first commit

COM/COM_Robot.py

@@ -0,0 +1,137 @@
+import logging
+from enum import Enum
+from turtle import Turtle
+
+from numpy.array_api import trunc
+
+import Constant
+from COM.COM_TCP import TCPClient
+import queue
+import json
+from Model.RobotModel import DataAddress, DATARequest, DATAReply, CMDInstructRequest, Instruction
+from Util.util_log import log
+from Util.util_math import is_bit_set
+
+
+class DetectType(Enum):
+    EyeOnHand = 0
+    EyeOutHand = 1
+
+class RobotClient(TCPClient):
+
+    def __init__(self, ip, port, photo_locs,command_quene, status_model:DataAddress,con_ios, time_delay_take,time_delay_put,time_delay_shake,origin_position):
+        super().__init__(ip, port)
+        self.command_quene = command_quene
+        self.status_model = status_model
+        self.errorCommands = {}
+        self.photo_locs = photo_locs
+        self.con_ios = con_ios
+        self.time_delay_take= time_delay_take
+        self.time_delay_put = time_delay_put
+        self.time_delay_shake = time_delay_shake
+        self.type_detection = DetectType.EyeOutHand
+        self.origin_position = origin_position
+        self.debug_speed = 10
+        self.feed_speed = 10
+        self.reset_speed = 10
+        self.max_angle_interval = 0
+        self.smooth = 0
+        self.dynamic_height = 0
+    def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行
+        self.command_quene.put(command)
+        log.log_message(logging.INFO, f'{Constant.str_sys_command}{command}')
+        return
+
+    def send_Command(self):
+        try:
+            if self.command_quene.qsize()!=0:
+                command = self.command_quene.get()
+                self.client_socket.send(command.encode())
+                if True:
+                    response = self.client_socket.recv(1024).decode('utf-8')
+                    # response_message = json.loads(response)
+                return True
+            else:
+                return True
+        except Exception as e:
+            log.log_message(logging.ERROR, Constant.str_tcp_robot_connect_fail)
+            raise
+
+
+
+    def send_Status(self):
+        request = DATARequest()
+        dataAddr = DataAddress()
+        request.queryAddr.append(dataAddr)
+
+        # 移除特殊属性和方法
+        request_status_json = request.toString()
+        # 转字符串
+
+        try:
+            self.client_socket.send(request_status_json.encode())
+            if True:
+                response = self.client_socket.recv(1024).decode('utf-8')
+                response_message = json.loads(response)
+                if True:
+                    try:
+                        data_status = DATAReply()
+                        # if response_message.keys().contains('cmdReply'):
+                        #     return
+                        data_status.__dict__ = response_message  # {'cmdReply': ['AddRCC', 'ok'], 'dsID': 'www.hc-system.com.HCRemoteCommand', 'reqType': 'AddRCC'}
+                        data_address_array = data_status.queryData
+                        self.status_model.curMode = int(data_address_array[0])
+                        self.status_model.setPosition(*data_address_array[1:13])
+                        self.status_model.curAlarm = int(data_address_array[13])
+                        self.status_model.isMoving = int(data_address_array[14])
+                        self.status_model.RemoteCmdLen = int(data_address_array[15])
+                        self.status_model.toolCoord=int(data_address_array[16])
+                        self.status_model.input_n = int(data_address_array[19])
+                        self.status_model.output_n = int(data_address_array[20])
+                        self.status_model.curSpeed_n = int(data_address_array[21])
+                    except:
+                        if response_message.keys().__contains__('cmdReply'):
+                            return
+                        log.log_message(logging.ERROR,Constant.str_tcp_robot_data_error)
+            return True
+        except json.JSONDecodeError as e:
+            log.log_message(logging.WARNING,Constant.str_sys_json_error+response)
+            return True
+        except Exception as e:
+            log.log_message(logging.ERROR,f'{e}{response}')
+            raise
+
+    def send_emergency_sound(self):
+        self.sendIOControl(Constant.IO_EmergencyPoint, 1)
+
+    def send_emergency_stop(self):
+        self.sendIOControl(Constant.IO_EmergencyPoint, 0)
+
+    def sendIOControl(self, IO_bit, IO_Status: int, delay=0,emptyList='0'):#
+
+        IO_command = CMDInstructRequest()
+        IO_command.emptyList = emptyList
+        io_instruction = Instruction()
+        io_instruction.IO = True
+        io_instruction.io_status = IO_Status
+        io_instruction.delay = delay
+        io_instruction.point = IO_bit  # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
+        IO_command.dsID = 'HCRemoteCommand'
+        IO_command.instructions.append(io_instruction)
+        self.add_sendQuene(IO_command.toString())
+        log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
+        pass
+    
+    def check_outputQ(self,IO_bit):
+        if is_bit_set(self.status_model.output_n, IO_bit):
+            return True
+        else:
+            return False
+
+    def get_origin_position(self):
+        return self.origin_position
+        pass 
+
+    
+
+

COM/COM_TCP.py

@@ -0,0 +1,70 @@
+import json
+import logging
+import socket
+import threading
+import time
+import random
+
+import Constant
+from Util.util_log import log
+
+class TCPClient:
+    def __init__(self, ip, port):
+        self.error_count=0
+        self.IPAddress = ip
+        self.port = port
+        self.thread_signal = True
+        self.connected = False
+        self.client_socket = None
+
+    def CreatConnect(self):
+        if self.client_socket:
+            self.client_socket.close()
+        self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.client_socket.settimeout(5)
+        self.client_socket.connect((self.IPAddress, self.port))
+
+
+    def is_Connect(self):
+        try:
+            self.client_socket.send(b'')
+            return True
+        except OSError:
+            return False
+
+
+    def run(self):
+        while self.thread_signal:
+            time.sleep(0.4)
+            self.connected = (self.error_count <= 3)
+            try:
+                if (self.send_Status() and self.send_Command()):
+                    self.error_count = 0
+            except Exception as e:
+                self.error_count += 1
+            if self.error_count> 5:
+                print("Error: TCPClient is not connected")
+                log.log_message(logging.ERROR,Constant.str_tcp_connect_no_reply)
+                try:
+                    self.CreatConnect()
+                    log.log_message(logging.INFO, Constant.str_tcp_reconnect)
+                except OSError as e1:
+                    if e1.errno == 10056:
+                        self.client_socket.close()
+                        print("Error: TCPClient is not connected_1")
+                        log.log_message(logging.ERROR,Constant.str_tcp_connect_error)
+                except Exception as e2:
+                    print(e2)
+
+    def close(self):
+        self.thread_signal = False
+        self.client_socket.close()
+
+    def send_Command(self):
+        return False
+
+    def send_Status(self):
+        return False
+
+
+

COM/testTCP.py

@@ -0,0 +1,13 @@
+
+import sys
+print(sys.executable)
+
+from pymodbus.client import ModbusTcpClient
+
+client = ModbusTcpClient('192.168.0.123', port=502)
+if client.connect():
+    print("🟢 Modbus 连接成功")
+    result = client.read_coils(0, 1, unit=1)
+    print("读取结果:", result)
+else:
+    print("🔴 Modbus 连接失败")