195 lines
7.9 KiB
Python
195 lines
7.9 KiB
Python
#!/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 : COM_Robot.py
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# @Desc : 机械臂TCP通信、指令发送、状态查询、IO控制等核心功能
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"""
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import logging
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from enum import Enum
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from turtle import Turtle
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import Constant
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from COM_TCP import TCPClient
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import queue
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import json
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from RobotModel import DataAddress, DATARequest, DATAReply, CMDInstructRequest, Instruction
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# 视觉检测类型枚举：定义机器人视觉定位的两种模式，
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class DetectType(Enum):
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EyeOnHand = 0 # 手眼一体（相机安装在机器人末端执行器上，随机械臂移动）
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EyeOutHand = 1 # 手眼分离（相机固定安装，不随机械臂移动）
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"""
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机械臂客户端核心类：继承自TCPClient基础TCP通信类，封装机械臂专属的业务逻辑与交互接口
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核心职责：建立与机器人的TCP通信、发送控制指令、查询实时状态、控制IO口、处理紧急情况
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继承TCPClient父类，继承父类的方法
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"""
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class RobotClient(TCPClient):
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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):
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"""
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:param ip: 机器人IP地址
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:param port: 机器人端口号
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:param photo_locs: 预设拍照点位列表
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:param command_quene: 指令队列
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:param status_model: 状态模型，用于存储和更新机器人的运行模型、位置、报警等状态
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:param con_ios: 控制IO口列表
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:param time_delay_take: 抓料延时参数（抓料动作执行后的等待时间，确保抓料机构稳定抓料物料，放置脱落）
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:param time_delay_put: 放料延时参数（放料动作执行后的等待时间，确保放料机构稳定放置物料，放置脱落）
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:param time_delay_shake: 抖动延时参数（抖料动作执行后的等待时间，确保摇摆机构稳定摇摆，放置脱落）
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:param origin_position: 机器人原点坐标
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"""
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super().__init__(ip, port)
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self.command_quene = command_quene
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self.status_model = status_model
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self.errorCommands = {}
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self.photo_locs = photo_locs
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self.con_ios = con_ios
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self.time_delay_take= time_delay_take
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self.time_delay_put = time_delay_put
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self.time_delay_shake = time_delay_shake
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self.type_detection = DetectType.EyeOutHand
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self.origin_position = origin_position
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# 运动速度配置属性
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self.debug_speed = 10
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self.feed_speed = 10
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self.reset_speed = 10
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self.max_angle_interval = 0 # 最大关节角度间隔
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self.smooth = 0 # 运动光滑度参数
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self.dynamic_height = 0 # 动态高度参数
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def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行
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"""
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指令入队方法：将封装好的机械臂指令添加到指令队列，等待后续发送执行
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:param command: 待发送的机器人指令
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"""
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self.command_quene.put(command)
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logging.INFO(f'{Constant.str_sys_command}{command}')
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return
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def send_Command(self):
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"""
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从指令队列中取出指令，通过TCP连接发送到机械臂，并接收响应结果
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"""
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try:
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if self.command_quene.qsize()!=0:
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logging.INFO(f'robot-command:从队列获取命令')
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command = self.command_quene.get()
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logging.INFO(f'robot-command:{command}')
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self.client_socket.send(command.encode())
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response = self.client_socket.recv(1024).decode('utf-8')
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if response:
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logging.INFO(f'robot-command:{response},剩余:{self.command_quene.qsize()}条命令')
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else:
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logging.INFO(f'robot-command:无返回值,剩余:{self.command_quene.qsize()}条命令')
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return True
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else:
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return True
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except Exception as e:
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logging.ERROR(Constant.str_tcp_robot_connect_fail)
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raise
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def send_Status(self):
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"""
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状态查询：向机械臂发送状态查询请求，接收并解析实时状态数据，更新到status_model中
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"""
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request = DATARequest()
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dataAddr = DataAddress()
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request.queryAddr.append(dataAddr) # 将数据地址添加到查询请求中，明确查询的状态数据范围
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request_status_json = request.toString()
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try:
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self.client_socket.send(request_status_json.encode())
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response = self.client_socket.recv(1024).decode('utf-8')
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response_message = json.loads(response)
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try:
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data_status = DATAReply() # 用于封装机器人返回的状态数据
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# 将JSON解析后的字典数据赋值给响应对象的属性，完成数据封装
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data_status.__dict__ = response_message # {'cmdReply': ['AddRCC', 'ok'], 'dsID': 'www.hc-system.com.HCRemoteCommand', 'reqType': 'AddRCC'}
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data_address_array = data_status.queryData # 提取全量状态数据数组
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# 解析状态数据，更新到机械臂状态模型
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self.status_model.curMode = int(data_address_array[0])
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self.status_model.setPosition(*data_address_array[1:13])
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self.status_model.curAlarm = int(data_address_array[13])
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self.status_model.isMoving = int(data_address_array[14])
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self.status_model.RemoteCmdLen = int(data_address_array[15])
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self.status_model.toolCoord=int(data_address_array[16])
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self.status_model.input_n = int(data_address_array[19])
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self.status_model.output_n = int(data_address_array[20])
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self.status_model.curSpeed_n = int(data_address_array[21])
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except:
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if response_message.keys().__contains__('cmdReply'): # 捕获状态解析异常，判断是否为命令回复响应，若是则直接返回，不记录错误
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return
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logging.ERROR(Constant.str_tcp_robot_data_error)
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return True
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except json.JSONDecodeError as e:
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logging.WARNING(Constant.str_sys_json_error+request_status_json)
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return True
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except Exception as e:
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logging.ERROR(f'{e}{request_status_json}')
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raise
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def send_emergency_sound(self):
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"""
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紧急报警发声
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"""
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self.sendIOControl(Constant.IO_EmergencyPoint, 1)
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def send_emergency_stop(self):
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"""
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紧急停止
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"""
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self.sendIOControl(Constant.IO_EmergencyPoint, 0)
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def sendIOControl(self, IO_bit, IO_Status: int, delay=0, emptyList='0'):#
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"""
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发送IO口控制
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:param IO_bit: IO口编号（指定需要控制的物理/虚拟IO口，对应机械臂的IO配置）
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:param IO_Status: IO口目标状态（0/1）
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:param delay: 延时时间
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:param emptyList: 空指令列表
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"""
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IO_command = CMDInstructRequest()
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IO_command.emptyList = emptyList
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io_instruction = Instruction()
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io_instruction.IO = True
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io_instruction.io_status = IO_Status
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io_instruction.delay = delay
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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"}]}
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IO_command.dsID = 'HCRemoteCommand'
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IO_command.instructions.append(io_instruction)
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self.add_sendQuene(IO_command.toString())
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logging.INFO(f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
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pass
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def get_origin_position(self):
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"""
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获取机器人原点坐标
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"""
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return self.origin_position
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pass
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