Merge branch 'urdf' of https://git.svs-tech.pro/ksenia_mikhailova/modbus_test into urdf

client.py

@@ -8,23 +8,25 @@ import tkinter as tk
 from func import *
 
 window = tk.Tk()
-window.geometry('520x300')
+window.geometry("520x300")
 label = tk.Label(window, text="Hello, world!")
 label.pack()
 
 
-all_files = glob.glob("data/data.txt")
+all_files = glob.glob("data/*.nc")
 file = all_files[0]
-data = []
+data = [
-with open(file, "r") as fp:
+    ("line", 0, 0, 277.8, 0, 5, 0),
-    lines = fp.readlines()
+]
-    for l in lines:
+# with open(file, "r") as fp:
-        r = l.strip().split(",")
+#     lines = fp.readlines()
-        r[1] = float(r[1])
+#     for l in lines:
-        r[2] = float(r[2])
+#         r = l.strip().split(",")
-        r[3] = float(r[3])
+#         r[1] = float(r[1])
+#         r[2] = float(r[2])
+#         r[3] = float(r[3])
 
-        data.append(r)
+#         data.append(r)
 
 client = ModbusTcpClient(
     host=MODBUS_SERVER_HOST,
@@ -113,5 +115,5 @@ except Exception as e:
 finally:
     client.close()
 
-if __name__=="__main__":
+if __name__ == "__main__":
     window.mainloop()

client_socket.py

@@ -19,8 +19,8 @@ class SocketRobotArm:
     line_smooth = 9
     line_tool = 1
 
-    global_speed = 100
+    global_speed = 10
-    physical_speed = 50
+    physical_speed = 10
     # laser_id = 15
     laser_id = 14
     # filename = 'half-sphere-no-angle'
@@ -55,6 +55,7 @@ class SocketRobotArm:
 
         threading.Thread(target=self.run_pybullet, daemon=True).start()
 
+        print((self.port, self.host))
         self.socket.connect((self.host, self.port))
         self.cycle_base()
 
@@ -126,7 +127,8 @@ class SocketRobotArm:
         self.tkinter_info_label.pack()
         self.tkinter_root.update()
 
-        step = 2
+        step = 4
+        empty = 1
         for i in range(0, len(self.add_rcc_list), step):
             if not self.tkinter_info_label:
                 return
@@ -137,11 +139,14 @@ class SocketRobotArm:
             # self.update_text(m, text=f"Отправка данных {i}...{i+step-1}")
             self.tkinter_info_label.config(text=f"Отправка данных {i}...{i+step-1}")
             self.tkinter_root.update()
-
+            # print(empty)
             self.send_data(
-                make_addrcc_data(self.add_rcc_list[i : i + step], int(not i))
+                make_addrcc_data(
+                    self.add_rcc_list[i : i + step], empty
+                )
             )
-            time.sleep(0.5)
+            empty = 0
+            time.sleep(0.05)
 
     def imitate(self):
         points = self.steps_from_file()
@@ -240,7 +245,7 @@ class SocketRobotArm:
 
     def make_world_step(self, type, point):
         step = {
-            "oneshot": "0",
+            "oneshot": "1",
             "delay": "0.0",
             "speed": str(self.line_speed),
             "smooth": str(self.line_smooth),

data/test.nc.result

@@ -7,3 +7,23 @@ X100 Y50
 X100 Y0
 X50 Y0
 X0 Y0
+
+X165 Y0
+X330 Y0
+X500 Y165
+X500 Y330
+X330 Y500
+X165 Y500
+X0 Y330
+X0 Y165
+Z-50 V40 X0 Y0
+Z-50 V40 X165 Y0
+Z-50 V40 X330 Y0
+Z-50 V-40 X500 Y165
+Z-50 V-40 X500 Y330
+Z-50 V-40 X330 Y500
+Z-50 V-40 X165 Y500
+Z-50 V40 X0 Y330
+Z-50 V40 X0 Y165
+Z-50 V40 X0 Y0
+X0 Y0

func.py

@@ -1,7 +1,9 @@
 # Настройки клиента Modbus
-MODBUS_SERVER_HOST = "192.168.70.55"  # IP-адрес Modbus-сервера
+# MODBUS_SERVER_HOST = "192.168.70.55"  # IP-адрес Modbus-сервера
+MODBUS_SERVER_HOST = "192.168.70.65"  # IP-адрес Modbus-сервера
 MODBUS_SERVER_PORT = 502
-MODBUS_SLAVE_ID = 11
+# MODBUS_SLAVE_ID = 11
+MODBUS_SLAVE_ID = 22
 
 indent = 21100
 s = 800