some refactor
This commit is contained in:
aarizona
parent
6708978141
commit
2c00a21415
203
app.log
203
app.log
|
|
@ -561,3 +561,206 @@
|
|||
2024-11-21 19:42:19,941 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-21 19:42:20,242 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 86
|
||||
2024-11-21 19:42:22,090 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-22 08:37:25,186 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:37:25,187 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:37:25,187 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:37:25,187 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:37:25,187 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:37:25,187 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:37:25,187 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:37:25,187 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:37:26,220 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 33
|
||||
2024-11-22 08:37:29,220 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-22 08:37:29,521 - logger - INFO - trying connect to ('127.0.0.1', 9760) - socket_manager.py - 28
|
||||
2024-11-22 08:37:50,031 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:37:50,031 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:37:50,031 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:37:50,031 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:37:50,031 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:37:50,031 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:37:50,031 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:37:50,031 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:37:51,064 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 34
|
||||
2024-11-22 08:37:53,562 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-22 08:37:53,862 - logger - INFO - trying connect to ('127.0.0.1', 9760) - socket_manager.py - 28
|
||||
2024-11-22 08:37:55,687 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-22 08:37:56,686 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:37:56,688 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:37:57,823 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:37:59,239 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 172
|
||||
2024-11-22 08:37:59,241 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 172
|
||||
2024-11-22 08:38:00,384 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:38:00,951 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:38:00,953 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:38:02,086 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:38:03,074 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 172
|
||||
2024-11-22 08:38:03,076 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 172
|
||||
2024-11-22 08:38:04,211 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:38:13,406 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - socket_manager.py - 57
|
||||
2024-11-22 08:38:13,406 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:38:13,908 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - socket_manager.py - 57
|
||||
2024-11-22 08:38:13,958 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:38:14,009 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:38:16,480 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:38:16,481 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:38:16,983 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:38:17,034 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:38:17,084 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:40:40,926 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:40:40,926 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:40:40,926 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:40:40,926 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:40:40,926 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:40:40,927 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:40:40,927 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:40:40,927 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:40:41,974 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 34
|
||||
2024-11-22 08:40:44,391 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-22 08:40:44,692 - logger - INFO - trying connect to ('127.0.0.1', 9760) - socket_manager.py - 28
|
||||
2024-11-22 08:40:46,493 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-22 08:40:48,717 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:40:48,719 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:40:49,791 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:40:55,206 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:40:55,759 - logger - ERROR - Error sending data: [Errno 104] Соединение разорвано другой стороной - socket_manager.py - 57
