build spec
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@ -2,6 +2,6 @@ __pycache__/
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.venv/
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.venv/
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.vscode/
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.vscode/
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build/
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build/
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dist/
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data/*
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app.log
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app.log
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app.log
165
app.log
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@ -62436,3 +62436,168 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 -
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2024-10-29 16:42:45,968 - logger - INFO - convrt to joint (-0.955351537775095, 1.3850824462023585, 1.4937405684999912, -0.3423684728223803, -0.0110223880899111, 0.0010515865173754695) - client_socket.py - 208
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2024-10-29 16:42:45,968 - logger - INFO - convrt to joint (-0.955351537775095, 1.3850824462023585, 1.4937405684999912, -0.3423684728223803, -0.0110223880899111, 0.0010515865173754695) - client_socket.py - 208
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2024-10-29 16:42:45,970 - logger - INFO - set joints - client_socket.py - 216
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2024-10-29 16:42:45,970 - logger - INFO - set joints - client_socket.py - 216
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2024-10-29 16:42:46,703 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 213
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2024-10-29 16:42:46,703 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 213
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2024-10-30 09:10:25,833 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:10:25,834 - logger - INFO - None - robot.py - 52
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2024-10-30 09:10:25,834 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:10:25,834 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:10:25,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:10:25,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-10-30 09:10:25,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-10-30 09:10:25,835 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-10-30 09:10:26,839 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
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2024-10-30 09:10:26,839 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
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2024-10-30 09:10:28,071 - logger - INFO - not_connected - robot.py - 52
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2024-10-30 09:15:42,423 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:15:42,423 - logger - INFO - None - robot.py - 52
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2024-10-30 09:15:42,423 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:15:42,423 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:15:42,424 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:15:42,424 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-10-30 09:15:42,424 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-10-30 09:15:42,424 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-10-30 09:15:43,426 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
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2024-10-30 09:15:43,427 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
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2024-10-30 09:15:49,068 - logger - INFO - not_connected - robot.py - 52
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2024-10-30 09:16:10,577 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:16:10,577 - logger - INFO - None - robot.py - 52
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2024-10-30 09:16:10,577 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:16:10,577 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:16:10,577 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 09:16:10,577 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-10-30 09:16:10,577 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-10-30 09:16:10,577 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-10-30 09:16:11,579 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
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2024-10-30 09:16:11,580 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
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2024-10-30 09:16:13,467 - logger - INFO - not_connected - robot.py - 52
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2024-10-30 09:16:14,840 - logger - INFO - connected - robot.py - 52
