make class
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parent
32439d2428
commit
6d85eae4fd
255
client_socket.py
255
client_socket.py
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@ -1,142 +1,195 @@
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import socket
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import json
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from pprint import pprint
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from tkinter import ttk
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from func import *
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s = socket.socket()
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host = MODBUS_SERVER_HOST
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port = 9760
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s.connect((host, port))
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# print(s)
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def send_data(data):
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class SocketRobotArm:
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line_speed = 100.0
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line_smooth = 9
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line_tool = 1
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global_speed = 100
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physical_speed = 50
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# laser_id = 15
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laser_id = 14
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# filename = 'half-sphere-no-angle'
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filename = "half-sphere"
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pass_size = 4
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def __init__(self, *args, **kwargs):
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self.socket = socket.socket()
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self.host = MODBUS_SERVER_HOST
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self.port = 9760
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self.host = "127.0.0.1"
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self.port = 65432
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self.connect()
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def __exit__(self, exc_type, exc_value, traceback):
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self.close()
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def connect(self):
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self.socket.connect((self.host, self.port))
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self.get_axis()
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self.get_world()
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self.get_command_count()
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self.send_data(self.set_global_speed())
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self.add_rcc_list = (
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[self.set_physical_speed(True), self.set_output_laser(True)]
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+ self.steps_from_file()
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+ [self.set_physical_speed(False), self.set_output_laser(False)]
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)
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step = 2
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for i in range(0, len(self.add_rcc_list), step):
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print(self.add_rcc_list[i : i + step])
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self.send_data(
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make_addrcc_data(self.add_rcc_list[i : i + step], int(not i))
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)
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self.send_data(self.start_cycle())
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def send_data(self, data):
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response = None
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if data["reqType"] == 'AddRCC':
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# if data["reqType"] == "AddRCC":
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# return
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pass
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s.send(str.encode(json.dumps(data)))
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response_data = s.recv(1024)
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self.socket.send(str.encode(json.dumps(data)))
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response_data = self.socket.recv(1024)
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response = json.loads(response_data)
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if data["reqType"] == 'query':
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# pprint({"request":data["queryAddr"], "response":response["queryData"]})
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if data["reqType"] == "query":
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return response["queryData"]
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elif data["reqType"] == 'command':
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# pprint({"request":data["cmdData"], "response":response["cmdReply"]})
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elif data["reqType"] == "command":
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return response["cmdReply"]
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elif data["reqType"] == 'AddRCC' and "cmdReply" in response.keys():
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elif data["reqType"] == "AddRCC" and "cmdReply" in response.keys():
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return response["cmdReply"]
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else:
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pprint(response)
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def make_addrcc_data(q, emptyList=0):
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# print(q)
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return {"dsID": "www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":str(emptyList),"packID":"0","instructions":q}
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def make_command_data(q):
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return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"command","packID":"0","cmdData":q}
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def make_query_data(q):
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return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"query","packID":"0","queryAddr":q}
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def get_axis(self):
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axis_coord_raw = self.send_data(
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make_query_data(
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["axis-0", "axis-1", "axis-2", "axis-3", "axis-4", "axis-5"]
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)
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)
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self.start_axis_coordinates = [float(i) for i in axis_coord_raw]
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print("start_axis_coordinates", self.start_axis_coordinates)
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axis_coord_raw = send_data(make_query_data(['axis-0','axis-1','axis-2','axis-3','axis-4','axis-5']))
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axis_coord = []
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for i in axis_coord_raw:
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axis_coord.append(float(i))
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def get_world(self):
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world_coord_raw = self.send_data(
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make_query_data(
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["world-0", "world-1", "world-2", "world-3", "world-4", "world-5"]
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)
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)
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self.start_world_coordinates = [float(i) for i in world_coord_raw]
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print("start_world_coordinates", self.start_world_coordinates)
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world_coord_raw = send_data(make_query_data(['world-0','world-1','world-2','world-3','world-4','world-5']))
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world_coord = []
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for i in world_coord_raw:
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world_coord.append(float(i))
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x,y,z,u,v,w = world_coord
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def get_command_count(self):
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res = self.send_data(make_query_data(["RemoteCmdLen"]))
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self.remote_command_count = res
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print(res)
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print('axis', axis_coord)
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print('world', world_coord)
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print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
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def set_global_speed(self):
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# Изменили глобальную скорость на global_speed%
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return make_command_data(["modifyGSPD", str(self.global_speed * 10)])
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line_speed = 100.0
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line_smooth = 9
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line_tool = 1
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def start_cycle(self):
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return make_command_data(["actionSingleCycle"])
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global_speed = 100
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physical_speed = 50
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# laser_id = 15
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laser_id = 14
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# filename = 'half-sphere-no-angle'
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filename = 'half-sphere'
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def round(v):
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return round(v, 3)
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pass_size = 4
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def make_world_step(type, p):
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def make_world_step(self, type, point):
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step = {
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"oneshot": "0",
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"delay":"0.0",
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"speed":str(line_speed),"smooth":str(line_smooth),
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"coord":"0","tool":str(line_tool),
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"ckStatus":"0x3F",
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"delay": "0.0",
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"speed": str(self.line_speed),
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"smooth": str(self.line_smooth),
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"coord": "0",
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"tool": str(self.line_tool),
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"ckStatus": "0x3F",
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}
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if type == 'line':
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m0,m1,m2,m3,m4,m5=p
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step.update({
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"action": "10",