|
||||
2024-11-22 08:40:55,810 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:42:23,648 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:42:23,648 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:42:23,648 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:42:23,649 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:42:23,649 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:42:23,649 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:42:23,649 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:42:23,649 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:42:24,682 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 34
|
||||
2024-11-22 08:42:27,179 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-22 08:42:27,480 - logger - INFO - trying connect to ('127.0.0.1', 9760) - socket_manager.py - 28
|
||||
2024-11-22 08:42:29,285 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-22 08:42:30,995 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:42:30,997 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:42:32,123 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:42:33,542 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 172
|
||||
2024-11-22 08:42:33,544 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 172
|
||||
2024-11-22 08:42:34,682 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:42:39,189 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:42:39,190 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:42:40,313 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:42:40,875 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 172
|
||||
2024-11-22 08:42:40,876 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 172
|
||||
2024-11-22 08:42:41,878 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:42:44,987 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:42:44,988 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:42:46,118 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:42:46,820 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 172
|
||||
2024-11-22 08:42:46,822 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 172
|
||||
2024-11-22 08:42:47,829 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:42:48,682 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:42:49,235 - logger - ERROR - Error sending data: [Errno 104] Соединение разорвано другой стороной - socket_manager.py - 57
|
||||
2024-11-22 08:42:49,286 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:44:05,485 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:44:05,485 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:44:05,485 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:44:05,485 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:44:05,485 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:44:05,486 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:44:05,486 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:44:05,486 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:44:06,538 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 34
|
||||
2024-11-22 08:44:15,665 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:44:15,665 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:44:15,665 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:44:15,665 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:44:15,665 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:44:15,665 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:44:15,665 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:44:15,665 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:44:16,702 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 34
|
||||
2024-11-22 08:44:18,192 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-22 08:44:18,493 - logger - INFO - trying connect to ('127.0.0.1', 9760) - socket_manager.py - 28
|
||||
2024-11-22 08:44:20,289 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-22 08:44:21,577 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:44:21,578 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:44:22,703 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:44:23,410 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 172
|
||||
2024-11-22 08:44:23,411 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 172
|
||||
2024-11-22 08:44:24,555 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:44:34,742 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:44:35,294 - logger - ERROR - Error sending data: [Errno 104] Соединение разорвано другой стороной - socket_manager.py - 57
|
||||
