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modbus_test
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Kseninia Mikhaylova 2024-10-29 09:20:41 +03:00
parent baac2d138c
commit e5ecf4c3ec
5 changed files with 90 additions and 21 deletions
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49
app.log
View File

@ -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

6
main.py
View File

@ -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.")

20
pybullet_server.py Normal file
View File

@ -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()

2
robot/client_socket.py
View File

@ -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"]

34
utils/test_socket_server.py
View File

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