_pages_logs.set(f"{previous_page} / {pages_all}")
|
||||
|
||||
def __get_next_log(self):
|
||||
if self.btn_find.cget("fg_color") == "#979DA2":
|
||||
try:
|
||||
clibs.cursor.execute("select * from logs order by id desc")
|
||||
len_records = len(clibs.cursor.fetchall())
|
||||
@clibs.db_lock
|
||||
def get_next_page():
|
||||
if self.btn_find.cget("fg_color") == "#979DA2":
|
||||
try:
|
||||
clibs.cursor.execute("select id from logs")
|
||||
len_records = len(clibs.cursor.fetchall())
|
||||
|
||||
row = self.treeview_logs.get_children()
|
||||
last_id = self.treeview_logs.item(row[-1], "values")[0]
|
||||
start = int(last_id) + 1
|
||||
end = int(last_id) + 100
|
||||
if int(start) <= len_records:
|
||||
clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
|
||||
records = clibs.cursor.fetchall()
|
||||
row = self.treeview_logs.get_children()
|
||||
last_id = self.treeview_logs.item(row[-1], "values")[0]
|
||||
start = int(last_id) + 1
|
||||
end = int(last_id) + 100
|
||||
if int(start) <= len_records:
|
||||
clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
|
||||
records = clibs.cursor.fetchall()
|
||||
self.treeview_logs.delete(*self.treeview_logs.get_children())
|
||||
for record in records:
|
||||
self.treeview_logs.insert("", "end", values=record, tags=record[2])
|
||||
# self.treeview_logs.yview_moveto(1)
|
||||
|
||||
pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
|
||||
current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
|
||||
self.label_pages_logs.set(f"{current_page} / {pages_all}")
|
||||
except Exception as ERR:
|
||||
...
|
||||
else:
|
||||
len_records = len(clibs.f_records)
|
||||
pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
|
||||
current_page = int(self.label_pages_logs.get().split("/")[0].strip())
|
||||
if current_page < pages_all:
|
||||
row = self.treeview_logs.get_children()
|
||||
last_one = list(self.treeview_logs.item(row[-1], "values"))
|
||||
last_one[0] = int(last_one[0])
|
||||
index_start = clibs.f_records.index(tuple(last_one))+1
|
||||
self.treeview_logs.delete(*self.treeview_logs.get_children())
|
||||
for record in records:
|
||||
self.treeview_logs.insert("", "end", values=record, tags=record[2])
|
||||
# self.treeview_logs.yview_moveto(1)
|
||||
if index_start+100 <= len_records:
|
||||
for record in clibs.f_records[index_start:index_start+100]:
|
||||
self.treeview_logs.insert("", "end", values=record, tags=record[2])
|
||||
else:
|
||||
for record in clibs.f_records[index_start:]:
|
||||
self.treeview_logs.insert("", "end", values=record, tags=record[2])
|
||||
|
||||
pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
|
||||
current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
|
||||
self.label_pages_logs.set(f"{current_page} / {pages_all}")
|
||||
except Exception as ERR:
|
||||
...
|
||||
else:
|
||||
len_records = len(clibs.f_records)
|
||||
pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
|
||||
current_page = int(self.label_pages_logs.get().split("/")[0].strip())
|
||||
if current_page < pages_all:
|
||||
row = self.treeview_logs.get_children()
|
||||
last_one = list(self.treeview_logs.item(row[-1], "values"))
|
||||
last_one[0] = int(last_one[0])
|
||||
index_start = clibs.f_records.index(tuple(last_one))+1
|
||||
self.treeview_logs.delete(*self.treeview_logs.get_children())
|
||||
if index_start+100 <= len_records:
|
||||
for record in clibs.f_records[index_start:index_start+100]:
|
||||
self.treeview_logs.insert("", "end", values=record, tags=record[2])
|
||||
else:
|
||||
for record in clibs.f_records[index_start:]:
|
||||
self.treeview_logs.insert("", "end", values=record, tags=record[2])
|
||||
next_page = current_page + 1
|
||||
self.label_pages_logs.set(f"{next_page} / {pages_all}")
|
||||
|
||||
next_page = current_page + 1
|
||||
self.label_pages_logs.set(f"{next_page} / {pages_all}")
|
||||
current_page = int(self.label_pages_logs.get().split("/")[0].strip())
|
||||
pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
|
||||
if current_page == pages_all:
|
||||
self.__get_realtime_log()
|
||||
return
|
||||
get_next_page()
|
||||
|
||||
def __load_log_db(self):
|
||||
db_file = filedialog.askopenfilename(title="加载数据库文件", defaultextension=".db", initialdir=f"{clibs.PREFIX}/logs")
|
||||
@ -589,13 +643,14 @@ class App:
|
||||
except Exception as ERR:
|
||||
...