2024-11-22 08:44:35,345 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:46:07,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:46:07,619 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:46:07,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:46:07,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:46:07,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:46:07,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:46:07,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:46:07,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:46:08,670 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 34
|
||||
2024-11-22 08:46:14,075 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:46:14,076 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:46:14,076 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:46:14,076 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:46:14,076 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:46:14,076 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:46:14,076 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:46:14,076 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:46:15,134 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 34
|
||||
2024-11-22 08:46:16,731 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-22 08:46:17,032 - logger - INFO - trying connect to ('127.0.0.1', 9760) - socket_manager.py - 28
|
||||
2024-11-22 08:46:18,834 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-22 08:46:19,836 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:46:19,837 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:46:20,964 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:46:23,078 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 172
|
||||
2024-11-22 08:46:23,079 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 172
|
||||
2024-11-22 08:46:24,209 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:46:31,838 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:46:32,391 - logger - ERROR - Error sending data: [Errno 104] Соединение разорвано другой стороной - socket_manager.py - 57
|
||||
2024-11-22 08:46:32,441 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:46:48,310 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:46:48,310 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:46:48,813 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:46:48,864 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:46:48,914 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:47:33,298 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:47:33,298 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:47:33,298 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:47:33,298 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:47:33,298 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:47:33,299 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:47:33,299 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:47:33,299 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:47:34,331 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 34
|
||||
2024-11-22 08:47:35,419 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-22 08:47:35,719 - logger - INFO - trying connect to ('127.0.0.1', 9760) - socket_manager.py - 28
|
||||
2024-11-22 08:47:37,528 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-22 08:48:50,770 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:48:50,771 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:48:51,924 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:48:53,623 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:48:54,175 - logger - ERROR - Error sending data: [Errno 104] Соединение разорвано другой стороной - socket_manager.py - 57
|
||||
2024-11-22 08:48:54,226 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - socket_manager.py - 57
|
||||
2024-11-22 08:50:20,313 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:50:20,313 - logger - INFO - None - robot.py - 52
|
||||
2024-11-22 08:50:20,313 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:50:20,313 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:50:20,313 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
|
||||
2024-11-22 08:50:20,313 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
|
||||
2024-11-22 08:50:20,314 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
|
||||
2024-11-22 08:50:20,314 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
|
||||
2024-11-22 08:50:21,346 - logger - INFO - Connect to 0 by SHARED_MEMORY - urdf_manager.py - 34
|
||||
2024-11-22 08:50:24,418 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-22 08:50:24,719 - logger - INFO - trying connect to ('127.0.0.1', 9760) - socket_manager.py - 28
|
||||
