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modbus_test
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unknown 2024-09-16 17:01:32 +03:00
parent 4a3da619f7
commit 26fd9676fc
1 changed files with 48 additions and 23 deletions
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71
client_socket.py
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@ -46,42 +46,67 @@ def make_world_step(type, p):
"oneshot": "1", "oneshot": "1",
"delay":"0.0", "delay":"0.0",
"speed":str(speed),"smooth":str(smooth), "speed":str(speed),"smooth":str(smooth),
"coord":"0","tool":"3", "coord":"0","tool":"1",
"ckStatus":"0x3F", "ckStatus":"0xFF",
} }
if type == 'line': if type == 'line':
m0,m1,m2,m3,m4,m5=p
step.update({"action": "10", step.update({"action": "10",
"m0": str(float(world_coord[0]) + p[0]), "m1":str(float(world_coord[1]) + p[1]), "m2": str(float(world_coord[2]) + p[2]), "m0": str(float(world_coord[0]) + m0), "m1":str(float(world_coord[1]) + m1), "m2": str(float(world_coord[2]) + m2),
"m3":world_coord[3], "m4":world_coord[4], "m5": world_coord[5], "m3":str(float(world_coord[3]) + m3), "m4":str(float(world_coord[4]) + m4), "m5": str(float(world_coord[5]) + m5),
"m6":"0", "m7":"0",}) "m6":"0", "m7":"0",})
elif type == 'curve': elif type == 'curve':
m0,m1,m2,m3,m4,m5, m0_p, m1_p,m2_p,m3_p,m4_p,m5_p=p
step.update({"action": "17", step.update({"action": "17",
"m0": str(float(world_coord[0]) + p[0]), "m1":str(float(world_coord[1]) + p[1]), "m2": str(float(world_coord[2]) + p[2]), "m0": str(float(world_coord[0]) + m0), "m1":str(float(world_coord[1]) + m1), "m2": str(float(world_coord[2]) + m2),
"m3":world_coord[3], "m4":world_coord[4], "m5": world_coord[5], "m3": str(float(world_coord[3]) + m3), "m4": str(float(world_coord[4]) + m4), "m5": str(float(world_coord[5]) + m5),
"m6":"0", "m7":"0", "m6":"0", "m7":"0",
"m0_p": str(float(world_coord[0]) + p[3]), "m1_p":str(float(world_coord[1]) + p[4]), "m2_p": str(float(world_coord[2]) + p[5]), "m0_p": str(float(world_coord[0]) + m0_p), "m1_p":str(float(world_coord[1]) + m1_p), "m2_p": str(float(world_coord[2]) + m2_p),
"m3_p":world_coord[3], "m4_p":world_coord[4], "m5_p": world_coord[5], "m3_p": str(float(world_coord[3]) + m3_p), "m4_p": str(float(world_coord[4]) + m4_p), "m5_p": str(float(world_coord[5]) + m5_p),
"m6_p":"0", "m7_p":"0",}) "m6_p":"0", "m7_p":"0",})
return step return step
k = 2 k = 4
data = [ data = [
('line',(10*k, 10*k, 0)), ('line',(10*k, 10*k, 0,
('line',(0, 20*k, 0)), 0, 0, 0)),
('line',(-10*k, 10*k, 0)), ('line',(0, 20*k, 0,
('line',(0, 0, 0)), 0, 0, 0)),
('line',(0, 0, 10*k)), ('line',(-10*k, 10*k, 0,
('curve',(0, 10*k, 10*k, 20*k, 30*k, 10*k)), 0, 0, 0)),
('line',(0, 0, 0,
0, 0, 0)),
('line',(0, 0, 0,
0, -10, 0)),
('curve',(0, -10*k, 0,
-10, 0, 0,
-20*k, -10*k, 0,
0, -10, 0)),
('line',(-20*k, -10*k, 0,
0, 0, 0)),
('curve',(0, -20*k, 0,
0, 0, 0,
0, -10*k, 0,
0, 0, 0)),
] ]
# send_data(make_addrcc_data(
# # [{"oneshot":"0", "action":"51","isUse":"1","speed":"1234"}]+
# [make_world_step(*p) for p in data]
# # [{"oneshot":"0", "action":"51","isUse":"0","speed":"1234"}]
# ))
# Изменили глобальную скорость на 11% # Изменили глобальную скорость на 11%
send_data(make_command_data(['modifyGSPD', str(11 * 10)])) send_data(make_command_data(['modifyGSPD', str(50 * 10)]))
# Поставили Y014 в TRUE # Поставили Y026 в TRUE
send_data(make_addrcc_data([{"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":"4"}])) # send_data(make_addrcc_data([
# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14"},
# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14", "delay":"1"},
# ]))
send_data(make_addrcc_data(
[
# {"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":"14"},
# {"oneshot":"0", "action":"51","isUse":"1","speed":str(8*1000)}
]
+[make_world_step(*p) for p in data]
+[
# {"oneshot":"0", "action":"51","isUse":"0"},
# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14"},
]
))
print('remote command count', send_data(make_query_data(['RemoteCmdLen']))) print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
send_data(make_command_data(['actionSingleCycle'])) send_data(make_command_data(['actionSingleCycle']))
# send_data(make_command_data(['actionStop'])) # send_data(make_command_data(['actionStop']))