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modbus_test
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format coord

This commit is contained in:
Михайлова Ксения Александровна 2024-09-17 12:35:31 +03:00
parent 26fd9676fc
commit a64742bc3f
1 changed files with 34 additions and 17 deletions
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49
client_socket.py
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@ -11,6 +11,8 @@ port = 9760
s.connect((host, port)) s.connect((host, port))
# print(s) # print(s)
def send_data(data): def send_data(data):
response = None
s.send(str.encode(json.dumps(data))) s.send(str.encode(json.dumps(data)))
response_data = s.recv(1024) response_data = s.recv(1024)
response = json.loads(response_data) response = json.loads(response_data)
@ -32,8 +34,16 @@ def make_command_data(q):
def make_query_data(q): def make_query_data(q):
return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"query","packID":"0","queryAddr":q} return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"query","packID":"0","queryAddr":q}
axis_coord = send_data(make_query_data(['axis-0','axis-1','axis-2','axis-3','axis-4','axis-5'])) axis_coord_raw = 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'])) axis_coord = []
for i in axis_coord_raw:
axis_coord.append(float(i))
world_coord_raw = send_data(make_query_data(['world-0','world-1','world-2','world-3','world-4','world-5']))
world_coord = []
for i in world_coord_raw:
world_coord.append(float(i))
x,y,z,u,v,w = world_coord
print('axis', axis_coord) print('axis', axis_coord)
print('world', world_coord) print('world', world_coord)
@ -51,19 +61,26 @@ def make_world_step(type, p):
} }
if type == 'line': if type == 'line':
m0,m1,m2,m3,m4,m5=p m0,m1,m2,m3,m4,m5=p
step.update({"action": "10", step.update({
"m0": str(float(world_coord[0]) + m0), "m1":str(float(world_coord[1]) + m1), "m2": str(float(world_coord[2]) + m2), "action": "10",
"m3":str(float(world_coord[3]) + m3), "m4":str(float(world_coord[4]) + m4), "m5": str(float(world_coord[5]) + m5), "m0": x + m0, "m1": y + m1, "m2": z + m2,
"m6":"0", "m7":"0",}) "m3": u + m3, "m4": v + m4, "m5": w + m5,
"m6": 0, "m7": 0,
})
elif type == 'curve': elif type == 'curve':
m0,m1,m2,m3,m4,m5, m0_p, m1_p,m2_p,m3_p,m4_p,m5_p=p m0,m1,m2,m3,m4,m5, m0_p, m1_p,m2_p,m3_p,m4_p,m5_p=p
step.update({"action": "17", step.update({
"m0": str(float(world_coord[0]) + m0), "m1":str(float(world_coord[1]) + m1), "m2": str(float(world_coord[2]) + m2), "action": "17",
"m3": str(float(world_coord[3]) + m3), "m4": str(float(world_coord[4]) + m4), "m5": str(float(world_coord[5]) + m5), "m0": x + m0, "m1": y + m1, "m2": z + m2,
"m6":"0", "m7":"0", "m3": u + m3, "m4": v + m4, "m5": w + m5,
"m0_p": str(float(world_coord[0]) + m0_p), "m1_p":str(float(world_coord[1]) + m1_p), "m2_p": str(float(world_coord[2]) + m2_p), "m6": 0, "m7": 0,
"m3_p": str(float(world_coord[3]) + m3_p), "m4_p": str(float(world_coord[4]) + m4_p), "m5_p": str(float(world_coord[5]) + m5_p), "m0_p": x + m0_p, "m1_p": y + m1_p, "m2_p": z + m2_p,
"m6_p":"0", "m7_p":"0",}) "m3_p": u + m3_p, "m4_p": v + m4_p, "m5_p": w + m3_p,
"m6_p": 0, "m7_p": 0,
})
for s in step:
step[s] = str(step[s])
return step return step
k = 4 k = 4
@ -90,11 +107,11 @@ data = [
0, 0, 0)), 0, 0, 0)),
] ]
# Изменили глобальную скорость на 11% # Изменили глобальную скорость на 11%
send_data(make_command_data(['modifyGSPD', str(50 * 10)])) send_data(make_command_data(['modifyGSPD', str(20 * 10)]))
# Поставили Y026 в TRUE # Поставили Y026 в TRUE
# send_data(make_addrcc_data([ # send_data(make_addrcc_data([
# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14"}, # {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"15"},
# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14", "delay":"1"}, # {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"15", "delay":"1"},
# ])) # ]))
send_data(make_addrcc_data( send_data(make_addrcc_data(
[ [