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"m0": round(x + m0,3), "m1": round(y + m1,3), "m2": round(z + m2,3),
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"m3": round(u + m3,3), "m4": round(v + m4,3), "m5": round(w + m5,3),
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"m6": 0, "m7": 0,
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})
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elif type == 'curve':
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m0,m1,m2,m3,m4,m5, m0_p, m1_p,m2_p,m3_p,m4_p,m5_p=p
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step.update({
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"action": "17",
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"m0": round(x + m0,3), "m1": round(y + m1,3), "m2": round(z + m2,3),
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"m3": round(u + m3,3), "m4": round(v + m4,3), "m5": round(w + m5,3),
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"m6": 0, "m7": 0,
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"m0_p": round(x + m0_p,3), "m1_p": round(y + m1_p,3), "m2_p": round(z + m2_p,3),
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"m3_p": round(u + m3_p,3), "m4_p": round(v + m4_p,3), "m5_p": round(w + m3_p,3),
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"m6_p": 0, "m7_p": 0,
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})
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if type == "line":
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pairs = zip(self.start_world_coordinates, point)
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m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
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step.update({"action": "10"})
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step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
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step.update({"m6": 0, "m7": 0})
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elif type == "curve":
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pairs = zip(self.start_world_coordinates, point[:5])
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m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
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pairs_p = zip(self.start_world_coordinates, point[6:])
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m0_p, m1_p, m2_p, m3_p, m4_p, m5_p = [round(sum(i), 3) for i in pairs_p]
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step.update({"action": "17"})
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step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
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step.update({"m6": 0, "m7": 0})
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step.update(
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{
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"m0_p": m0_p,
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"m1_p": m1_p,
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"m2_p": m2_p,
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"m3_p": m3_p,
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"m4_p": m4_p,
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"m5_p": m5_p,
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}
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)
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step.update({"m6_p": 0, "m7_p": 0})
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for s in step:
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step[s] = str(step[s])
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return step
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result = []
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with open(f'data/{filename}.nc.result', 'r') as fp:
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def set_physical_speed(self, status: bool = False):
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return (
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{
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"oneshot": "0",
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"action": "51",
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"isUse": str(int(status)),
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"speed": str(self.physical_speed * 1000),
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},
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)
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def set_output_laser(self, status: bool = False):
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return (
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{
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"oneshot": "0",
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"action": "200",
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"type": "0",
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"io_status": str(int(status)),
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"point": str(self.laser_id),
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},
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)
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def steps_from_file(self):
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result = []
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with open(f"data/{self.filename}.nc.result", "r") as fp:
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for line in fp:
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data = line.strip().split(' ')
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data = line.strip().split(" ")
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prep = {}
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for item in data:
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prep[item[:1]] = float(item[1:])
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result.append(
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make_world_step(
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'line',
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self.make_world_step(
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"line",
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(
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prep.get('X', 0), prep.get('Y', 0), prep.get('Z', 0),
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prep.get('U', 0), prep.get('V', 0), prep.get('W', 0)
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)
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prep.get("X", 0),
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prep.get("Y", 0),
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prep.get("Z", 0),
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prep.get("U", 0),
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prep.get("V", 0),
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prep.get("W", 0),
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),
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)
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)
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return result
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# Изменили глобальную скорость на global_speed%
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send_data(make_command_data(['modifyGSPD', str(global_speed * 10)]))
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send_data(make_addrcc_data([
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# Включили физическую скорость
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{"oneshot":"0", "action":"51","isUse":"1","speed":str(physical_speed*1000)},
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# Поставили Y026 (laser id + 11) в TRUE -- ЛАЗЕР!!!!
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{"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":str(laser_id)},
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], 1))
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res_list = len(result) + 1
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if res_list > 300:
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res_list = 300
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for i in range(pass_size, res_list, pass_size):
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print(f"Отправили на устройство команды {i} ... {i + 1}")
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send_data(make_addrcc_data(result[i:i+1]))
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send_data(make_addrcc_data([
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{"oneshot":"0", "action":"51","isUse":"0"},
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{"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":str(laser_id)},
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]))
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print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
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send_data(make_command_data(['actionSingleCycle']))
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# send_data(make_command_data(['actionStop']))
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SocketRobotArm()
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10964
data/half-sphere.nc
10964
data/half-sphere.nc
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
8
func.py
8
func.py
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@ -113,3 +113,11 @@ def stop_immediately(client):
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def multiply_1000(n):
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return int(n * 1000)
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def make_addrcc_data(q, emptyList=0):
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# print(q)
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return {"dsID": "www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":str(emptyList),"packID":"0","instructions":q}
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def make_command_data(q):
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return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"command","packID":"0","cmdData":q}
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def make_query_data(q):
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return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"query","packID":"0","queryAddr":q}
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@ -0,0 +1,27 @@
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import socket
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import json
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HOST = "127.0.0.1" # Standard loopback interface address (localhost)
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PORT = 65432 # Port to listen on (non-privileged ports are > 1023)
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
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s.bind((HOST, PORT))
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s.listen()
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conn, addr = s.accept()
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with conn:
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print(f"Connected by {addr}")
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while True:
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data = conn.recv(1024)
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if data:
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req = json.loads(data)
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res = {"queryData": ["ok"]}
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if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
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res["queryData"] = [10, 11, 12, 13, 14, 15]
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if "queryAddr" in req and "world-0" in req["queryAddr"]:
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res["queryData"] = [100, 101, 102, 103, 104, 105]
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if req["reqType"] == "command":
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res["cmdReply"] = ['ok']
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conn.sendall(json.dumps(res).encode())
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