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modbus_test
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test

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user 2024-11-12 09:03:54 +03:00
parent 7d807f17d7
commit 012b01299a
5 changed files with 108 additions and 13 deletions
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91
app.log
View File

@ -68637,3 +68637,94 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 -
2024-11-11 19:17:25,350 - logger - INFO - connected - robot.py - 52 2024-11-11 19:17:25,350 - logger - INFO - connected - robot.py - 52
2024-11-11 19:17:32,585 - logger - INFO - connected - robot.py - 52 2024-11-11 19:17:32,585 - logger - INFO - connected - robot.py - 52
2024-11-11 19:17:32,972 - logger - INFO - urdf\sample.urdf - client_socket.py - 136 2024-11-11 19:17:32,972 - logger - INFO - urdf\sample.urdf - client_socket.py - 136
2024-11-12 08:54:09,496 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:54:09,496 - logger - INFO - None - robot.py - 52
2024-11-12 08:54:09,496 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:54:09,496 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:54:09,496 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:54:09,496 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_world_coordinates - main.py - 100
2024-11-12 08:54:09,496 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_axis_coordinates - main.py - 100
2024-11-12 08:54:09,496 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_command_count - main.py - 100
2024-11-12 08:54:10,545 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
2024-11-12 08:54:15,648 - logger - INFO - not_connected - robot.py - 52
2024-11-12 08:54:15,961 - logger - INFO - urdf\sample.urdf - client_socket.py - 136
2024-11-12 08:54:18,486 - logger - INFO - connected - robot.py - 52
2024-11-12 08:54:53,739 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:54:53,739 - logger - INFO - None - robot.py - 52
2024-11-12 08:54:53,739 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:54:53,739 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:54:53,739 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:54:53,739 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_world_coordinates - main.py - 100
2024-11-12 08:54:53,739 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_axis_coordinates - main.py - 100
2024-11-12 08:54:53,739 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_command_count - main.py - 100
2024-11-12 08:54:54,787 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
2024-11-12 08:54:58,174 - logger - INFO - not_connected - robot.py - 52
2024-11-12 08:54:58,530 - logger - INFO - urdf\sample.urdf - client_socket.py - 136
2024-11-12 08:55:01,106 - logger - INFO - connected - robot.py - 52
2024-11-12 08:55:04,592 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
2024-11-12 08:55:04,592 - logger - INFO - Êîîðäèíàòû îñåé [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329
2024-11-12 08:55:05,102 - logger - INFO - set joints - client_socket.py - 332
2024-11-12 08:55:06,305 - logger - INFO - Ìèðîâûå êîîðäèíàòû [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329
2024-11-12 08:55:07,077 - logger - INFO - convrt to joint (-0.1446875831839329, -0.1492969091695312, 0.5051191505541466, 1.280780368433558, -0.9743354679330868, -0.3718163051032315) - client_socket.py - 324
2024-11-12 08:55:07,126 - logger - INFO - set joints - client_socket.py - 332
2024-11-12 08:55:09,409 - logger - INFO - Êîìàíä â î÷åðåäè ['ok'] - client_socket.py - 329
2024-11-12 08:55:10,185 - logger - INFO - Âû÷èñëåííîå ïîëîæåíèå [1272.848129272461, -69.07805055379868, 1779.3337106704712] - client_socket.py - 265
2024-11-12 08:55:10,236 - logger - INFO - Âû÷èñëåííàÿ îðèåíòàöèÿ [47.02958857 1.49078732 48.72599327] - client_socket.py - 268
2024-11-12 08:58:05,072 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:58:05,072 - logger - INFO - None - robot.py - 52
2024-11-12 08:58:05,072 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:58:05,072 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:58:05,072 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:58:05,072 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_world_coordinates - main.py - 100
2024-11-12 08:58:05,072 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_axis_coordinates - main.py - 100
2024-11-12 08:58:05,072 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_command_count - main.py - 100
2024-11-12 08:58:06,116 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
2024-11-12 08:58:48,618 - logger - INFO - not_connected - robot.py - 52
2024-11-12 08:59:19,463 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:59:19,463 - logger - INFO - None - robot.py - 52
2024-11-12 08:59:19,463 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:59:19,464 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:59:19,464 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 08:59:19,464 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_world_coordinates - main.py - 100
2024-11-12 08:59:19,464 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_axis_coordinates - main.py - 100
2024-11-12 08:59:19,465 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_command_count - main.py - 100
2024-11-12 08:59:20,491 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
2024-11-12 08:59:24,166 - logger - INFO - not_connected - robot.py - 52
2024-11-12 08:59:24,482 - logger - INFO - urdf\sample.urdf - client_socket.py - 136
2024-11-12 08:59:26,939 - logger - INFO - connected - robot.py - 52
2024-11-12 08:59:32,447 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
2024-11-12 08:59:32,447 - logger - INFO - Êîîðäèíàòû îñåé [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329
2024-11-12 08:59:32,968 - logger - INFO - set joints - client_socket.py - 332
2024-11-12 08:59:34,124 - logger - INFO - Ìèðîâûå êîîðäèíàòû [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329
2024-11-12 08:59:34,741 - logger - INFO - convrt to joint (-0.1410451840841763, -0.14026451538867948, 0.4940647625966008, 1.251435478939267, -0.8991454685072018, -0.4124368876357231) - client_socket.py - 324
2024-11-12 08:59:34,793 - logger - INFO - set joints - client_socket.py - 332
2024-11-12 08:59:36,627 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
2024-11-12 08:59:36,627 - logger - INFO - Êîîðäèíàòû îñåé [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 329
2024-11-12 08:59:36,676 - logger - INFO - Êîìàíä â î÷åðåäè ['ok'] - client_socket.py - 329
2024-11-12 08:59:37,151 - logger - INFO - set joints - client_socket.py - 332
2024-11-12 08:59:37,190 - logger - INFO - Âû÷èñëåííîå ïîëîæåíèå [1279.6517610549927, -73.23195040225983, 1773.9975452423096] - client_socket.py - 265
2024-11-12 08:59:37,190 - logger - INFO - Âû÷èñëåííàÿ îðèåíòàöèÿ [41.107984 1.0752949 41.52261182] - client_socket.py - 268
2024-11-12 08:59:38,307 - logger - INFO - Ìèðîâûå êîîðäèíàòû [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 329
2024-11-12 08:59:38,940 - logger - INFO - convrt to joint (-0.15495462721225997, -0.18048900853073904, 0.5334311266730681, 1.481888469833186, -1.2089736804011866, -0.2622167156584065) - client_socket.py - 324
2024-11-12 08:59:38,984 - logger - INFO - set joints - client_socket.py - 332
2024-11-12 08:59:40,007 - logger - INFO - convrt to joint (-0.1280844504756567, 0.01732342425808424, 0.40575713675528374, 0.9971144050940502, -2.8081011377497447, -0.5054530833540489) - client_socket.py - 324
2024-11-12 08:59:40,007 - logger - INFO - set joints - client_socket.py - 332
2024-11-12 08:59:41,078 - logger - INFO - Êîìàíä â î÷åðåäè ['ok'] - client_socket.py - 329
2024-11-12 08:59:41,724 - logger - INFO - Âû÷èñëåííîå ïîëîæåíèå [1123.6740350723267, -23.6895140260458, 1832.5248956680298] - client_socket.py - 265
2024-11-12 08:59:41,774 - logger - INFO - Âû÷èñëåííàÿ îðèåíòàöèÿ [48.48838013 14.09606231 67.26295677] - client_socket.py - 268
2024-11-12 08:59:43,159 - logger - INFO - convrt to joint (-0.1087874707257609, -0.3906609560363362, 0.8300053485437483, 0.956280400294129, -2.801251913053437, -0.5349649967014609) - client_socket.py - 324
2024-11-12 08:59:43,199 - logger - INFO - set joints - client_socket.py - 332
2024-11-12 08:59:46,357 - logger - INFO - convrt to joint (-0.3082748963579218, -0.5523585642686842, 1.059117216444423, 0.8689442484447031, -2.984863076223401, -0.7187844811486995) - client_socket.py - 324
2024-11-12 08:59:46,407 - logger - INFO - set joints - client_socket.py - 332
2024-11-12 09:02:37,995 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 09:02:37,995 - logger - INFO - None - robot.py - 52
2024-11-12 09:02:37,995 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 09:02:37,995 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 09:02:37,995 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_status - main.py - 100
2024-11-12 09:02:37,995 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_world_coordinates - main.py - 100
2024-11-12 09:02:37,995 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_axis_coordinates - main.py - 100
2024-11-12 09:02:37,995 - logger - INFO - robot_app åùå íå èíèöèàëèçèðîâàí. Ìåòîä: get_command_count - main.py - 100
2024-11-12 09:02:39,029 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
2024-11-12 09:02:43,061 - logger - INFO - not_connected - robot.py - 52
2024-11-12 09:02:43,444 - logger - INFO - urdf\sample.urdf - client_socket.py - 136
2024-11-12 09:02:45,916 - logger - INFO - connected - robot.py - 52