2024-11-22 08:50:26,545 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-22 08:50:27,871 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:50:27,873 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:50:28,927 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:50:32,992 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 172
|
||||
2024-11-22 08:50:32,994 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 172
|
||||
2024-11-22 08:50:34,135 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
2024-11-22 08:50:35,701 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:50:38,614 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:50:43,082 - logger - INFO - Старт одиночного цикла - client_socket.py - 172
|
||||
2024-11-22 08:50:45,854 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 172
|
||||
2024-11-22 08:50:45,855 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 172
|
||||
2024-11-22 08:50:46,981 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 172
|
||||
|
|
|
|||
|
|
@ -3,7 +3,6 @@ import json
|
|||
import os
|
||||
import math
|
||||
import numpy as np
|
||||
import sys
|
||||
|
||||
from typing import Literal
|
||||
from pprint import pprint
|
||||
|
|
@ -12,162 +11,14 @@ import threading
|
|||
import pybullet as p
|
||||
import pybullet_industrial as pi
|
||||
|
||||
from robot.func import *
|
||||
from logger import logger
|
||||
|
||||
from robot.func import *
|
||||
from robot.prepare_data import PrepareRobotData
|
||||
from robot.urdf_manager import UrdfManager
|
||||
from robot.socket_manager import SocketManager
|
||||
# os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
|
||||
|
||||
|
||||
class PrepareRobotData:
|
||||
line_speed = 100.0
|
||||
line_smooth = 0
|
||||
line_tool = 0
|
||||
|
||||
def make_step(self, type, point, start_coordinates):
|
||||
step = {
|
||||
"oneshot": "1",
|
||||
"delay": "0.0",
|
||||
"speed": str(self.line_speed),
|
||||
"smooth": str(self.line_smooth),
|
||||
"coord": "0",
|
||||
"tool": str(self.line_tool),
|
||||
"ckStatus": "0x3F",
|
||||
}
|
||||
if type == "line" or type == "free":
|
||||
pairs = zip(start_coordinates, point)
|
||||
data = []
|
||||
for pair in pairs:
|
||||
data.append(round(sum(pair), 3))
|
||||
|
||||
m0, m1, m2, m3, m4, m5 = data
|
||||
if type == "line":
|
||||
step.update({"action": "10"})
|
||||
if type == "free":
|
||||
step.update({"action": "4"})
|
||||
step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
|
||||
step.update({"m6": 0, "m7": 0})
|
||||
elif type == "curve":
|
||||
pairs = zip(self.world_coordinates, point[:5])
|
||||
m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
|
||||
|
||||
pairs_p = zip(self.world_coordinates, point[6:])
|
||||
m0_p, m1_p, m2_p, m3_p, m4_p, m5_p = [round(sum(i), 3) for i in pairs_p]
|
||||
step.update({"action": "17"})
|
||||
step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
|
||||
step.update({"m6": 0, "m7": 0})
|
||||
step.update(
|
||||
{
|
||||
"m0_p": m0_p,
|
||||
"m1_p": m1_p,
|
||||
"m2_p": m2_p,
|
||||
"m3_p": m3_p,
|
||||
"m4_p": m4_p,
|
||||
"m5_p": m5_p,
|
||||
}
|
||||
)
|
||||
step.update({"m6_p": 0, "m7_p": 0})
|
||||
|
||||
for s in step:
|
||||
step[s] = str(step[s])
|
||||
return step
|
||||
|
||||
|
||||
class SocketManager:
|
||||
def __init__(self):
|
||||
self.host = None
|
||||
self.port = 9760
|
||||
self.socket = None
|
||||
self.status: Literal["connected", "not_connected", "error"] = "not_connected"
|
||||
|
||||
def connect(self, host):
|
||||
self.host = host
|
||||
if self.socket is None:
|
||||
self.socket = socket.socket()
|
||||
logger.info(f"trying connect to {(self.host, self.port)}")
|
||||
self.socket.connect((self.host, self.port))
|
||||
self.status = "connected"
|
||||
|
||||
def close(self):
|
||||
if self.socket:
|
||||
self.socket.close()
|
||||
self.socket = None
|
||||
self.status = "not_connected"
|
||||
|
||||
def send_data(self, data):
|
||||
if not self.socket:
|
||||
return
|
||||
try:
|
||||
self.socket.send(str.encode(json.dumps(data)))
|
||||
response_data = self.socket.recv(1024)
|
||||
response = json.loads(response_data)
|
||||
|
||||
if data["reqType"] == "query":
|
||||
return response["queryData"]
|
||||
elif data["reqType"] == "command":
|
||||
return response["cmdReply"]
|
||||
elif data["reqType"] == "AddRCC" and "cmdReply" in response.keys():
|
||||
return response["cmdReply"]
|
||||
else:
|
||||
pprint(response_data)
|
||||
|
||||
return json.loads(response_data)
|
||||
except Exception as e:
|
||||
logger.error(f"Error sending data: {e}")
|
||||
return None
|
||||
|
||||
|
||||
class UrdfManager:
|
||||
urdf_filename = None
|
||||
physics_client = None
|
||||
body_id = None
|
||||
|
||||
def __init__(self, robot_start_position, application_path):
|
||||
self.robot_start_position = robot_start_position