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2024-10-30 09:16:15,626 - logger - INFO - UPDATE - client_socket.py - 135
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2024-10-30 09:16:15,627 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 213
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2024-10-30 09:16:16,127 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:16,778 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 213
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2024-10-30 09:16:17,304 - logger - INFO - convrt to joint (-0.9617792373994754, 1.3826742805011467, 1.4744277719870473, -0.32605735040753075, -0.014187246281041198, 0.0007872093341683313) - client_socket.py - 208
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2024-10-30 09:16:17,306 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:18,121 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 213
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2024-10-30 09:16:20,178 - logger - INFO - convrt to joint (-0.962919808014391, 1.3960173503704603, 1.5314292361301705, -0.32937750132525134, -0.005713089825925223, 0.0007926691256815514) - client_socket.py - 208
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2024-10-30 09:16:20,179 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:22,136 - logger - INFO - convrt to joint (-0.9619411183496612, 1.331028613251226, 1.5225435538882692, -0.3292949882180839, -0.006972614569209766, 0.0007921888870971997) - client_socket.py - 208
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2024-10-30 09:16:22,137 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:23,935 - logger - INFO - convrt to joint (-0.9601953265678844, 1.2657417743115893, 1.504479727467634, -0.3292979083230321, -0.009575538739216318, 0.0007922818531529111) - client_socket.py - 208
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2024-10-30 09:16:23,935 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:25,768 - logger - INFO - convrt to joint (-0.9009338995273227, 1.2776242635936454, 1.5176199582264973, -0.3292978378224871, -0.007650602877334456, 0.0007923934678053334) - client_socket.py - 208
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2024-10-30 09:16:25,769 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:27,604 - logger - INFO - convrt to joint (-0.8450730061696043, 1.2878647492340447, 1.5226297210844573, -0.32928271135778375, -0.0069208962265473566, 0.0007892845982760743) - client_socket.py - 208
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2024-10-30 09:16:27,605 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:29,365 - logger - INFO - convrt to joint (-0.846496454716964, 1.3497024920597598, 1.5405287679494524, -0.32927326911166777, -0.004327186492832916, 0.0007898109812426688) - client_socket.py - 208
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2024-10-30 09:16:29,366 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:31,158 - logger - INFO - convrt to joint (-0.8473432427421879, 1.4117051230721032, 1.5524863191952138, -0.32927351103614133, -0.002603263504382076, 0.0007898871892273335) - client_socket.py - 208
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2024-10-30 09:16:31,159 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:33,029 - logger - INFO - convrt to joint (-0.9033728133556452, 1.4048427423342684, 1.5463136322556625, -0.32927350475385736, -0.003514076946669365, 0.0007898565811525732) - client_socket.py - 208
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2024-10-30 09:16:33,030 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 09:16:34,827 - logger - INFO - convrt to joint (-0.9634106180187462, 1.3992096493743724, 1.5443571571668588, -0.3292896762518855, -0.003799770043920755, 0.0007941312288253129) - client_socket.py - 208
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2024-10-30 09:16:34,831 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:00:34,887 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:00:34,888 - logger - INFO - None - robot.py - 52
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2024-10-30 11:00:34,888 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:00:34,888 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:00:34,888 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:00:34,888 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-10-30 11:00:34,888 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-10-30 11:00:34,888 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-10-30 11:00:35,890 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
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2024-10-30 11:00:35,890 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
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2024-10-30 11:00:37,810 - logger - INFO - not_connected - robot.py - 52