8
gui/informer.py
View File

@ -13,6 +13,10 @@ class Informer(QWidget):
self.updateData = updateData self.updateData = updateData
self.timer = QTimer()
self.timer.timeout.connect(self.updateState)
self.timer.start(int(100))
# Инициализация пользовательского интерфейса # Инициализация пользовательского интерфейса
self.initUI() self.initUI()
@ -29,7 +33,7 @@ class Informer(QWidget):
self.layout.addWidget(l) self.layout.addWidget(l)
self.updButton = QPushButton('Обновить данные') self.updButton = QPushButton('Обновить данные')
self.updButton.clicked.connect(self.updateState) self.updButton.clicked.connect(self.updateData)
self.layout.addWidget(self.updButton) self.layout.addWidget(self.updButton)
@ -42,8 +46,6 @@ class Informer(QWidget):
self.setPalette(p) self.setPalette(p)
def updateState(self): def updateState(self):
self.updateData()
time.sleep(1)
self.wLabel.setText(f'Мировые координаты {self.world_coord()}') self.wLabel.setText(f'Мировые координаты {self.world_coord()}')
self.aLabel.setText(f'Поворот осей {self.axis_coord()}') self.aLabel.setText(f'Поворот осей {self.axis_coord()}')
self.cLabel.setText(f'Количество команд в стеке {self.command_count()}') self.cLabel.setText(f'Количество команд в стеке {self.command_count()}')

