-
Notifications
You must be signed in to change notification settings - Fork 63
/
Copy pathserver_400.py
497 lines (444 loc) · 14.6 KB
/
server_400.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
#!/usr/bin/env python3
# coding:utf-8
import socket
import serial
import time
import logging
import logging.handlers
import re
import fcntl
import struct
import traceback
import threading
"""
Instructions for use:
Please update pymycobot to the latest version before use.
`pip install pymycobot --upgrade`
Please change the parameters passed in the last line of the Server.py file, MercuryServer, based on your model.
"""
class ProtocolCode(object):
# BASIC
HEADER = 0xFE
FOOTER = 0xFA
# System status
ROBOT_VERSION = 0x01
SOFTWARE_VERSION = 0x02
GET_ROBOT_ID = 0x03
OVER_LIMIT_RETURN_ZERO = 0x04
SET_ROBOT_ID = 0x04
GET_ERROR_INFO = 0x07
CLEAR_ERROR_INFO = 0x08
GET_ATOM_VERSION = 0x09
SET_CW = 0x0B
GET_CW = 0x0C
CLEAR_WAIST_QUEUE = 0x0D
SetHTSGripperTorque = 0x35
GetHTSGripperTorque = 0x36
GetGripperProtectCurrent = 0x37
InitGripper = 0x38
SetGripperProtectCurrent = 0x39
# Overall status
POWER_ON = 0x10
POWER_OFF = 0x11
IS_POWER_ON = 0x12
RELEASE_ALL_SERVOS = 0x13
IS_CONTROLLER_CONNECTED = 0x14
READ_NEXT_ERROR = 0x15
SET_FRESH_MODE = 0x16
GET_FRESH_MODE = 0x17
SET_FREE_MODE = 0x1A
IS_FREE_MODE = 0x1B
COBOTX_GET_ANGLE = 0x1C
POWER_ON_ONLY = 0x1D
SET_CONTROL_MODE = 0x1E
GET_CONTROL_MODE = 0x1F
FOCUS_ALL_SERVOS = 0x18
GO_ZERO = 0x19
SET_BREAK = 0x19
# MDI MODE AND OPERATION
GET_ANGLES = 0x20
SEND_ANGLE = 0x21
SEND_ANGLES = 0x22
GET_COORDS = 0x23
SEND_COORD = 0x24
SEND_COORDS = 0x25
PAUSE = 0x26
IS_PAUSED = 0x27
RESUME = 0x28
STOP = 0x29
IS_IN_POSITION = 0x2A
IS_MOVING = 0x2B
GET_ANGLE = 0x2C
GET_COORD = 0x2D
SEND_ANGLES_AUTO = 0x2E
GET_SOLUTION_ANGLES = 0x2E
SET_SOLUTION_ANGLES = 0x2F
# JOG MODE AND OPERATION
JOG_ANGLE = 0x30
JOG_ABSOLUTE = 0x31
JOG_COORD = 0x32
JOG_INCREMENT = 0x33
JOG_STOP = 0x34
JOG_INCREMENT_COORD = 0x34
COBOTX_GET_SOLUTION_ANGLES = 0x35
COBOTX_SET_SOLUTION_ANGLES = 0x36
SET_ENCODER = 0x3A
GET_ENCODER = 0x3B
SET_ENCODERS = 0x3C
GET_ENCODERS = 0x3D
SET_ENCODERS_DRAG = 0x3E
# RUNNING STATUS AND SETTINGS
GET_SPEED = 0x40
SET_SPEED = 0x41
GET_FEED_OVERRIDE = 0x42
GET_ACCELERATION = 0x44
SET_ACCELERATION = 0x45
GET_JOINT_MIN_ANGLE = 0x4A
GET_JOINT_MAX_ANGLE = 0x4B
SET_JOINT_MIN = 0x4C
SET_JOINT_MAX = 0x4D
# SERVO CONTROL
IS_SERVO_ENABLE = 0x50
IS_ALL_SERVO_ENABLE = 0x51
SET_SERVO_DATA = 0x52
GET_SERVO_DATA = 0x53
SET_SERVO_CALIBRATION = 0x54
JOINT_BRAKE = 0x55