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2024-10-30 11:00:48,277 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:00:48,278 - logger - INFO - None - robot.py - 52
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2024-10-30 11:00:48,278 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:00:48,278 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:00:48,278 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:00:48,278 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-10-30 11:00:48,278 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-10-30 11:00:48,278 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-10-30 11:00:49,279 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
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2024-10-30 11:00:49,280 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
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2024-10-30 11:00:51,776 - logger - INFO - not_connected - robot.py - 52
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2024-10-30 11:00:53,143 - logger - INFO - connected - robot.py - 52
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2024-10-30 11:00:54,582 - logger - INFO - UPDATE - client_socket.py - 135
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2024-10-30 11:00:54,583 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 213
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2024-10-30 11:00:55,083 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:00:55,766 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 213
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2024-10-30 11:00:56,277 - logger - INFO - convrt to joint (-0.9641667182472826, 1.3811043496197122, 1.4620132818630056, -0.3190459026699363, -0.016212773660530755, 0.0006844177502805399) - client_socket.py - 208
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2024-10-30 11:00:56,278 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:00:57,064 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 213
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2024-10-30 11:00:57,571 - logger - INFO - convrt to joint (-0.9258745969001333, 1.383394126852679, 1.5101984675391988, -0.40805635879176944, -0.007863209239280286, 0.0006266015440709355) - client_socket.py - 208
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2024-10-30 11:00:57,572 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:00:59,400 - logger - INFO - convrt to joint (-0.9273723905995706, 1.335847313689553, 1.559838627023672, -0.4059760812240212, -0.0014417595643196794, 0.0006317071811625902) - client_socket.py - 208
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2024-10-30 11:00:59,401 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:01:01,258 - logger - INFO - convrt to joint (-0.9270404467331516, 1.2773299803096851, 1.569956187776375, -0.4060335182604374, -0.00013243202432140707, 0.0006313662054438333) - client_socket.py - 208
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2024-10-30 11:01:01,259 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:01:03,088 - logger - INFO - convrt to joint (-0.867242660915166, 1.2899104466960765, 1.5816655678385425, -0.40603202673806005, 0.0013899054314926564, 0.0006314153354672285) - client_socket.py - 208
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2024-10-30 11:01:03,088 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:01:04,976 - logger - INFO - convrt to joint (-0.811106846059091, 1.2996161723859672, 1.5833874137812909, -0.4060159511566647, 0.0016143737747208297, 0.000626200047589444) - client_socket.py - 208
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2024-10-30 11:01:04,978 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:01:06,777 - logger - INFO - convrt to joint (-0.8115691876266298, 1.3592228910458233, 1.587347120672864, -0.40601054234613076, 0.002132915337110103, 0.0006265907888197208) - client_socket.py - 208
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2024-10-30 11:01:06,778 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:01:08,679 - logger - INFO - convrt to joint (-0.8118496085523808, 1.41842655421539, 1.5849641845056581, -0.4060105907222275, 0.001827565604110138, 0.0006265787493343286) - client_socket.py - 208
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2024-10-30 11:01:08,680 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:01:10,544 - logger - INFO - convrt to joint (-0.867990173517208, 1.4106313505471093, 1.5776479427530081, -0.406010589591622, 0.000877000632091111, 0.0006265768754185932) - client_socket.py - 208
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2024-10-30 11:01:10,544 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:01:12,426 - logger - INFO - convrt to joint (-0.928086786579112, 1.4050727575916406, 1.576637872857932, -0.4060285427422507, 0.0007453956596548805, 0.000632873615577945) - client_socket.py - 208
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2024-10-30 11:01:12,427 - logger - INFO - set joints - client_socket.py - 216