1
gui/visualize.py
View File

@ -36,6 +36,7 @@ class Visualize(QWidget):
(rgb, width, height) = res (rgb, width, height) = res
bytesPerLine = 2 * width bytesPerLine = 2 * width
# print(type(rgb))
image = QImage(np.asarray(rgb), width, height, bytesPerLine, QImage.Format.Format_RGBA8888).rgbSwapped() image = QImage(np.asarray(rgb), width, height, bytesPerLine, QImage.Format.Format_RGBA8888).rgbSwapped()
image = image.convertToFormat(QImage.Format.Format_RGB888) image = image.convertToFormat(QImage.Format.Format_RGB888)
pixmap = QPixmap.fromImage(image) pixmap = QPixmap.fromImage(image)

18
poetry.lock generated
View File

@ -262,23 +262,23 @@ files = [
[[package]] [[package]]
name = "setuptools" name = "setuptools"
version = "75.3.0" version = "75.4.0"
description = "Easily download, build, install, upgrade, and uninstall Python packages" description = "Easily download, build, install, upgrade, and uninstall Python packages"
optional = false optional = false
python-versions = ">=3.8" python-versions = ">=3.9"
files = [ files = [
{file = "setuptools-75.3.0-py3-none-any.whl", hash = "sha256:f2504966861356aa38616760c0f66568e535562374995367b4e69c7143cf6bcd"}, {file = "setuptools-75.4.0-py3-none-any.whl", hash = "sha256:b3c5d862f98500b06ffdf7cc4499b48c46c317d8d56cb30b5c8bce4d88f5c216"},
{file = "setuptools-75.3.0.tar.gz", hash = "sha256:fba5dd4d766e97be1b1681d98712680ae8f2f26d7881245f2ce9e40714f1a686"}, {file = "setuptools-75.4.0.tar.gz", hash = "sha256:1dc484f5cf56fd3fe7216d7b8df820802e7246cfb534a1db2aa64f14fcb9cdcb"},
] ]
[package.extras] [package.extras]
check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)", "ruff (>=0.5.2)"] check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)", "ruff (>=0.7.0)"]
core = ["importlib-metadata (>=6)", "importlib-resources (>=5.10.2)", "jaraco.collections", "jaraco.functools", "jaraco.text (>=3.7)", "more-itertools", "more-itertools (>=8.8)", "packaging", "packaging (>=24)", "platformdirs (>=4.2.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"] core = ["importlib-metadata (>=6)", "jaraco.collections", "jaraco.functools (>=4)", "jaraco.text (>=3.7)", "more-itertools", "more-itertools (>=8.8)", "packaging", "packaging (>=24.2)", "platformdirs (>=4.2.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"]
cover = ["pytest-cov"] cover = ["pytest-cov"]
doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier", "towncrier (<24.7)"] doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier", "towncrier (<24.7)"]
enabler = ["pytest-enabler (>=2.2)"] enabler = ["pytest-enabler (>=2.2)"]
test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test (>=5.5)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-home (>=0.5)", "pytest-perf", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel (>=0.44.0)"] test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test (>=5.5)", "packaging (>=24.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-home (>=0.5)", "pytest-perf", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel (>=0.44.0)"]
type = ["importlib-metadata (>=7.0.2)", "jaraco.develop (>=7.21)", "mypy (==1.12.*)", "pytest-mypy"] type = ["importlib-metadata (>=7.0.2)", "jaraco.develop (>=7.21)", "mypy (>=1.12,<1.14)", "pytest-mypy"]
[[package]] [[package]]
name = "tk" name = "tk"
@ -294,4 +294,4 @@ files = [
[metadata] [metadata]
lock-version = "2.0" lock-version = "2.0"
python-versions = "^3.10.11" python-versions = "^3.10.11"
content-hash = "aacd044d750c588febb366011ff5172986b44b422eeaaf0066a1c4d34b5a10c1" content-hash = "477456fef4701073ccbd5d5d1815632f60b9b74f660c90ea5a7303a5701765e1"

3
utils/pybullet_server.py
View File

@ -22,7 +22,8 @@ def main(type="SHARED_MEMORY_SERVER"):
try: try:
p.stepSimulation() p.stepSimulation()
except Exception as e: except Exception as e:
print(e) print(f"Ошибка в pybullet_server{e}")
time.sleep(1)
time.sleep(30 * 0.001) time.sleep(30 * 0.001)