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modbus_test
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rombe

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unknown 2024-08-23 15:29:25 +03:00
parent 15392ca858
commit 90291c88d0
1 changed files with 64 additions and 48 deletions
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112
client_socket.py
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@ -16,59 +16,75 @@ def send_data(data):
response = json.loads(response_data)
if data["reqType"] == 'query':
pprint({"request":data["queryAddr"], "response":response["queryData"]})
# pprint({"request":data["queryAddr"], "response":response["queryData"]})
return response["queryData"]
elif data["reqType"] == 'command':
pprint({"request":data["cmdData"], "response":response["cmdReply"]})
# pprint({"request":data["cmdData"], "response":response["cmdReply"]})
return response["cmdReply"]
else:
pprint(response)
# получить версию оборудования
request_data = {
"dsID": "www.hc-system.com.RemoteMonitor",
"reqType": "query",
"queryAddr": ["version", "curMold"],
}
# send_data({
# "dsID": "www.hc-system.com.RemoteMonitor",
# "reqType": "query",
# "packID": "0",
# "queryAddr": ["RemoteCmdLen"],
# })
# send_data({
# "dsID": "www.hc-system.com.HCRemoteCommand",
# "reqType": "AddRCC",
# "emptyList": "1",
# "packID": "0",
# "instructions": [{"oneshot": "1", "action": "4",
# "m0":"79.287",
# "m1":"1.639",
# "m2":"-31.667",
# "m3":"3.380",
# "m4":"7.986",
# "m5":"-25.592",
# "m6":"0",
# "m7":"0",
# "ckStatus":"0xFF",
# "speed":"11.0",
# "delay":"1.0",
# "coord":"0",
# "tool":"0",
# "smooth":"0",
# }],
# })
def make_addrcc_data(q, e="1"):
return {"dsID": "www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":e,"packID":"0","instructions":q}
def make_command_data(q):
return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"command","packID":"0","cmdData":q}
def make_query_data(q):
return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"query","packID":"0","queryAddr":q}
send_data({
"dsID": "www.hc-system.com.RemoteMonitor",
"reqType": "query",
"packID": "0",
"queryAddr": ["RemoteCmdLen"],
})
axis_coord = send_data(make_query_data(['axis-0','axis-1','axis-2','axis-3','axis-4','axis-5']))
world_coord = send_data(make_query_data(['world-0','world-1','world-2','world-3','world-4','world-5']))
send_data({
"dsID": "www.hc-system.com.HCRemoteCommand",
"reqType": "AddRCC",
"emptyList": "1",
"packID": "0",
"instructions": [{"oneshot": "1", "action": "4",
"m0":"79.287",
"m1":"1.639",
"m2":"-31.667",
"m3":"3.380",
"m4":"7.986",
"m5":"-25.592",
"m6":"0",
"m7":"0",
"ckStatus":"0xFF",
"speed":"11.0",
"delay":"1.0",
"coord":"0",
"tool":"0",
"smooth":"0",
}],
})
print('axis', axis_coord)
print('world', world_coord)
print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
send_data({
"dsID": "www.hc-system.com.RemoteMonitor",
"reqType": "query",
"packID": "0",
"queryAddr": ["RemoteCmdLen"],
})
send_data({
"dsID": "www.hc-system.com.RemoteMonitor",
"reqType": "command",
"packID": "0",
"cmdData": ["actionSingleCycle"],
})
def make_world_step(p):
return {
"oneshot": "1", "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]),
"m3":world_coord[3], "m4":world_coord[4], "m5": world_coord[5],
"m6":"0", "m7":"0",
"delay":"0.0","speed":"20.0",
"coord":"0","tool":"3",
"smooth":"0", "ckStatus":"0x3F",
}
k = 5
data = [
(10*k, 10*k, 0),
(0, 20*k, 0),
(-10*k, 10*k, 0),
(0, 0, 0),
(0, 0, 10*k),
]
send_data(make_addrcc_data([make_world_step(p) for p in data]))
print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
send_data(make_command_data(['actionSingleCycle']))