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2024-10-30 11:09:14,908 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:09:14,909 - logger - INFO - None - robot.py - 52
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2024-10-30 11:09:14,909 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:09:14,909 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:09:14,909 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:09:14,909 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-10-30 11:09:14,909 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-10-30 11:09:14,909 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-10-30 11:09:15,911 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
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2024-10-30 11:09:15,911 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
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2024-10-30 11:09:21,334 - logger - INFO - not_connected - robot.py - 52
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2024-10-30 11:09:37,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:09:37,305 - logger - INFO - None - robot.py - 52
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2024-10-30 11:09:37,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:09:37,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:09:37,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-10-30 11:09:37,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-10-30 11:09:37,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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||||||
|
2024-10-30 11:09:37,305 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||||
|
2024-10-30 11:09:38,307 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
|
||||||
|
2024-10-30 11:09:38,308 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 70
|
||||||
|
2024-10-30 11:09:38,893 - logger - INFO - not_connected - robot.py - 52
|
||||||
|
2024-10-30 11:09:40,254 - logger - INFO - connected - robot.py - 52
|
||||||
|
2024-10-30 11:09:41,367 - logger - INFO - UPDATE - client_socket.py - 135
|
||||||
|
2024-10-30 11:09:41,367 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 213
|
||||||
|
2024-10-30 11:09:41,867 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:09:42,550 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 213
|
||||||
|
2024-10-30 11:09:43,069 - logger - INFO - convrt to joint (-0.9641667182472826, 1.3811043496197122, 1.4620132818630056, -0.3190459026699363, -0.016212773660530755, 0.0006844177502805399) - client_socket.py - 208
|
||||||
|
2024-10-30 11:09:43,069 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:09:43,908 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 213
|
||||||
|
2024-10-30 11:09:45,653 - logger - INFO - convrt to joint (-0.965344569011056, 1.3950554043536214, 1.5254623297346648, -0.323704243822541, -0.006657361343343276, 0.0006926371784189803) - client_socket.py - 208
|
||||||
|
2024-10-30 11:09:45,653 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:09:47,483 - logger - INFO - convrt to joint (-0.9643601930801424, 1.3304767036145582, 1.5177942032039704, -0.3235953729884289, -0.007741297792019916, 0.0006920026205667742) - client_socket.py - 208
|
||||||
|
2024-10-30 11:09:47,484 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:09:49,312 - logger - INFO - convrt to joint (-0.9623971029138105, 1.2649538432164351, 1.4978895055060766, -0.3235979115503935, -0.010635934813214482, 0.00069208189800441) - client_socket.py - 208
|
||||||
|
2024-10-30 11:09:49,313 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:09:51,226 - logger - INFO - convrt to joint (-0.9032643533215897, 1.2769724392451036, 1.5121336610476714, -0.3235978547771738, -0.008529422346131459, 0.0006921811984730868) - client_socket.py - 208
|
||||||
|
2024-10-30 11:09:51,227 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:09:53,048 - logger - INFO - convrt to joint (-0.8474710498831953, 1.2873384469644744, 1.5178836697442533, -0.3235812221481136, -0.007683258725443001, 0.0006874929662242235) - client_socket.py - 208
|
||||||
|
2024-10-30 11:09:53,048 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:09:54,959 - logger - INFO - convrt to joint (-0.8490522419075462, 1.349340751556187, 1.5372922835853915, -0.3235671703287998, -0.004842989400555271, 0.0006842452229884757) - client_socket.py - 208
|
||||||
|
2024-10-30 11:09:54,960 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:09:56,820 - logger - INFO - convrt to joint (-0.8499836085744474, 1.4114721955616782, 1.550396193567023, -0.32356753514636977, -0.0029337926801620336, 0.0006844515418767924) - client_socket.py - 208
|
||||||
|
2024-10-30 11:09:56,821 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:09:58,650 - logger - INFO - convrt to joint (-0.9060003908528551, 1.40466959901939, 1.5442300964062998, -0.3235675336144916, -0.0038536218216909425, 0.0006844127647018144) - client_socket.py - 208