RELEASE_SERVO = 0x56
FOCUS_SERVO = 0x57
SET_GRIPPER_ENABLED = 0x58
GET_ZERO_POS = 0x59
IS_INIT_CALIBRATION = 0x5A
# ATOM IO
SET_PIN_MODE = 0x60
SET_DIGITAL_OUTPUT = 0x61
GET_DIGITAL_INPUT = 0x62
SET_PWM_MODE = 0x63
SET_PWM_OUTPUT = 0x64
GET_GRIPPER_VALUE = 0x65
SET_GRIPPER_STATE = 0x66
SET_GRIPPER_VALUE = 0x67
SET_GRIPPER_CALIBRATION = 0x68
IS_GRIPPER_MOVING = 0x69
SET_COLOR = 0x6A
SET_GRIPPER_TORQUE = 0x6F
IS_BTN_CLICKED = 0x6F
SET_COLOR_MYARM = 0x70
SET_ELECTRIC_GRIPPER = 0x6B
INIT_ELECTRIC_GRIPPER = 0x6C
SET_GRIPPER_MODE = 0x6D
GET_GRIPPER_MODE = 0x6E
GET_ACCEI_DATA = 0x73
SET_COLLISION_MODE = 0x74
SET_COLLISION_THRESHOLD = 0x75
GET_COLLISION_THRESHOLD = 0x76
SET_TORQUE_COMP = 0x77
GET_TORQUE_COMP = 0x78
GET_VR_MODE = 0x79
SET_VR_MODE = 0x7A
GET_MODEL_DIRECTION = 0x7C
SET_MODEL_DIRECTION = 0x7D
GET_FILTER_LEN = 0x7E
SET_FILTER_LEN = 0x7F
# Basic
SET_BASIC_OUTPUT = 0xA0
GET_BASIC_INPUT = 0xA1
GET_BASE_INPUT = 0xA2
MERCURY_ROBOT_STATUS = 0xA2
MERCURY_ERROR_COUNTS = 0xA3
MERCURY_SET_POS_OVER_SHOOT = 0xA4
MERCURY_GET_POS_OVER_SHOOT = 0xA5
SET_BASE_PWM = 0xA5
# Linux GPIO, mode: GPIO.BCM
SET_GPIO_MODE = 0xAA
SET_GPIO_UP = 0xAB
SET_GPIO_OUTPUT = 0xAC
GET_GPIO_IN = 0xAD
# set WIFI
SET_SSID_PWD = 0xB0
GET_SSID_PWD = 0xB1
TOOL_SERIAL_RESTORE = 0xB1
TOOL_SERIAL_READY = 0xB2
TOOL_SERIAL_AVAILABLE = 0xB3
TOOL_SERIAL_READ_DATA = 0xB4
TOOL_SERIAL_WRITE_DATA = 0xB5
TOOL_SERIAL_FLUSH = 0xB6
TOOL_SERIAL_PEEK = 0xB7
TOOL_SERIAL_SET_BAUD = 0xB8
TOOL_SERIAL_SET_TIME_OUT = 0xB9
SET_SERVER_PORT = 0xB2
# Get the measured distance
GET_TOF_DISTANCE = 0xC0
GET_BASIC_VERSION = 0xC1
SET_COMMUNICATE_MODE = 0xC2
GET_COMMUNICATE_MODE = 0xC3
# Coordinate transformation
SET_TOOL_REFERENCE = 0x81
GET_TOOL_REFERENCE = 0x82
SET_WORLD_REFERENCE = 0x83
GET_WORLD_REFERENCE = 0x84
SET_REFERENCE_FRAME = 0x85
GET_REFERENCE_FRAME = 0x86
SET_MOVEMENT_TYPE = 0x87
GET_MOVEMENT_TYPE = 0x88
SET_END_TYPE = 0x89
GET_END_TYPE = 0x8A
WRITE_MOVE_C = 0x8C
SOLVE_INV_KINEMATICS = 0x8D
# Impact checking
SET_JOINT_CURRENT = 0x90
GET_JOINT_CURRENT = 0x91
SET_CURRENT_STATE = 0x92
GET_POS_OVER = 0x94
CLEAR_ENCODERS_ERROR = 0x95
GET_DOWN_ENCODERS = 0x96
# planning speed
GET_PLAN_SPEED = 0xD0
GET_PLAN_ACCELERATION = 0xD1
SET_PLAN_SPEED = 0xD2
SET_PLAN_ACCELERATION = 0xD3
move_round = 0xD4
GET_ANGLES_COORDS = 0xD5
GET_QUICK_INFO = 0xD6
SET_FOUR_PIECES_ZERO = 0xD7
# Motor status read
GET_SERVO_SPEED = 0xE1
GET_SERVO_CURRENTS = 0xE2
GET_SERVO_VOLTAGES = 0xE3
GET_SERVO_STATUS = 0xE4
GET_SERVO_TEMPS = 0xE5
GET_SERVO_LASTPDI = 0xE6