|
||||
self.application_path = application_path
|
||||
|
||||
def start_loop(self, urdf):
|
||||
self.urdf_filename = urdf
|
||||
|
||||
p.resetSimulation()
|
||||
self.load_models()
|
||||
|
||||
def run_pybullet(self, type="DIRECT"):
|
||||
self.physics_client = p.connect(getattr(p, type))
|
||||
logger.info(f"Connect to {self.physics_client} by {type}")
|
||||
|
||||
def load_models(self):
|
||||
# p.loadURDF("urdf/plane.urdf", physicsClientId=self.physics_client)
|
||||
|
||||
urdf_path = os.path.join(
|
||||
self.application_path, "urdf", f"{self.urdf_filename}.urdf"
|
||||
)
|
||||
self.body_id = p.loadURDF(urdf_path, self.robot_start_position)
|
||||
|
||||
time.sleep(1)
|
||||
|
||||
def get_pybullet_image(self):
|
||||
if self.physics_client is None:
|
||||
return
|
||||
|
||||
width, height, rgb, _, _ = p.getCameraImage(
|
||||
width=500,
|
||||
height=500,
|
||||
viewMatrix=p.computeViewMatrix(
|
||||
cameraEyePosition=[4, -4, 1.5],
|
||||
# cameraEyePosition=[4,-4,4],
|
||||
cameraTargetPosition=[0, 0, 0], # Центр фокусировки камеры
|
||||
cameraUpVector=[0, 0, 1], # Направление вверх
|
||||
),
|
||||
projectionMatrix=p.computeProjectionMatrixFOV(
|
||||
fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0
|
||||
),
|
||||
# renderer=p.ER_TINY_RENDERER,
|
||||
physicsClientId=self.physics_client,
|
||||
)
|
||||
|
||||
return (rgb, width, height)
|
||||
|
||||
|
||||
class SocketRobotArm:
|
||||
global_speed = 10
|
||||
physical_speed = 10
|
||||
|
|
@ -178,7 +29,7 @@ class SocketRobotArm:
|
|||
urdf_filename = "sample"
|
||||
|
||||
pass_size = 4
|
||||
Status = Literal["connected", "not_connected", "error"]
|
||||
connected_status = Literal["connected", "not_connected", "error"]
|
||||
|
||||
axis_coordinates = []
|
||||
world_coordinates = []
|
||||
|
|
@ -192,7 +43,7 @@ class SocketRobotArm:
|
|||
self.host = None
|
||||
self.port = 9760
|
||||
self.slave_id = None
|
||||
self.status: SocketRobotArm.Status = "not_connected"
|
||||
self.status: SocketRobotArm.connected_status = "not_connected"
|
||||
|
||||
self.q_app = None
|
||||
self.imitate_point = None
|
||||
|
|
@ -238,9 +89,7 @@ class SocketRobotArm:
|
|||
|
||||
def upd_model_func(self):
|
||||
# logger.info("UPDATE MODEL FUNC")\
|
||||
mode = "by_joint"
|
||||
# mode = "by_world"
|
||||
|
||||
|
||||
self.get_axis()
|
||||
self.set_text(text=f"Координаты осей {self.axis_coordinates}")
|
||||
|
||||
|
|
@ -480,7 +329,6 @@ class SocketRobotArm:
|
|||
)
|
||||
)
|
||||
points = np.degrees(pj)
|
||||
start_position = [0, 60, -100, 0, 40, 0]
|
||||
start_position = [0, 0, 0, 0, 0, 0]
|
||||
result.append(
|
||||
self.prepare_data.make_step("free", points, start_position)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,57 @@
|
|||
from robot.func import *
|
||||
|
||||
# os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
|
||||
|
||||
|
||||
class PrepareRobotData:
|
||||
line_speed = 100.0
|
||||
line_smooth = 0
|
||||
line_tool = 0
|
||||
|
||||
def make_step(self, type, point, start_coordinates):
|
||||
step = {
|
||||
"oneshot": "1",
|
||||
"delay": "0.0",
|
||||
"speed": str(self.line_speed),
|
||||
"smooth": str(self.line_smooth),
|
||||
"coord": "0",
|
||||
"tool": str(self.line_tool),
|
||||
"ckStatus": "0x3F",
|
||||
}
|
||||
if type == "line" or type == "free":
|
||||
pairs = zip(start_coordinates, point)
|
||||
data = []
|
||||
for pair in pairs:
|
||||
data.append(round(sum(pair), 3))
|
||||
|
||||
m0, m1, m2, m3, m4, m5 = data
|
||||
if type == "line":
|
||||
step.update({"action": "10"})
|
||||
if type == "free":
|
||||
step.update({"action": "4"})
|
||||
step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
|
||||
step.update({"m6": 0, "m7": 0})
|
||||
elif type == "curve":
|
||||
pairs = zip(self.world_coordinates, point[:5])
|
||||
m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
|
||||
|
||||
pairs_p = zip(self.world_coordinates, point[6:])
|
||||
m0_p, m1_p, m2_p, m3_p, m4_p, m5_p = [round(sum(i), 3) for i in pairs_p]
|
||||
step.update({"action": "17"})
|
||||
step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
|
||||
step.update({"m6": 0, "m7": 0})
|
||||
step.update(
|
||||
{
|
||||
"m0_p": m0_p,
|
||||
"m1_p": m1_p,
|
||||
"m2_p": m2_p,
|
||||
"m3_p": m3_p,
|
||||
"m4_p": m4_p,
|
||||
"m5_p": m5_p,
|
||||
}
|
||||
)
|
||||
step.update({"m6_p": 0, "m7_p": 0})
|
||||
|
||||
for s in step:
|
||||
step[s] = str(step[s])
|
||||
return step
|
||||
|
|
@ -0,0 +1,58 @@
|
|||
import socket
|
||||
import json
|
||||
import os
|
||||
import math
|
||||
import numpy as np
|
||||
|
||||
from typing import Literal
|
||||
from pprint import pprint
|
||||
|
||||
import threading
|
||||
import pybullet as p
|
||||
import pybullet_industrial as pi
|
||||
|
||||