|
||||||
|
2024-10-30 11:09:58,651 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 11:10:00,479 - logger - INFO - convrt to joint (-0.9660292763470986, 1.3990351363243767, 1.5421813179445052, -0.3235851166278426, -0.004155886872343025, 0.0006898471811634914) - client_socket.py - 208
|
||||||
|
2024-10-30 11:10:00,480 - logger - INFO - set joints - client_socket.py - 216
|
||||||
|
2024-10-30 12:01:51,799 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||||
|
2024-10-30 12:01:51,800 - logger - INFO - None - robot.py - 52
|
||||||
|
2024-10-30 12:01:51,800 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||||
|
2024-10-30 12:01:51,800 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||||
|
2024-10-30 12:01:51,800 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||||
|
2024-10-30 12:01:51,800 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||||
|
2024-10-30 12:01:51,800 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||||
|
2024-10-30 12:01:51,800 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||||
|
2024-10-30 12:01:52,802 - logger - INFO - SHARED_MEMORY - client_socket.py - 59
|
||||||
|
2024-10-30 12:01:52,802 - logger - INFO - Connect to -1 by SHARED_MEMORY - client_socket.py - 70
|
||||||
|
|
|
||||||
Binary file not shown.
|
|
@ -0,0 +1 @@
|
||||||
|
../robots.json
|
||||||
Binary file not shown.
23
main.py
23
main.py
|
|
@ -50,7 +50,7 @@ class MyApp:
|
||||||
"startCommand": self.command_wrapper,
|
"startCommand": self.command_wrapper,
|
||||||
"changeType": self.change_type_wrapper,
|
"changeType": self.change_type_wrapper,
|
||||||
"command_data": self.get_command_data,
|
"command_data": self.get_command_data,
|
||||||
"command_type": self.get_command_type
|
"command_type": self.get_command_type,
|
||||||
},
|
},
|
||||||
visPanel={
|
visPanel={
|
||||||
"get_pybullet_image": self.get_pybullet_image_wrapper,
|
"get_pybullet_image": self.get_pybullet_image_wrapper,
|
||||||
|
|
@ -92,7 +92,6 @@ class MyApp:
|
||||||
)
|
)
|
||||||
self.robot_app.start_loop(selected_robot["urdf"])
|
self.robot_app.start_loop(selected_robot["urdf"])
|
||||||
|
|
||||||
|
|
||||||
def check_robot_app(func):
|
def check_robot_app(func):
|
||||||
def wrapper(self, *args, **kwargs):
|
def wrapper(self, *args, **kwargs):
|
||||||
if self.robot_app:
|
if self.robot_app:
|
||||||
|
|
@ -100,9 +99,9 @@ class MyApp:
|
||||||
else:
|
else:
|
||||||
logger.info(f"robot_app еще не инициализирован. Метод: {func.__name__}")
|
logger.info(f"robot_app еще не инициализирован. Метод: {func.__name__}")
|
||||||
return None # Или любое значение по умолчанию
|
return None # Или любое значение по умолчанию
|
||||||
|
|
||||||
return wrapper
|
return wrapper
|
||||||
|
|
||||||
@check_robot_app
|
@check_robot_app
|
||||||
def get_status(self):
|
def get_status(self):
|
||||||
return self.robot_app.get_status()
|
return self.robot_app.get_status()
|
||||||
|
|
@ -118,33 +117,31 @@ class MyApp:
|
||||||
@check_robot_app
|
@check_robot_app
|
||||||
def get_command_count(self):
|
def get_command_count(self):
|
||||||
return self.robot_app.get_command_count()
|
return self.robot_app.get_command_count()
|
||||||
|
|
||||||
@check_robot_app
|
@check_robot_app
|
||||||
def get_command_data(self):
|
def get_command_data(self):
|
||||||
return self.robot_app.get_command_data()
|
return self.robot_app.get_command_data()
|
||||||
|
|
||||||
@check_robot_app
|
@check_robot_app
|
||||||
def get_command_type(self):
|
def get_command_type(self):
|
||||||
return self.robot_app.get_command_type()
|
return self.robot_app.get_command_type()
|
||||||
|
|
||||||
@check_robot_app
|
@check_robot_app
|
||||||
def get_imitate_point(self):
|
def get_imitate_point(self):
|
||||||
return self.robot_app.get_imitate_point()
|
return self.robot_app.get_imitate_point()
|
||||||
|
|
||||||
@check_robot_app
|
@check_robot_app
|
||||||
def change_type_wrapper(self, type='base'):
|
def change_type_wrapper(self, type="base"):
|
||||||
return self.robot_app.set_command_type(type)
|
return self.robot_app.set_command_type(type)
|
||||||
|
|
||||||
@check_robot_app
|
@check_robot_app
|
||||||
def command_wrapper(self):
|
def command_wrapper(self):
|
||||||
return self.robot_app.cycle_start()
|
return self.robot_app.cycle_start()
|
||||||
|
|
||||||
@check_robot_app
|
@check_robot_app
|
||||||
def imitate_wrapper(self, *args, **kwargs):
|
def imitate_wrapper(self, *args, **kwargs):
|
||||||
logger.info(args)
|
|
||||||
logger.info(kwargs)
|
|
||||||
return self.robot_app.imitate()
|
return self.robot_app.imitate()
|
||||||
|
|
||||||
@check_robot_app
|
@check_robot_app
|
||||||
def update_data_wrapper(self):
|
def update_data_wrapper(self):
|
||||||
return self.robot_app.upd_model()
|
return self.robot_app.upd_model()
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,39 @@
|
||||||
|
# -*- mode: python ; coding: utf-8 -*-
|
||||||
|
|
||||||
|
|
||||||
|
a = Analysis(
|
||||||
|
['main.py'],
|
||||||
|
