修改检测端口连接
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swayneleong
parent
114ca221ac
commit
e244d47021
@ -78,102 +78,78 @@ class dobot_nova5:
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self.feedbackData = feedbackItem() # 自定义反馈数据结构体
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self.logger = CustomLogger('Dobot_nova5')
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# try:
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# self.dashboard = DobotApiDashboard(self.ip, self.dashboardPort)
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# if not self.dashboard.connect():
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# print(f"[ERROR] 无法连接 Dashboard {self.ip}:{self.dashboardPort}")
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# self.dashboard = None
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# else:
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# print("[INFO] Dashboard 连接成功")
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# except Exception as e:
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# print(f"[ERROR] Dashboard 初始化失败: {e}")
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# self.dashboard = None
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# 尝试连接 Dashboard 控制接口（默认 29999 端口）
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try:
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self.dashboard = DobotApiDashboard(self.ip, self.dashboardPort)
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if self.dashboard.is_connected():
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print("[INFO] Dashboard 连接成功")
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else:
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print("[ERROR] Dashboard 未连接成功")
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self.dashboard = None
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except Exception as e:
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print(f"[ERROR] Dashboard 连接失败: {e}")
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self.dashboard = None
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# 尝试连接 Feedback 接口（默认 30003 端口）
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try:
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self.feedFour = DobotApiFeedBack(self.ip, self.feedFourPort)
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if self.feedFour.is_connected():
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print("[INFO] Feedback 连接成功")
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else:
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print("[ERROR] Feedback 未连接成功")
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self.feedFour = None
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except Exception as e:
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print(f"[ERROR] Feedback 连接失败: {e}")
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self.feedFour = None
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# self.dashboard = DobotApiDashboard(self.ip,self.dashboardPort)
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# self.feedFour = DobotApiFeedBack(self.ip,self.feedFourPort)
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self.stop_feedback = threading.Event()
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self.stop_feedback.clear()
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# 状态反馈线程
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self.feedback_thread = threading.Thread(
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target=self.GetFeedback # 机器状态反馈线程
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)
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self.feedback_thread.daemon = True
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self.feedback_thread.start()
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time.sleep(1)
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self.dashboard.RequestControl()
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max_retry_num = 5 #尝试连接次数
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cnt_num = 0
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while cnt_num < max_retry_num:
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if self.feedbackData.robotMode != -1:
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self.dashboard.EmergencyStop(mode=0) # 松开急停
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self.clearError() # 清除报警
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# stopId = self.dashboard.Stop()
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time.sleep(0.5)
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print("self.self.feedbackData.robotMode:",self.feedbackData.robotMode)
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if (self.feedbackData.robotMode == 3 or self.feedbackData.robotMode == 4): #and self.parseResultId(stopId)[0] == 0:
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# self.dashboard.RequestControl()
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if self.feedbackData.robotMode == 3:
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self.dashboard.PowerOn() # 复位
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# self.dashboard.Stop() # 停止
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if self.start_up(): # 启动
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self.logger.log_info(f"连接机械臂成功")
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break
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try:
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self.dashboard = DobotApiDashboard(self.ip, self.dashboardPort)
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self.feedFour = DobotApiFeedBack(self.ip, self.feedFourPort)
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if self.dashboard.is_connected() and self.feedFour.is_connected():
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print("连接成功")
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self.feedback_thread.daemon = True
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self.feedback_thread.start()
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time.sleep(1)
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self.dashboard.RequestControl()
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max_retry_num = 5 #尝试连接次数
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cnt_num = 0
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while cnt_num < max_retry_num:
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if self.feedbackData.robotMode != -1:
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self.dashboard.EmergencyStop(mode=0) # 松开急停
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self.clearError() # 清除报警
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# stopId = self.dashboard.Stop()
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time.sleep(0.5)
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print("self.self.feedbackData.robotMode:",self.feedbackData.robotMode)
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if (self.feedbackData.robotMode == 3 or self.feedbackData.robotMode == 4): #and self.parseResultId(stopId)[0] == 0:
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# self.dashboard.RequestControl()
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if self.feedbackData.robotMode == 3:
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self.dashboard.PowerOn() # 复位
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# self.dashboard.Stop() # 停止
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if self.start_up(): # 启动
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self.logger.log_info(f"连接机械臂成功")
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break
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else:
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self.logger.log_error(f"启动失败，尝试第{cnt_num+1}次连接")
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cnt_num += 1
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time.sleep(1)
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else:
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if self.feedbackData.robotMode == 9:# and self.parseResultId(stopId)[0] == -3:
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print(robot_mode_types.get(self.feedbackData.robotMode, "未知模式"))
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requests.post(
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"http://127.0.0.1:5000/on_message", data={"message": "机械臂处于锁定状态<br>请解除锁定后再使用"}
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)
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instruction = {
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"is_massaging": False,
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"massage_service_started": False
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}
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requests.post(
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"http://127.0.0.1:5000/update_massage_status", data=instruction
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)
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sys.exit(0)
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self.disableRobot()
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self.clearError() # 清除报警
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cnt_num += 1
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time.sleep(1)
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else:
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self.logger.log_error(f"启动失败，尝试第{cnt_num+1}次连接")
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self.logger.log_error(f"连接机械臂失败，尝试第{cnt_num+1}次连接")
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cnt_num += 1
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time.sleep(1)
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else:
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if self.feedbackData.robotMode == 9:# and self.parseResultId(stopId)[0] == -3:
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print(robot_mode_types.get(self.feedbackData.robotMode, "未知模式"))
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requests.post(
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"http://127.0.0.1:5000/on_message", data={"message": "机械臂处于锁定状态<br>请解除锁定后再使用"}
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)
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instruction = {
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"is_massaging": False,
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"massage_service_started": False
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}
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requests.post(
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"http://127.0.0.1:5000/update_massage_status", data=instruction
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)
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sys.exit(0)
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self.disableRobot()
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self.clearError() # 清除报警
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cnt_num += 1
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time.sleep(1)
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else:
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self.logger.log_error(f"连接机械臂失败，尝试第{cnt_num+1}次连接")
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cnt_num += 1
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time.sleep(1)
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print("[ERROR]未连接成功")
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self.dashboard = None
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self.feedFour = None
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except Exception as e:
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print(f"[ERROR] Dashboard 连接失败: {e}")
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self.dashboard = None
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self.feedFour = None
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atexit.register(self.exit_task)
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self.init_pos = [-45.0009079*np.pi/180,55.5785141*np.pi/180,-120.68821716*np.pi/180,5.11103201*np.pi/180,90.00195312*np.pi/180,-90.00085449*np.pi/180]
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