|
||||
|
||||
@clibs.db_lock
|
||||
def jump2page():
|
||||
try:
|
||||
number = int(self.entry_tips_v)
|
||||
if number > 0:
|
||||
start = number * 100 - 99
|
||||
end = number * 100
|
||||
clibs.cursor.execute("select * from logs order by id desc")
|
||||
clibs.cursor.execute("select id from logs")
|
||||
len_records = len(clibs.cursor.fetchall())
|
||||
if start <= len_records:
|
||||
clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
|
||||
@ -649,6 +704,7 @@ class App:
|
||||
label_tips.grid(row=0, column=0, padx=10, pady=10, sticky="w")
|
||||
entry_tips.grid(row=0, column=1, padx=(0, 10), pady=10, sticky="w")
|
||||
|
||||
@clibs.db_lock
|
||||
def find_log(event):
|
||||
def find_error(cdt):
|
||||
clibs.insert_logdb("WARNING", "aio", f"查询条件 [{cdt}] 书写规则错误！")
|
||||
@ -863,8 +919,9 @@ class App:
|
||||
self.entry_path_at.grid(row=1, column=2, columnspan=3, padx=(0, 10), pady=(0, 10), sticky="we")
|
||||
self.frame_top.grid(row=2, column=0, columnspan=5, padx=0, pady=0, sticky="we")
|
||||
self.btn_robot_state.grid(row=0, column=0, padx=10, pady=0)
|
||||
self.btn_trig_estop.grid(row=0, column=1, padx=(0, 10), pady=0)
|
||||
self.btn_reset_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
|
||||
self.btn_robot_init.grid(row=0, column=1, padx=(0, 10), pady=0)
|
||||
self.btn_trig_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
|
||||
self.btn_reset_estop.grid(row=0, column=3, padx=(0, 10), pady=0)
|
||||
|
||||
self.progressbar_at.start()
|
||||
self.progressbar_at.configure(progress_color="red", fg_color="gray")
|
||||
@ -913,9 +970,15 @@ class App:
|
||||
self.om_sub_dp.configure(state="disabled")
|
||||
self.om_trqh_dp.configure(state="disabled")
|
||||
self.om_sensor_dp.configure(state="disabled")
|
||||
# ========================================================================
|
||||
clibs.w2t = self.__w2t
|
||||
clibs.insert_logdb("INFO", "aio", "AIO starts running......")
|
||||
|
||||
def show(self):
|
||||
if self.server_vers:
|
||||
t = threading.Thread(target=self.detect_network)
|
||||
t.daemon = True
|
||||
t.start()
|
||||
self.root.mainloop()
|
||||
|
||||
|
||||
|
||||
@ -2,16 +2,17 @@ import os
|
||||
import os.path
|
||||
import sqlite3
|
||||
import threading
|
||||
import json
|
||||
|
||||
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 os.path.exists(path):
|
||||
w2t(f"数据文件夹{path}不存在，请确认后重试......", "red", "PathNotExistError")
|
||||
if not os.path.exists(_path):
|
||||
_w2t(f"数据文件夹{_path}不存在，请确认后重试......", "red", "PathNotExistError")
|
||||
else:
|
||||
dirs, files = [], []
|
||||
for item in os.scandir(path):
|
||||
for item in os.scandir(_path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path.replace("\\", "/"))
|
||||
elif item.is_file():
|
||||
@ -20,13 +21,17 @@ def traversal_files(path, w2t):
|
||||
return dirs, files
|
||||
|
||||
|
||||
def init_logdb(connect, cur):
|
||||
connect = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=256)
|
||||
def init_logdb(conn, cursor):
|
||||
conn = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=4096)
|
||||
# connect = sqlite3.connect("log.db", isolation_level=None, check_same_thread=False, cached_statements=256)
|
||||
# time text default (datetime('now', 'localtime')),
|
||||
|
||||
cur = connect.cursor()
|
||||
cur.execute(
|
||||
cursor = conn.cursor()
|
||||
cursor.execute("PRAGMA journal_mode=wal")
|
||||
cursor.execute("PRAGMA wal_checkpoint=TRUNCATE")
|
||||
cursor.execute("PRAGMA synchronous=normal")
|
||||
cursor.execute("PRAGMA temp_store=memory")
|
||||
cursor.execute("PRAGMA mmap_size=30000000000")
|
||||
cursor.execute(
|
||||
"""
|
||||
create table if not exists logs(
|
||||
id integer primary key autoincrement,
|
||||
@ -37,16 +42,41 @@ def init_logdb(connect, cur):
|
||||
)
|
||||
"""
|
||||
)
|
||||
return connect, cur
|
||||
return conn, cursor
|
||||
|
||||
|
||||
def db_lock(func):
|
||||
def wrapper(*args, **kwargs):
|
||||
try:
|
||||