pathex=['.', 'robot/', 'gui/'],
|
||||||
|
binaries=[],
|
||||||
|
datas=[('robots.json', '.'), ('urdf', 'urdf'), ('data', 'data')],
|
||||||
|
hiddenimports=['numpy', 'libpython3.10'],
|
||||||
|
hookspath=[],
|
||||||
|
hooksconfig={},
|
||||||
|
runtime_hooks=[],
|
||||||
|
excludes=[],
|
||||||
|
noarchive=False,
|
||||||
|
optimize=0,
|
||||||
|
)
|
||||||
|
pyz = PYZ(a.pure)
|
||||||
|
|
||||||
|
exe = EXE(
|
||||||
|
pyz,
|
||||||
|
a.scripts,
|
||||||
|
a.binaries,
|
||||||
|
a.datas,
|
||||||
|
[],
|
||||||
|
name='main',
|
||||||
|
debug=False,
|
||||||
|
bootloader_ignore_signals=False,
|
||||||
|
strip=False,
|
||||||
|
upx=True,
|
||||||
|
upx_exclude=[],
|
||||||
|
runtime_tmpdir=None,
|
||||||
|
console=True,
|
||||||
|
disable_windowed_traceback=False,
|
||||||
|
argv_emulation=False,
|
||||||
|
target_arch=None,
|
||||||
|
codesign_identity=None,
|
||||||
|
entitlements_file=None,
|
||||||
|
contents_directory='test',
|
||||||
|
)
|
||||||
|
|
@ -0,0 +1,39 @@
|
||||||
|
# -*- mode: python ; coding: utf-8 -*-
|
||||||
|
|
||||||
|
|
||||||
|
a = Analysis(
|
||||||
|
['utils/pybullet_server.py'],
|
||||||
|
pathex=[],
|
||||||
|
binaries=[],
|
||||||
|
datas=[('pyproject.toml', '.'), ('robots.json', '.'), ('urdf', 'urdf'), ('data', 'data')],
|
||||||
|
hiddenimports=['libpython3.10', 'numpy'],
|
||||||
|
hookspath=[],
|
||||||
|
hooksconfig={},
|
||||||
|
runtime_hooks=[],
|
||||||
|
excludes=[],
|
||||||
|
noarchive=False,
|
||||||
|
optimize=0,
|
||||||
|
)
|
||||||
|
pyz = PYZ(a.pure)
|
||||||
|
|
||||||
|
exe = EXE(
|
||||||
|
pyz,
|
||||||
|
a.scripts,
|
||||||
|
a.binaries,
|
||||||
|
a.datas,
|
||||||
|
[],
|
||||||
|
name='pybullet_server',
|
||||||
|
debug=False,
|
||||||
|
bootloader_ignore_signals=False,
|
||||||
|
strip=False,
|
||||||
|
upx=True,
|
||||||
|
upx_exclude=[],
|
||||||
|
runtime_tmpdir=None,
|
||||||
|
console=True,
|
||||||
|
disable_windowed_traceback=False,
|
||||||
|
argv_emulation=False,
|
||||||
|
target_arch=None,
|
||||||
|
codesign_identity=None,
|
||||||
|
entitlements_file=None,
|
||||||
|
contents_directory='test',
|
||||||
|
)
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
from .client_socket import SocketRobotArm
|
||||||
|
|
@ -70,7 +70,7 @@ class SocketRobotArm:
|
||||||
logger.info(f"Connect to {self.physics_client} by {type}")
|
logger.info(f"Connect to {self.physics_client} by {type}")
|
||||||
|
|
||||||
def load_models(self):
|
def load_models(self):
|
||||||
p.loadURDF("plane.urdf", physicsClientId=self.physics_client)
|
p.loadURDF("urdf/plane.urdf", physicsClientId=self.physics_client)
|
||||||
|
|
||||||
urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
|
urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
|
||||||
self.body_id = p.loadURDF(
|
self.body_id = p.loadURDF(
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,69 @@
|
||||||
|
import subprocess
|
||||||
|
import argparse
|
||||||
|
import sys
|
||||||
|
import signal
|
||||||
|
|
||||||
|
# Параметры для процессов
|
||||||
|
server_process = None
|
||||||
|
test_server_process = None
|
||||||
|
|
||||||
|
def usage():
|
||||||
|
"""Функция для отображения помощи"""
|
||||||
|
print("Usage: run_all.py [--test]")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
# Обработчик для сигналов выхода
|
||||||
|
def cleanup():
|
||||||
|
"""Функция для остановки серверов при выходе"""
|
||||||
|
print("Остановка серверов...")
|
||||||
|
if server_process:
|
||||||
|
server_process.terminate()
|
||||||
|
server_process.wait()
|
||||||
|
if test_server_process:
|
||||||
|
test_server_process.terminate()
|
||||||
|
test_server_process.wait()
|
||||||
|
print("Серверы остановлены.")
|
||||||
|
|
||||||
|
# Назначаем функции очистки для сигналов
|
||||||
|
signal.signal(signal.SIGINT, lambda *_: cleanup())
|
||||||
|
signal.signal(signal.SIGTERM, lambda *_: cleanup())
|
||||||
|
|
||||||
|
# Парсер аргументов командной строки
|
||||||
|
parser = argparse.ArgumentParser(description="Python launcher script.")
|
||||||
|
parser.add_argument("--test", action="store_true", help="Запуск в режиме тестирования")
|
||||||
|
args = parser.parse_args()
|
||||||
|
|
||||||
|
# Установка команды для pybullet_server
|
||||||
|
pybullet_command = ["./pybullet_server.exe"] # Путь к исполняемому файлу
|
||||||
|
|
||||||
|
# Если включен режим тестирования, добавляем флаг --test
|
||||||
|
if args.test:
|
||||||
|
pybullet_command.append("--test")
|
||||||
|
|
||||||
|
# Запуск pybullet_server.exe
|
||||||
|
print("Запуск pybullet_server...")
|
||||||
|
server_process = subprocess.Popen(pybullet_command)
|
||||||
|
|
||||||
|
# Проверяем успешный запуск сервера
|
||||||
|
if server_process.poll() is not None:
|
||||||
|
print("Ошибка при запуске pybullet_server")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
# Если включен режим тестирования, запускаем test_socket_server.exe
|
||||||
|
if args.test:
|
||||||
|
print("Запуск test_socket_server...")