SERVO_RESTORE = 0xE7
SET_VOID_COMPENSATE = 0xE7
SET_ERROR_DETECT_MODE = 0xE8
GET_ERROR_DETECT_MODE = 0xE9
MERCURY_GET_BASE_COORDS = 0xF0
MERCURY_SET_BASE_COORD = 0xF1
MERCURY_SET_BASE_COORDS = 0xF2
MERCURY_JOG_BASE_COORD = 0xF3
MERCURY_DRAG_TECH_SAVE = 0x70
MERCURY_DRAG_TECH_EXECUTE = 0x71
MERCURY_DRAG_TECH_PAUSE = 0x72
MERCURY_DRAG_TEACH_CLEAN = 0x73
GET_ROBOT_MODIFIED_VERSION = 1
GET_ROBOT_FIRMWARE_VERSION = 2
GET_ROBOT_AUXILIARY_FIRMWARE_VERSION = 3
GET_ROBOT_ATOM_MODIFIED_VERSION = 4
GET_ROBOT_TOOL_FIRMWARE_VERSION = 9
GET_ROBOT_SERIAL_NUMBER = 5
SET_ROBOT_ERROR_CHECK_STATE = 6
GET_ROBOT_ERROR_CHECK_STATE = 7
GET_ROBOT_ERROR_STATUS = 0x15
GET_ATOM_PRESS_STATUS = 0x6b
GET_ATOM_LED_COLOR = 0x6a
SET_ATOM_PIN_STATUS = 0x61
GET_ATOM_PIN_STATUS = 0x62
SET_MASTER_PIN_STATUS = 0x65
GET_MASTER_PIN_STATUS = 0x66
SET_AUXILIARY_PIN_STATUS = 0xa0
GET_AUXILIARY_PIN_STATUS = 0xa1
SET_SERVO_MOTOR_CLOCKWISE = 0x73
GET_SERVO_MOTOR_CLOCKWISE = 0Xea
SET_SERVO_MOTOR_COUNTER_CLOCKWISE = 0x74
GET_SERVO_MOTOR_COUNTER_CLOCKWISE = 0xeb
SET_SERVO_MOTOR_CONFIG = 0x52
GET_SERVO_MOTOR_CONFIG = 0x53
CLEAR_RECV_QUEUE = 0x19
GET_RECV_QUEUE_LENGTH = 0x08
GET_BASE_COORDS = 0xF0
BASE_TO_SINGLE_COORDS = 0xF1
COLLISION = 0xF2
GET_BASE_COORD = 0xF3
GET_ALL_BASE_COORDS = 0xF4
WRITE_BASE_COORD = 0xF5
WRITE_BASE_COORDS = 0xF6
JOG_INC_COORD = 0xF7
COLLISION_SWITCH = 0xF8
IS_COLLISION_ON = 0xF9
CLEAR_ROBOT_ERROR = 0x16
GET_RECV_QUEUE_SIZE = 0x17
SET_RECV_QUEUE_SIZE = 0x18
has_return = [0x02, 0x03, 0x04, 0x09, 0x10, 0x11, 0x12, 0x13, 0x1c, 0x18, 0x19, 0x20, 0x23, 0x27, 0x29, 0x2A, 0x2B, 0x35, 0x4A, 0x4B,0x4C, 0x4D,
0x50, 0x51, 0x56,0x57, 0x59,0x5A,0x62, 0x82, 0x84, 0x86, 0x88, 0x8A, 0xA1, 0xA2, 0xB2, 0xB3, 0xB4, 0xB5, 0xB7, 0xD6, 0xe1, 0xe2, 0xe4]
def get_logger(name):
logger = logging.getLogger(name)
logger.setLevel(logging.DEBUG)
LOG_FORMAT = "%(asctime)s - %(levelname)s - %(message)s"
# DATE_FORMAT = "%m/%d/%Y %H:%M:%S %p"
formatter = logging.Formatter(LOG_FORMAT)
console = logging.StreamHandler()
console.setFormatter(formatter)
save = logging.handlers.RotatingFileHandler(
"server.log", maxBytes=10485760, backupCount=1)
save.setFormatter(formatter)
logger.addHandler(save)
logger.addHandler(console)
return logger
class MercuryServer(object):
def __init__(self, host, port, serial_num="/dev/ttyAMA1", baud=115200):
"""Server class
Args:
host: server ip address.
port: server port.
serial_num: serial number of the robot.The default is /dev/ttyAMA1.
baud: baud rate of the serial port.The default is 115200.
