work in process

app.log

@@ -47483,3 +47483,52 @@ Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104
 2024-10-28 16:58:04,526 - logger - INFO - not_connected - robot.py - 52
 2024-10-28 16:58:05,529 - logger - INFO - GUI - client_socket.py - 55
 2024-10-28 16:58:06,810 - logger - INFO - Начат цикл симуляции - client_socket.py - 87
+2024-10-29 08:48:44,642 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 08:48:45,647 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
+2024-10-29 08:48:46,825 - logger - INFO - Начат цикл симуляции - client_socket.py - 87
+2024-10-29 08:48:54,807 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 08:48:55,457 - logger - INFO - connected - robot.py - 52
+2024-10-29 08:51:20,753 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 08:51:21,754 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
+2024-10-29 08:51:22,959 - logger - INFO - Начат цикл симуляции - client_socket.py - 87
+2024-10-29 08:53:08,122 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 08:53:09,124 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
+2024-10-29 08:53:29,598 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 08:53:30,600 - logger - INFO - GRAPHICS_SERVER - client_socket.py - 55
+2024-10-29 08:53:59,460 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 08:54:00,462 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
+2024-10-29 09:03:06,548 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 09:03:07,550 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
+2024-10-29 09:03:08,567 - logger - INFO - Начат цикл симуляции - client_socket.py - 87
+2024-10-29 09:03:13,220 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 09:03:13,840 - logger - INFO - connected - robot.py - 52
+2024-10-29 09:15:38,649 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 09:15:39,651 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
+2024-10-29 09:15:40,755 - logger - INFO - Начат цикл симуляции - client_socket.py - 87
+2024-10-29 09:15:43,115 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 09:15:43,811 - logger - INFO - connected - robot.py - 52
+2024-10-29 09:15:44,901 - logger - INFO - UPDATE - client_socket.py - 148
+2024-10-29 09:15:44,902 - logger - INFO - Координаты осей [0.0, 0.0, 0.0, 0.0, 5.0, 0.0] - client_socket.py - 217
+2024-10-29 09:15:45,402 - logger - INFO - set joints - client_socket.py - 220
+2024-10-29 09:15:45,463 - logger - INFO - Мировые координаты [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 217
+2024-10-29 09:15:45,964 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217
+2024-10-29 09:15:51,107 - logger - INFO - UPDATE - client_socket.py - 148
+2024-10-29 09:15:51,107 - logger - INFO - Координаты осей [0.0, 0.0, 0.0, 0.0, 5.0, 0.0] - client_socket.py - 217
+2024-10-29 09:15:51,608 - logger - INFO - set joints - client_socket.py - 220
+2024-10-29 09:15:51,669 - logger - INFO - Мировые координаты [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 217
+2024-10-29 09:15:52,170 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217
+2024-10-29 09:17:01,559 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 09:17:02,560 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
+2024-10-29 09:17:03,643 - logger - INFO - Начат цикл симуляции - client_socket.py - 87
+2024-10-29 09:17:20,666 - logger - INFO - not_connected - robot.py - 52
+2024-10-29 09:17:21,298 - logger - INFO - connected - robot.py - 52
+2024-10-29 09:17:23,383 - logger - INFO - UPDATE - client_socket.py - 148
+2024-10-29 09:17:23,384 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 217
+2024-10-29 09:17:23,884 - logger - INFO - set joints - client_socket.py - 220
+2024-10-29 09:17:23,945 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 217
+2024-10-29 09:17:24,446 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217
+2024-10-29 09:17:29,491 - logger - INFO - UPDATE - client_socket.py - 148
+2024-10-29 09:17:29,491 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 217
+2024-10-29 09:17:29,992 - logger - INFO - set joints - client_socket.py - 220
+2024-10-29 09:17:30,053 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 217
+2024-10-29 09:17:30,554 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217

main.py

@@ -58,7 +58,7 @@ class MyApp:
 
     def run_robot_arm(self):
         time.sleep(1)
-        self.robot_app.start('GUI')
+        self.robot_app.start('SHARED_MEMORY')
 
     def updateRobot(self, robot):
         if robot in self.robots:
@@ -96,9 +96,9 @@ class MyApp:
             return self.robot_app.get_command_count()
         return 0  # Или любое значение по умолчанию
 
-    def update_data_wrapper(self, data):
+    def update_data_wrapper(self):
         if self.robot_app:
-            self.robot_app.upd_model(data)
+            self.robot_app.upd_model()
         else:
             print("robot_app еще не инициализирован.")
 

pybullet_server.py

@@ -0,0 +1,20 @@
+# server.py
+import pybullet as p
+import pybullet_data
+import time
+
+def run_server():
+    # Подключаемся к графическому серверу в режиме SHARED_MEMORY_SERVER
+    physicsClient = p.connect(p.SHARED_MEMORY_SERVER)
+    
+    # Настраиваем среду
+    p.setAdditionalSearchPath(pybullet_data.getDataPath())
+    p.setGravity(0, 0, -10)
+    
+    while True:
+        # Основной цикл физического движка
+        p.stepSimulation()
+        time.sleep(1./240.)
+
+if __name__ == "__main__":
+    run_server()

robot/client_socket.py

@@ -27,7 +27,7 @@ class SocketRobotArm:
     laser_id = 14
 
     filename = "test"
-    urdf_filename = "fanucM16ib"
+    urdf_filename = "sample"
 
     pass_size = 4
     Status = Literal["connected", "not_connected", "error"]

utils/test_socket_server.py

@@ -17,28 +17,28 @@ def handle_client(conn, addr):
 
             if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
                 res["queryData"] = [
-                    0,
+                    -60,
-                    0,
+                    40,
-                    0,
+                    -10,
-                    0,
+                    -60,
-                    5,
+                    -75,
                     0,
                 ]
 
             if "queryAddr" in req and "world-0" in req["queryAddr"]:
                 res["queryData"] = [
-                    # 643.622,
+                    643.622,
-                    # -1289.604,
+                    -1289.604,
-                    # 254.682,
+                    254.682,
-                    # 124.70,
+                    124.70,
-                    # 24.209,
+                    24.209,
-                    # -58.492,
+                    -58.492,
-                    0,
+                    # 0,
-                    0,
+                    # 0,
-                    0,
+                    # 0,
-                    0,
+                    # 0,
-                    0,
+                    # 0,
-                    0,
+                    # 0,
                 ]
 
             if req["reqType"] == "command":