|
||||||
|
test_server_process = subprocess.Popen(["./test_socket_server.exe"]) # Путь к исполняемому файлу
|
||||||
|
|
||||||
|
# Проверка успешного запуска тестового сервера
|
||||||
|
if test_server_process.poll() is not None:
|
||||||
|
print("Ошибка при запуске test_socket_server")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
# Запуск основного скрипта main.exe в режиме тестирования
|
||||||
|
subprocess.run(["./main.exe", "--mode", "test"]) # Путь к исполняемому файлу
|
||||||
|
else:
|
||||||
|
# Запуск основного скрипта main.exe
|
||||||
|
subprocess.run(["./main.exe"]) # Путь к исполняемому файлу
|
||||||
|
|
||||||
|
# Очистка после завершения
|
||||||
|
cleanup()
|
||||||
70
run.sh
70
run.sh
|
|
@ -1,70 +0,0 @@
|
||||||
#!/bin/bash
|
|
||||||
|
|
||||||
# Функция для отображения помощи
|
|
||||||
usage() {
|
|
||||||
echo "Usage: $0 [--test]"
|
|
||||||
exit 1
|
|
||||||
}
|
|
||||||
|
|
||||||
# Разбираем аргументы командной строки
|
|
||||||
TEST_MODE=0
|
|
||||||
while [[ "$1" != "" ]]; do
|
|
||||||
case $1 in
|
|
||||||
--test ) TEST_MODE=1
|
|
||||||
;;
|
|
||||||
* ) usage
|
|
||||||
exit 1
|
|
||||||
esac
|
|
||||||
shift
|
|
||||||
done
|
|
||||||
|
|
||||||
# Функция для очистки запущенных процессов при завершении
|
|
||||||
cleanup() {
|
|
||||||
echo "Остановка серверов..."
|
|
||||||
if [[ -n "$SERVER_PID" ]]; then
|
|
||||||
kill $SERVER_PID
|
|
||||||
wait $SERVER_PID 2>/dev/null
|
|
||||||
fi
|
|
||||||
if [[ -n "$TEST_SERVER_PID" ]]; then
|
|
||||||
kill $TEST_SERVER_PID
|
|
||||||
wait $TEST_SERVER_PID 2>/dev/null
|
|
||||||
fi
|
|
||||||
echo "Серверы остановлены."
|
|
||||||
}
|
|
||||||
|
|
||||||
# Устанавливаем ловушку для сигналов выхода
|
|
||||||
trap cleanup EXIT
|
|
||||||
|
|
||||||
# Устанавливаем команду запуска для pybullet_server
|
|
||||||
PYBULLET_COMMAND="poetry run python utils/pybullet_server.py"
|
|
||||||
|
|
||||||
# Добавляем флаг --test, если включен режим тестирования
|
|
||||||
if [ $TEST_MODE -eq 1 ]; then
|
|
||||||
PYBULLET_COMMAND+=" --test"
|
|
||||||
fi
|
|
||||||
|
|
||||||
# Запуск сервера в фоновом режиме с учетом флага --test
|
|
||||||
$PYBULLET_COMMAND &
|
|
||||||
SERVER_PID=$!
|
|
||||||
|
|
||||||
# Проверяем, был ли сервер запущен успешно
|
|
||||||
if ! kill -0 $SERVER_PID 2>/dev/null; then
|
|
||||||
echo "Ошибка при запуске pybullet_server"
|
|
||||||
exit 1
|
|
||||||
fi
|
|
||||||
|
|
||||||
# Запуск тестового серверного скрипта, если требуется режим тестирования
|
|
||||||
if [ $TEST_MODE -eq 1 ]; then
|
|
||||||
poetry run python utils/test_socket_server.py &
|
|
||||||
TEST_SERVER_PID=$!