"""
self.logger = get_logger("AS")
self.mc = None
self.serial_num = serial_num
self.baud = baud
self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.s.bind((host, port))
print("Binding succeeded!")
self.s.listen(1)
self.conn = None
self.stop = False
self.connected = False
self.mc = serial.Serial(self.serial_num, self.baud, timeout=0.1)
self.connect()
def connect(self):
while True:
try:
print("waiting connect!------------------")
self.conn, addr = self.s.accept()
# self.connected = True
while True:
try:
print("waiting data--------")
data = self.conn.recv(1024)
self.connected = True
command = []
for v in data:
command.append(v)
if command == []:
print("close disconnect!")
break
if self.mc.isOpen() == False:
self.mc.open()
else:
self.logger.info("get command: {}".format(
[hex(v) for v in command]))
# command = self.re_data_2(command)
self.write(command)
if command[3] == 0x29:
self.connected = False
if command[3] in has_return:
# res = self.read(command)
self.read_thread = threading.Thread(target=self.read, args=(command,), daemon=True)
self.read_thread.start()
except ConnectionResetError:
self.connected = False
pass
except Exception as e:
self.logger.error(traceback.format_exc())
break
except Exception as e:
self.logger.error(traceback.format_exc())
self.conn.close()
self.mc.close()
def _encode_int16(self, data):
if isinstance(data, int):
return [
ord(i) if isinstance(i, str) else i
for i in list(struct.pack(">h", data))
]
else:
res = []
for v in data:
t = self._encode_int16(v)
res.extend(t)
return res
@classmethod
def crc_check(cls, command):
crc = 0xffff
for index in range(len(command)):
crc ^= command[index]
for _ in range(8):
if crc & 1 == 1:
crc >>= 1
crc ^= 0xA001
else:
crc >>= 1
if crc > 0x7FFF:
return list(struct.pack(">H", crc))
return cls._encode_int16(_, crc)
def write(self, command):
self.mc.write(command)
self.mc.flush()
def read(self, command):
datas = b""
data_len = -1
k = 0
pre = 0
t = time.time()
wait_time = 0.1
if command[3] == 0x10:
wait_time = 8
elif command[3] in [0x11, 0x13, 0x18, 0x56, 0x57, 0x29]:
wait_time = 3
# elif command[3] in [ProtocolCode.SEND_ANGLE, ProtocolCode.SEND_ANGLES, ProtocolCode.SEND_COORD, ProtocolCode.SEND_COORDS, ProtocolCode.JOG_INCREMENT, ProtocolCode.JOG_INCREMENT_COORD, ProtocolCode.COBOTX_SET_SOLUTION_ANGLES]:
# wait_time = 300
while True and time.time() - t < wait_time and self.connected:
if self.mc.inWaiting() > 0:
data = self.mc.read()
# print("read data: ", data)
# if data != b"":
# print(data, datas)
k += 1
if data_len == 3:
datas += data
crc = self.mc.read(2)
if self.crc_check(datas) == [v for v in crc]:
datas+=crc
break
if data_len == 1 and data == b"\xfa":
datas += data
# if [i for i in datas] == command:
# datas = b''
# data_len = -1
# k = 0
# pre = 0
# continue
break
elif len(datas) == 2:
data_len = struct.unpack("b", data)[0]
datas += data
elif len(datas) > 2 and data_len > 0:
datas += data
data_len -= 1
# if len(datas) == 4:
# if datas[-1] != command[3]:
# datas = b''
# data_len = -1
# k = 0
# pre = 0
# continue
elif data == b"\xfe":
if datas == b"":
datas += data
pre = k
else:
if k - 1 == pre:
datas += data
else:
datas = b"\xfe"
pre = k
if self.conn is not None:
self.logger.info("return datas: {}".format([hex(v) for v in datas]))
self.conn.sendall(datas)
datas = b''
return datas
def re_data_2(self, command):
r2 = re.compile(r'[[](.*?)[]]')
data_str = re.findall(r2, command)[0]
data_list = data_str.split(",")
data_list = [int(i) for i in data_list]
return data_list
if __name__ == "__main__":
ifname = "wlan0"
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
HOST = socket.inet_ntoa(fcntl.ioctl(s.fileno(), 0x8915, struct.pack(
'256s', bytes(ifname, encoding="utf8")))[20:24])
PORT = 9000
print("ip: {} port: {}".format(HOST, PORT))
MercuryServer(HOST, PORT, "/dev/ttyAMA1", 115200)