from logger import logger
|
||||
|
||||
|
||||
class SocketManager:
|
||||
def __init__(self):
|
||||
self.host = None
|
||||
self.port = 9760
|
||||
self.socket = None
|
||||
self.status: Literal["connected", "not_connected", "error"] = "not_connected"
|
||||
|
||||
def connect(self, host):
|
||||
self.host = host
|
||||
if self.socket is None:
|
||||
self.socket = socket.socket()
|
||||
logger.info(f"trying connect to {(self.host, self.port)}")
|
||||
self.socket.connect((self.host, self.port))
|
||||
self.status = "connected"
|
||||
|
||||
def close(self):
|
||||
if self.socket:
|
||||
self.socket.close()
|
||||
self.socket = None
|
||||
self.status = "not_connected"
|
||||
|
||||
def send_data(self, data):
|
||||
if not self.socket:
|
||||
return
|
||||
try:
|
||||
self.socket.send(str.encode(json.dumps(data)))
|
||||
response_data = self.socket.recv(1024)
|
||||
response = json.loads(response_data)
|
||||
|
||||
if data["reqType"] == "query":
|
||||
return response["queryData"]
|
||||
elif data["reqType"] == "command":
|
||||
return response["cmdReply"]
|
||||
elif data["reqType"] == "AddRCC" and "cmdReply" in response.keys():
|
||||
return response["cmdReply"]
|
||||
else:
|
||||
pprint(response_data)
|
||||
|
||||
return json.loads(response_data)
|
||||
except Exception as e:
|
||||
logger.error(f"Error sending data: {e}")
|
||||
return None
|
||||
|
|
@ -0,0 +1,66 @@
|
|||
import socket
|
||||
import json
|
||||
import os
|
||||
import math
|
||||
import numpy as np
|
||||
import time
|
||||
|
||||
from typing import Literal
|
||||
from pprint import pprint
|
||||
|
||||
import threading
|
||||
import pybullet as p
|
||||
import pybullet_industrial as pi
|
||||
|
||||
from logger import logger
|
||||
|
||||
class UrdfManager:
|
||||
urdf_filename = None
|
||||
physics_client = None
|
||||
body_id = None
|
||||
|
||||
def __init__(self, robot_start_position, application_path):
|
||||
self.robot_start_position = robot_start_position
|
||||
self.application_path = application_path
|
||||
|
||||
def start_loop(self, urdf):
|
||||
self.urdf_filename = urdf
|
||||
|
||||
p.resetSimulation()
|
||||
self.load_models()
|
||||
|
||||
def run_pybullet(self, type="DIRECT"):
|
||||
self.physics_client = p.connect(getattr(p, type))
|
||||
logger.info(f"Connect to {self.physics_client} by {type}")
|
||||
|
||||
def load_models(self):
|
||||
# p.loadURDF("urdf/plane.urdf", physicsClientId=self.physics_client)
|
||||
|
||||
urdf_path = os.path.join(
|
||||
self.application_path, "urdf", f"{self.urdf_filename}.urdf"
|
||||
)
|
||||
self.body_id = p.loadURDF(urdf_path, self.robot_start_position)
|
||||
|
||||
time.sleep(1)
|
||||
|
||||
def get_pybullet_image(self):
|
||||
if self.physics_client is None:
|
||||
return
|
||||
|
||||
width, height, rgb, _, _ = p.getCameraImage(
|
||||
width=500,
|
||||
height=500,
|
||||
viewMatrix=p.computeViewMatrix(
|
||||
cameraEyePosition=[4, -4, 1.5],
|
||||
# cameraEyePosition=[4,-4,4],
|
||||
cameraTargetPosition=[0, 0, 0], # Центр фокусировки камеры
|
||||
cameraUpVector=[0, 0, 1], # Направление вверх
|
||||
),
|
||||
projectionMatrix=p.computeProjectionMatrixFOV(
|
||||
fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0
|
||||
),
|
||||
# renderer=p.ER_TINY_RENDERER,
|
||||
physicsClientId=self.physics_client,
|
||||
)
|
||||
|
||||
return (rgb, width, height)
|
||||
|
|
@ -92,14 +92,15 @@ def handle_client(conn, addr):
|
|||
print(f"Connected by {addr}")
|
||||
try:
|
||||
while True:
|
||||
data = conn.recv(1024)
|
||||
data = conn.recv(1024*2)
|
||||
if not data:
|
||||
break
|
||||
req = json.loads(data)
|
||||
print(req)
|
||||
res = {"queryData": ["ok"]}
|
||||
if "axis-0" in req["queryAddr"]:
|
||||
if "queryAddr" in req and "axis-0" in req["queryAddr"]:
|
||||
global coordinates_index
|
||||
print(coordinates_index)
|
||||
print(f"----{coordinates_index}----")
|
||||
c = c_angles[coordinates_index]
|
||||
limit = len(c_angles) - 1
|
||||
# limit = 2
|
||||
|
|
@ -108,14 +109,15 @@ def handle_client(conn, addr):
|
|||
else:
|
||||
coordinates_index = 0
|
||||
|
||||
if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
|
||||
if "queryAddr" in req and "axis-0" in req["queryAddr"]:
|
||||
res["queryData"] = c["axis"]
|
||||
|
||||
if "queryAddr" in req and "world-0" in req["queryAddr"]:
|
||||
res["queryData"] = c["world"]
|
||||
|
||||
if req["reqType"] == "command":
|
||||
res["cmdReply"] = ["ok"]
|
||||
if "reqType" in req and req["reqType"] == "command" or req["reqType"] == "AddRCC":
|
||||
res["cmdReply"] = ["it is local dear"]
|
||||
# print(res)
|
||||
conn.sendall(json.dumps(res).encode())
|
||||
except json.JSONDecodeError as e:
|
||||
print(f"JSON decode error: {e}")
|
||||
|
|
|
|||
Loading…
Reference in New Issue