|
|
||||||
|
|
||||||
# Проверяем, был ли тестовый сервер запущен успешно
|
|
||||||
if ! kill -0 $TEST_SERVER_PID 2>/dev/null; then
|
|
||||||
echo "Ошибка при запуске test_socket_server"
|
|
||||||
exit 1
|
|
||||||
fi
|
|
||||||
|
|
||||||
poetry run python main.py --mode test
|
|
||||||
else
|
|
||||||
poetry run python main.py
|
|
||||||
fi
|
|
||||||
|
|
@ -0,0 +1,39 @@
|
||||||
|
# -*- mode: python ; coding: utf-8 -*-
|
||||||
|
|
||||||
|
|
||||||
|
a = Analysis(
|
||||||
|
['run.py'],
|
||||||
|
pathex=[],
|
||||||
|
binaries=[],
|
||||||
|
datas=[('pyproject.toml', '.'), ('robots.json', '.'), ('urdf', 'urdf'), ('data', 'data')],
|
||||||
|
hiddenimports=['libpython3.10'],
|
||||||
|
hookspath=[],
|
||||||
|
hooksconfig={},
|
||||||
|
runtime_hooks=[],
|
||||||
|
excludes=[],
|
||||||
|
noarchive=False,
|
||||||
|
optimize=0,
|
||||||
|
)
|
||||||
|
pyz = PYZ(a.pure)
|
||||||
|
|
||||||
|
exe = EXE(
|
||||||
|
pyz,
|
||||||
|
a.scripts,
|
||||||
|
a.binaries,
|
||||||
|
a.datas,
|
||||||
|
[],
|
||||||
|
name='run',
|
||||||
|
debug=False,
|
||||||
|
bootloader_ignore_signals=False,
|
||||||
|
strip=False,
|
||||||
|
upx=True,
|
||||||
|
upx_exclude=[],
|
||||||
|
runtime_tmpdir=None,
|
||||||
|
console=True,
|
||||||
|
disable_windowed_traceback=False,
|
||||||
|
argv_emulation=False,
|
||||||
|
target_arch=None,
|
||||||
|
codesign_identity=None,
|
||||||
|
entitlements_file=None,
|
||||||
|
contents_directory='test',
|
||||||
|
)
|
||||||
|
|
@ -0,0 +1,39 @@
|
||||||
|
# -*- mode: python ; coding: utf-8 -*-
|
||||||
|
|
||||||
|
|
||||||
|
a = Analysis(
|
||||||
|
['utils/test_socket_server.py'],
|
||||||
|
pathex=[],
|
||||||
|
binaries=[],
|
||||||
|
datas=[('pyproject.toml', '.'), ('robots.json', '.'), ('urdf', 'urdf'), ('data', 'data')],
|
||||||
|
hiddenimports=['libpython3.10'],
|
||||||
|
hookspath=[],
|
||||||
|
hooksconfig={},
|
||||||
|
runtime_hooks=[],
|
||||||
|
excludes=[],
|
||||||
|
noarchive=False,
|
||||||
|
optimize=0,
|
||||||
|
)
|
||||||
|
pyz = PYZ(a.pure)
|
||||||
|
|
||||||
|
exe = EXE(
|
||||||
|
pyz,
|
||||||
|
a.scripts,
|
||||||
|
a.binaries,
|
||||||
|
a.datas,
|
||||||
|
[],
|
||||||
|
name='test_socket_server',
|
||||||
|
debug=False,
|
||||||
|
bootloader_ignore_signals=False,
|
||||||
|
strip=False,
|
||||||
|
upx=True,
|
||||||
|
upx_exclude=[],
|
||||||
|
runtime_tmpdir=None,
|
||||||
|
console=True,
|
||||||
|
disable_windowed_traceback=False,
|
||||||
|
argv_emulation=False,
|
||||||
|
target_arch=None,
|
||||||
|
codesign_identity=None,
|
||||||
|
entitlements_file=None,
|
||||||
|
contents_directory='test',
|
||||||
|
)
|
||||||
|
|
@ -0,0 +1,28 @@
|
||||||
|
<?xml version="1.0" ?>
|
||||||
|
<robot name="plane">
|
||||||
|
<link name="planeLink">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value=".0"/>
|
||||||
|
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="../urdf_support/plane.obj" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1 1 1 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -5"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="30 30 10"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
</robot>
|
||||||
|
|
@ -0,0 +1,18 @@
|
||||||
|
# Blender v2.66 (sub 1) OBJ File: ''
|
||||||
|
# www.blender.org
|
||||||
|
mtllib plane.mtl
|
||||||
|
o Plane
|
||||||
|
v 15.000000 -15.000000 0.000000
|
||||||
|
v 15.000000 15.000000 0.000000
|
||||||
|
v -15.000000 15.000000 0.000000
|
||||||
|
v -15.000000 -15.000000 0.000000
|
||||||
|
|
||||||
|
vt 15.000000 0.000000
|
||||||
|
vt 15.000000 15.000000
|
||||||
|
vt 0.000000 15.000000
|
||||||
|
vt 0.000000 0.000000
|
||||||
|
|
||||||
|
usemtl Material
|
||||||
|
s off
|
||||||
|
f 1/1 2/2 3/3
|
||||||
|
f 1/1 3/3 4/4
|
||||||
Loading…
Reference in New Issue