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修改检测端口连接

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swayneleong 2025-05-30 09:51:47 +08:00
parent 114ca221ac
commit e244d47021
1 changed files with 62 additions and 86 deletions
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148
Massage/MassageControl/hardware/dobot_nova5.py
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@ -78,102 +78,78 @@ class dobot_nova5:
self.feedbackData = feedbackItem() # 自定义反馈数据结构体 self.feedbackData = feedbackItem() # 自定义反馈数据结构体
self.logger = CustomLogger('Dobot_nova5') self.logger = CustomLogger('Dobot_nova5')
# try:
# self.dashboard = DobotApiDashboard(self.ip, self.dashboardPort)
# if not self.dashboard.connect():
# print(f"[ERROR] 无法连接 Dashboard {self.ip}:{self.dashboardPort}")
# self.dashboard = None
# else:
# print("[INFO] Dashboard 连接成功")
# except Exception as e:
# print(f"[ERROR] Dashboard 初始化失败: {e}")
# self.dashboard = None
# 尝试连接 Dashboard 控制接口（默认 29999 端口）
try:
self.dashboard = DobotApiDashboard(self.ip, self.dashboardPort)
if self.dashboard.is_connected():
print("[INFO] Dashboard 连接成功")
else:
print("[ERROR] Dashboard 未连接成功")
self.dashboard = None
except Exception as e:
print(f"[ERROR] Dashboard 连接失败: {e}")
self.dashboard = None
# 尝试连接 Feedback 接口（默认 30003 端口）
try:
self.feedFour = DobotApiFeedBack(self.ip, self.feedFourPort)
if self.feedFour.is_connected():
print("[INFO] Feedback 连接成功")
else:
print("[ERROR] Feedback 未连接成功")
self.feedFour = None
except Exception as e:
print(f"[ERROR] Feedback 连接失败: {e}")
self.feedFour = None
# self.dashboard = DobotApiDashboard(self.ip,self.dashboardPort)
# self.feedFour = DobotApiFeedBack(self.ip,self.feedFourPort)
self.stop_feedback = threading.Event() self.stop_feedback = threading.Event()
self.stop_feedback.clear() self.stop_feedback.clear()
# 状态反馈线程 # 状态反馈线程
self.feedback_thread = threading.Thread( self.feedback_thread = threading.Thread(
target=self.GetFeedback # 机器状态反馈线程 target=self.GetFeedback # 机器状态反馈线程
) )
self.feedback_thread.daemon = True
self.feedback_thread.start() try:
time.sleep(1) self.dashboard = DobotApiDashboard(self.ip, self.dashboardPort)
self.dashboard.RequestControl() self.feedFour = DobotApiFeedBack(self.ip, self.feedFourPort)
max_retry_num = 5 #尝试连接次数 if self.dashboard.is_connected() and self.feedFour.is_connected():
cnt_num = 0 print("连接成功")
while cnt_num < max_retry_num: self.feedback_thread.daemon = True
if self.feedbackData.robotMode != -1: self.feedback_thread.start()
self.dashboard.EmergencyStop(mode=0) # 松开急停 time.sleep(1)
self.clearError() # 清除报警 self.dashboard.RequestControl()
# stopId = self.dashboard.Stop() max_retry_num = 5 #尝试连接次数
time.sleep(0.5) cnt_num = 0
print("self.self.feedbackData.robotMode:",self.feedbackData.robotMode) while cnt_num < max_retry_num:
if (self.feedbackData.robotMode == 3 or self.feedbackData.robotMode == 4): #and self.parseResultId(stopId)[0] == 0: if self.feedbackData.robotMode != -1:
# self.dashboard.RequestControl() self.dashboard.EmergencyStop(mode=0) # 松开急停
if self.feedbackData.robotMode == 3: self.clearError() # 清除报警
self.dashboard.PowerOn() # 复位 # stopId = self.dashboard.Stop()
# self.dashboard.Stop() # 停止 time.sleep(0.5)
if self.start_up(): # 启动 print("self.self.feedbackData.robotMode:",self.feedbackData.robotMode)
self.logger.log_info(f"连接机械臂成功") if (self.feedbackData.robotMode == 3 or self.feedbackData.robotMode == 4): #and self.parseResultId(stopId)[0] == 0:
break # self.dashboard.RequestControl()
if self.feedbackData.robotMode == 3:
self.dashboard.PowerOn() # 复位
# self.dashboard.Stop() # 停止
if self.start_up(): # 启动
self.logger.log_info(f"连接机械臂成功")
break
else:
self.logger.log_error(f"启动失败，尝试第{cnt_num+1}次连接")
cnt_num += 1
time.sleep(1)
else:
if self.feedbackData.robotMode == 9:# and self.parseResultId(stopId)[0] == -3:
print(robot_mode_types.get(self.feedbackData.robotMode, "未知模式"))
requests.post(
"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"}
)
instruction = {
"is_massaging": False,
"massage_service_started": False
}
requests.post(
"http://127.0.0.1:5000/update_massage_status", data=instruction
)
sys.exit(0)
self.disableRobot()
self.clearError() # 清除报警
cnt_num += 1
time.sleep(1)
else: else:
self.logger.log_error(f"启动失败，尝试第{cnt_num+1}次连接") self.logger.log_error(f"连接机械臂失败，尝试第{cnt_num+1}次连接")
cnt_num += 1 cnt_num += 1
time.sleep(1) time.sleep(1)
else:
if self.feedbackData.robotMode == 9:# and self.parseResultId(stopId)[0] == -3:
print(robot_mode_types.get(self.feedbackData.robotMode, "未知模式"))
requests.post(
"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"}
)
instruction = {
"is_massaging": False,
"massage_service_started": False
}
requests.post(
"http://127.0.0.1:5000/update_massage_status", data=instruction
)
sys.exit(0)
self.disableRobot()
self.clearError() # 清除报警
cnt_num += 1
time.sleep(1)
else: else:
self.logger.log_error(f"连接机械臂失败，尝试第{cnt_num+1}次连接") print("[ERROR]未连接成功")
cnt_num += 1 self.dashboard = None
time.sleep(1) self.feedFour = None
except Exception as e:
print(f"[ERROR] Dashboard 连接失败: {e}")
self.dashboard = None
self.feedFour = None
atexit.register(self.exit_task) atexit.register(self.exit_task)
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] 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]