213 lines
6.7 KiB
Python
213 lines
6.7 KiB
Python
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#!/usr/bin/python3
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"""
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# @Time : 2025/12/12 11:05
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# @Author : reenrr
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# @File : RobotModel.py
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# @Desc :
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"""
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from enum import Enum
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from Position import Real_Position
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class MoveType(Enum):
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AXIS = 4 # 关节轴运动模式
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WORLD = 10 # 世界坐标系运动模式
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Cure = 17 # 曲线运动模式
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class DATARequest:
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def __init__(self):
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"""
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初始化查询请求的核心协议参数，符合机械臂通信协议要求
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"""
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self.dsID = 'www.hc-system.com.RemoteMonitor' # 设备服务ID
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self.reqType = 'query' # 请求类型
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self.queryAddr = [] # 查询地址列表
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def toString(self):
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"""
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将DATARequest对象转换为符合JSON格式的字符串（符合机械臂通信协议）
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"""
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model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","queryAddr":[' \
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f'{self.queryAddr[0].toString()}]'+'}'
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return model_str
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class DataAddress:
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def __init__(self):
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# 基础配置属性
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self.version = ''
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self.curMold = ''
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self.counterList = ''
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self.counter_n = ''
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self.curMode = 0
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self.boardIONum = ''
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# IO口状态属性
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self.input_n = ''
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self.output_n = 0
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# 运动轴配置属性
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self.axisNum = '6'
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self.axis_n = ''
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self.world_0 = 0 # 世界坐标系X轴坐标
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self.world_1 = 0
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self.world_2 = 0
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self.world_3 = 0
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self.world_4 = 0
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self.world_5 = 0
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self.axis_0 = 0
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self.axis_1 = 0 # 1轴关节角度
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self.axis_2 = 0
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self.axis_3 = 0
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self.axis_4 = 0
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self.axis_5 = 0
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self.curAlarm = 0
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self.curCycle = ''
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self.lastCycle = ''
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self.machineName = ''
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self.curTorque_n = ''
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self.curSpeed_n = ''
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self.curAccount = ''
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self.origin = ''
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self.moldList = ''
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self.isMoving = False
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self.M_n = ''
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self.toolCoord=0
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self.RemoteCmdLen = 0
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def setPosition(self,w0,w1,w2,w3,w4,w5,a0,a1,a2,a3,a4,a5):
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"""
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位置坐标设置方法：批量更新世界坐标系和关节轴坐标系的位置数据，封装位置更新逻辑
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"""
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self.world_0 = float(w0)
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self.world_1 = float(w1)
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self.world_2 = float(w2)
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self.world_3 = float(w3)
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self.world_4 = float(w4)
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self.world_5 = float(w5)
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self.axis_0 = float(a0)
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self.axis_1 = float(a1)
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self.axis_2 = float(a2)
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self.axis_3 = float(a3)
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self.axis_4 = float(a4)
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self.axis_5 = float(a5)
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def getRealPosition(self):
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"""
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提取世界坐标系位置数据，封装成Real_Position对象
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:return: Real_Position对象
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"""
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real_position = Real_Position().init_position(self.world_0,self.world_1,self.world_2,self.world_3,self.world_4,self.world_5)
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return real_position
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def getAnglePosition(self):
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"""
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提取关节轴位置数据，封装成Real_Position对象
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:return: Real_Position对象
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"""
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real_position = Real_Position().init_position(self.axis_0,self.axis_1,self.axis_2,self.axis_3,self.axis_4,self.axis_5)
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return real_position
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def get_IO_bits(self):
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"""
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提取IO口状态数据，封装成IO_bits数组
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"""
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io_bits_str = format(self.output_n, '032b')[::-1] # 将output_n转换为32位二进制字符串（不足32位补0），然后反转字符串（低位对应低编号IO口）
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io_bits_arry = [bit == '1' for bit in io_bits_str] # 转换为布尔数组，标识每个IO口的通断状态
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return io_bits_arry
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def setAngle(self,a0,a1,a2,a3,a4,a5):
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pass
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def toString(self):
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model_str = f'"curMode",' \
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f'"world-0","world-1","world-2","world-3","world-4","world-5","axis-0","axis-1","axis-2","axis-3","axis-4","axis-5",' \
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f'"curAlarm","isMoving","RemoteCmdLen","toolCoord","input-n","output-n","curSpeed-n"'
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return model_str
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class DATAReply:
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def __init__(self):
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self.dsID = ''
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self.reqType = ''
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self.queryData = []
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def JsonToObject(self):
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return
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class CMDReply:
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def __init__(self):
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self.dsID = 'www.hc-system.com.RemoteMonitor'
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self.reqType = 'command'
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self.cmdData = []
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return
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class Instruction:
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def __init__(self):
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self.oneshot = 1
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self.action = 4 #4 自由路径 10 姿势直线 17 姿势曲线
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self.m0 = 0.0
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self.m1 = 0.0
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self.m2 = 0.0
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self.m3 = 0.0
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self.m0_p = 0.0
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self.m1_p = 0.0
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self.m2_p = 0.0
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self.m3_p = 0.0
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self.m4_p = 0.0
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self.m5_p = 0.0
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self.ckStatus = '0x3F'
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self.speed = 10
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self.smooth = 0
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self.tool=2
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self.IO = False
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self.type = 0
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self.io_status=1
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self.point = 0
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self.delay = 0
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def toString(self):
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if not self.IO :
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model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \
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f'"m3":"{self.m3}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \
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f'"delay":"{self.delay}","smooth":"{self.smooth}","tool":"{self.tool}"'
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if self.action == 17:
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model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \
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f'"m3":"{self.m3}","m0_p":"{self.m0_p}","m1_p":"{self.m1_p}","m2_p":"{self.m2_p}",' \
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f'"m3_p":"{self.m3_p}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \
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f'"delay":"{self.delay}","smooth":"{self.smooth}","tool":"{self.tool}"'
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else:
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model_str = f'"oneshot":"{self.oneshot}","action":"{200}","type":"{self.type}","io_status":"{self.io_status}"' \
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f',"point":"{self.point}","delay":"{self.delay}"'
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return model_str
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class CMDInstructRequest:
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def __init__(self):
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self.dsID = 'www.hc-system.com.HCRemoteCommand'
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self.reqType = "AddRCC"
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self.emptyList = '0' #清空机械臂的远程命令数据
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self.instructions = []
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def toString(self):
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model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","emptyList":"{self.emptyList}"'
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if len(self.instructions) != 0:
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model_str = model_str+',"instructions":'+"[{"+self.instructions[0].toString()+"}]"+"}"
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else:
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model_str = model_str+',"instructions":'+"[]"+"}" #model_str+"}"
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return model_str
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