lock.acquire(True)
|
||||
ret = func(*args, **kwargs)
|
||||
finally:
|
||||
lock.release()
|
||||
return ret
|
||||
return wrapper
|
||||
|
||||
|
||||
@db_lock
|
||||
def insert_logdb(_level, _module, _content):
|
||||
if db_state == "readwrite":
|
||||
global conn, cursor
|
||||
global conn, cursor, lock
|
||||
data = [_level, _module, repr(_content)]
|
||||
cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
|
||||
|
||||
|
||||
|
||||
def insert_logdb_multi(data):
|
||||
if db_state == "readwrite":
|
||||
global conn, cursor, lock
|
||||
# data = [_level, _module, repr(_content)]
|
||||
# cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
|
||||
try:
|
||||
lock.acquire(True)
|
||||
cursor.executemany("insert into logs (level, module, content) values (?, ?, ?)", data)
|
||||
finally:
|
||||
lock.release()
|
||||
|
||||
|
||||
class GetThreadResult(threading.Thread):
|
||||
def __init__(self, func, args=()):
|
||||
super(GetThreadResult, self).__init__()
|
||||
@ -79,15 +109,39 @@ running = False
|
||||
stop = True
|
||||
tl_prg = None
|
||||
f_records = None
|
||||
|
||||
ip_addr = "192.168.0.160"
|
||||
ssh_port = 22
|
||||
socket_port = 5050
|
||||
xService_port = 6666
|
||||
external_port = 8080
|
||||
modbus_port = 502
|
||||
upgrade_port = 4567
|
||||
username = "luoshi"
|
||||
password = "luoshi2019" # for real robot
|
||||
# password = "forpqart" # for robot vm
|
||||
interval = 0.5 # interval after actions being triggered, such as modbus/socket/external communication operations
|
||||
RADIAN = 57.3 # 180 / 3.1415926
|
||||
MAX_FRAME_SIZE = 1024
|
||||
c_md = None
|
||||
c_hr = None
|
||||
c_ec = None
|
||||
c_pd = None
|
||||
lock = threading.Lock()
|
||||
|
||||
conn, cursor = init_logdb(conn, cursor)
|
||||
|
||||
for i in range(100):
|
||||
insert_logdb("DEBUG", "clibs", 'this is a DEBUG log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\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')
|
||||
insert_logdb("INFO", "clibs", 'this is a INFO log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\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')
|
||||
insert_logdb("WARNING", "clibs", 'this is a WARNING log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\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')
|
||||
insert_logdb("ERROR", "clibs", 'this is a ERROR log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\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')
|
||||
|
||||
insert_logdb("DEBUG", "clibs", 'running')
|
||||
insert_logdb("INFO", "clibs", 'running')
|
||||
insert_logdb("WARNING", "clibs", 'running')
|
||||
insert_logdb("ERROR", "clibs", 'running')
|
||||
# for i in range(100):
|
||||
# insert_logdb("DEBUG", "clibs", 'this is a DEBUG log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\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')
|
||||
# insert_logdb("INFO", "clibs", 'this is a INFO log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\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')
|
||||
# insert_logdb("WARNING", "clibs", 'this is a WARNING log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\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')
|
||||
# insert_logdb("ERROR", "clibs", 'this is a ERROR log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\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')
|
||||
#
|
||||
# insert_logdb("DEBUG", "clibs", 'running')
|
||||
# insert_logdb("INFO", "clibs", 'running')
|
||||
# insert_logdb("WARNING", "clibs", 'running')
|
||||
# insert_logdb("ERROR", "clibs", 'running')
|
||||
with open(f"{log_path}/response.txt", mode="w", encoding="utf-8") as f_res:
|
||||
f_res.write("")
|
||||
with open(f"{log_path}/logs.txt", mode="w", encoding="utf-8") as f_res:
|
||||
f_res.write("")
|
||||
2467
code/common/openapi.py
Normal file
2467
code/common/openapi.py
Normal file
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user