87 lines
3.3 KiB
Python
87 lines
3.3 KiB
Python
import socket
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import json
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from pprint import pprint
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from func import *
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s = socket.socket()
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host = MODBUS_SERVER_HOST
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port = 9760
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s.connect((host, port))
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# print(s)
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def send_data(data):
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s.send(str.encode(json.dumps(data)))
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response_data = s.recv(1024)
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response = json.loads(response_data)
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if data["reqType"] == 'query':
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# pprint({"request":data["queryAddr"], "response":response["queryData"]})
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return response["queryData"]
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elif data["reqType"] == 'command':
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# pprint({"request":data["cmdData"], "response":response["cmdReply"]})
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return response["cmdReply"]
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else:
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pprint(response)
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def make_addrcc_data(q, e="1"):
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# print(q)
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return {"dsID": "www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":e,"packID":"0","instructions":q}
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def make_command_data(q):
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return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"command","packID":"0","cmdData":q}
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def make_query_data(q):
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return {"dsID": "www.hc-system.com.RemoteMonitor","reqType":"query","packID":"0","queryAddr":q}
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axis_coord = send_data(make_query_data(['axis-0','axis-1','axis-2','axis-3','axis-4','axis-5']))
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world_coord = send_data(make_query_data(['world-0','world-1','world-2','world-3','world-4','world-5']))
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print('axis', axis_coord)
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print('world', world_coord)
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print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
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def make_world_step(type, p):
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speed= 10.0
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smooth= 9
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step = {
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"oneshot": "1",
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"delay":"0.0",
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"speed":str(speed),"smooth":str(smooth),
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"coord":"0","tool":"3",
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"ckStatus":"0x3F",
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}
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if type == 'line':
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step.update({"action": "10",
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"m0": str(float(world_coord[0]) + p[0]), "m1":str(float(world_coord[1]) + p[1]), "m2": str(float(world_coord[2]) + p[2]),
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"m3":world_coord[3], "m4":world_coord[4], "m5": world_coord[5],
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"m6":"0", "m7":"0",})
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elif type == 'curve':
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step.update({"action": "17",
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"m0": str(float(world_coord[0]) + p[0]), "m1":str(float(world_coord[1]) + p[1]), "m2": str(float(world_coord[2]) + p[2]),
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"m3":world_coord[3], "m4":world_coord[4], "m5": world_coord[5],
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"m6":"0", "m7":"0",
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"m0_p": str(float(world_coord[0]) + p[3]), "m1_p":str(float(world_coord[1]) + p[4]), "m2_p": str(float(world_coord[2]) + p[5]),
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"m3_p":world_coord[3], "m4_p":world_coord[4], "m5_p": world_coord[5],
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"m6_p":"0", "m7_p":"0",})
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return step
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k = 2
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data = [
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('line',(10*k, 10*k, 0)),
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('line',(0, 20*k, 0)),
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('line',(-10*k, 10*k, 0)),
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('line',(0, 0, 0)),
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('line',(0, 0, 10*k)),
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('curve',(0, 10*k, 10*k, 20*k, 30*k, 10*k)),
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]
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# send_data(make_addrcc_data(
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# # [{"oneshot":"0", "action":"51","isUse":"1","speed":"1234"}]+
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# [make_world_step(*p) for p in data]
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# # [{"oneshot":"0", "action":"51","isUse":"0","speed":"1234"}]
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# ))
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# Изменили глобальную скорость на 11%
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send_data(make_command_data(['modifyGSPD', str(11 * 10)]))
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# Поставили Y014 в TRUE
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send_data(make_addrcc_data([{"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":"4"}]))
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print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
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send_data(make_command_data(['actionSingleCycle']))
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# send_data(make_command_data(['actionStop'])) |