From 48b237ccb40726c3ad1df7c786bd20041da75b71 Mon Sep 17 00:00:00 2001
From: aarizona <ar.ariz.arizona@gmail.com>
Date: Sat, 10 Aug 2024 20:32:20 +0300
Subject: [PATCH] square

---
 .vscode/PythonImportHelper-v2-Completion.json |  4 +-
 client.py                                     | 91 +++++++++++++------
 2 files changed, 63 insertions(+), 32 deletions(-)

diff --git a/.vscode/PythonImportHelper-v2-Completion.json b/.vscode/PythonImportHelper-v2-Completion.json
index 89f4c49..480304c 100644
--- a/.vscode/PythonImportHelper-v2-Completion.json
+++ b/.vscode/PythonImportHelper-v2-Completion.json
@@ -139,7 +139,7 @@
         "kind": 2,
         "importPath": "client",
         "description": "client",
-        "peekOfCode": "def to_double(integr):\n    return [(integr >> 16) & 0xFFFF, integr & 0xFFFF]\nclient = ModbusTcpClient(\n    host=MODBUS_SERVER_HOST,\n    port=MODBUS_SERVER_PORT,\n)\nclient.connect()\n# максимальное количество coils = 286\n# bulb(2)\n# get_coordinates()",
+        "peekOfCode": "def to_double(integr):\n    return [(integr >> 16) & 0xFFFF, integr & 0xFFFF]\nclient = ModbusTcpClient(\n    host=MODBUS_SERVER_HOST,\n    port=MODBUS_SERVER_PORT,\n)\nclient.connect()\n# максимальное количество coils = 286\n# bulb(0)\n# get_coordinates()",
         "detail": "client",
         "documentation": {}
     },
@@ -202,7 +202,7 @@
         "kind": 5,
         "importPath": "client",
         "description": "client",
-        "peekOfCode": "client = ModbusTcpClient(\n    host=MODBUS_SERVER_HOST,\n    port=MODBUS_SERVER_PORT,\n)\nclient.connect()\n# максимальное количество coils = 286\n# bulb(2)\n# get_coordinates()\n# get_or_set_speed(10)\ntry:",
+        "peekOfCode": "client = ModbusTcpClient(\n    host=MODBUS_SERVER_HOST,\n    port=MODBUS_SERVER_PORT,\n)\nclient.connect()\n# максимальное количество coils = 286\n# bulb(0)\n# get_coordinates()\n# get_or_set_speed(10)\ntry:",
         "detail": "client",
         "documentation": {}
     },
diff --git a/client.py b/client.py
index 5ed1847..b77fc6e 100644
--- a/client.py
+++ b/client.py
@@ -95,49 +95,78 @@ client = ModbusTcpClient(
 client.connect()
 # максимальное количество coils = 286
 
-# bulb(2)
+# bulb(0)
 # get_coordinates()
 # get_or_set_speed(10)
 try:
+    data = [
+            (0, to_double(0)),
+            (1, to_double(0)),
+            (2, to_double(0)),
+            (3, [0, 0]),
+            (4, [0, 0]),
+            (5, [0, 0]),
+        ]
+    for item in data:
+        d, values = item
+        set_user_register(d, values)
     # старт в авторежиме single loop
     client.write_register(20002, 1, MODBUS_SLAVE_ID)
-    
+
     total = 0
     state = None
+    step = 0
     counter = 0
     while True:
         time.sleep(1)
         total += 1
         green_light = client.read_coils(0, 1, MODBUS_SLAVE_ID).bits[0]
+        print(f"total {total}, state {state}, green light {green_light}")
+        
         if state == green_light:
             continue
-        
-        if green_light == False:
-            continue
-        
+
         state = green_light
-        counter += 1
+        
+        if state == True:
+            continue
+
+        step += 1
         # собираем предварительные данные
-        x = two_byte_convert(client.read_holding_registers(2332, 2, MODBUS_SLAVE_ID))
-        y = two_byte_convert(client.read_holding_registers(2334, 2, MODBUS_SLAVE_ID))
-        z = two_byte_convert(client.read_holding_registers(2336, 2, MODBUS_SLAVE_ID))
-        u = two_byte_convert(client.read_holding_registers(2338, 2, MODBUS_SLAVE_ID))
-        v = two_byte_convert(client.read_holding_registers(2340, 2, MODBUS_SLAVE_ID))
-        w = two_byte_convert(client.read_holding_registers(2342, 2, MODBUS_SLAVE_ID))
-        print(
-            f"Предварительные данные X {x * 0.001}, Y {y * 0.001}, Z {z*0.001}, U {u*0.001}, V {v*0.001}, W {w*0.001}"
-        )
-        if counter == 1:
-            x -= 100 * 1000
-        elif counter == 2:
-            y -= 100 * 1000
-        elif counter == 3:
-            x += 100 * 1000
-        elif counter == 4:
-            y += 100 * 1000
+        # x = two_byte_convert(client.read_holding_registers(2332, 2, MODBUS_SLAVE_ID))
+        # y = two_byte_convert(client.read_holding_registers(2334, 2, MODBUS_SLAVE_ID))
+        # z = two_byte_convert(client.read_holding_registers(2336, 2, MODBUS_SLAVE_ID))
+        # u = two_byte_convert(client.read_holding_registers(2338, 2, MODBUS_SLAVE_ID))
+        # v = two_byte_convert(client.read_holding_registers(2340, 2, MODBUS_SLAVE_ID))
+        # w = two_byte_convert(client.read_holding_registers(2342, 2, MODBUS_SLAVE_ID))
+        # print(
+        #     f"Предварительные данные X {x * 0.001}, Y {y * 0.001}, Z {z*0.001}, U {u*0.001}, V {v*0.001}, W {w*0.001}"
+        # )
+        
+        # работаем с REL относительными координатами
+        x = 0
+        y = 0
+        z = 0
+        
+        w = 100
+        h = 100
+        if step == 1:
+            x -= w * 1000
+        elif step == 2:
+            y -= h * 1000
+        elif step == 3:
+            x += w * 1000
+        elif step == 4:
+            y += h * 1000
+        elif step == 5:
+            z += h * 1000
+        elif step == 6:
+            z -= h * 1000
         else:
-            counter = 0
-            
+            counter += 1
+            step = 0
+            state = None
+
         data = [
             (0, to_double(x)),
             (1, to_double(y)),
@@ -149,12 +178,14 @@ try:
         for item in data:
             d, values = item
             set_user_register(d, values)
-            result = client.read_holding_registers(indent + s + k * d, k, MODBUS_SLAVE_ID)
+            result = client.read_holding_registers(
+                indent + s + k * d, k, MODBUS_SLAVE_ID
+            )
             print(s + d, "===", two_byte_convert(result) * 0.001)
-            
-        client.write_coil(0, !green_light, MODBUS_SLAVE_ID)
 
-        
+        bulb(0)
+
+
 except Exception as e:
     print("error", e)