def motor_up_down(self, move='1'):
assert isinstance(move, str)
cmd = self.send_translater('UP_DOWN', 'xstart', move)
logger.error('mode send cmd' + hex2str(cmd))
self.ser.write(cmd)
self.timeout_times = 0
while self.RUNNING:
sleep(0.5)
self.ser.write(self.read_translater('up1'))
sleep(0.1)
readed = self.ser.read(7)
self.timeout_times += 1
if self.timeout_times == 20:
logger.debug("modbus recieved time out")
self.timeout_times = 0
break
if readed:
if len(readed) == 7:
result = self.return_parse('up_down_state', readed)
if result == 1:
logger.error("finished motor")
self.timeout_times = 0
break
else:
self.ser.flushInput()
def run(self):
while self.RUNNING:
readed = self.ser.read(50)
# print('readed'+readed)
if readed:
self.data_buffer = readed
logger.info('slave get buffer ' + hex2str(readed))
def run(self):
while self.RUNNING:
try:
readed = self.ser.read(21)
except Exception as e:
raise e
if readed:
self.data_buffer = readed
info = 'slave get buffer ' + " ".join("{:02x}".format(ord(c))
for c in readed)
logging.info(info)
if readed[1:2] == '\x10':
cmdline = readed[:8]
crc = struct.pack('>H', self.crc16(cmdline))
cmdline = cmdline + crc[1:] + crc[:1]
# print 'get write'," ".join("{:02x}".format(ord(c)) for c in result)
self.ser.write(cmdline)
value = readed[9:11]
# print " ".join("{:02x}".format(ord(c)) for c in value)
# value = value[1:] + value[:1]
# print " ".join("{:02x}".format(ord(c)) for c in value)
value = struct.unpack('>H', value)[0]
self._goto_direction(value)
elif readed[1:2] == '\x03':
for_invert = struct.pack('>I', self.direction)
value = for_invert[2:] + for_invert[:2]
readed = '\x01\x03\x04' + value
crc = struct.pack('>H', self.crc16(readed))
readed = readed + crc[1:] + crc[:1]
logger.info('slave write' + hex2str(readed))
self.ser.write(readed)
def test_move_mode(self):
slave = Slave()
slave.start()
mod = DyModeBusMode('x', port='com13')
mod.start(True)
time.sleep(0.1)
assert slave.data_buffer[:8] == mod.data_buffer[:8]
# cmdline = " ".join("{:02x}".format(ord(c)) for c in slave.data_buffer)
cmdline = hex2str(slave.data_buffer)
assert cmdline.upper(
) == '01 10 00 C8 00 06 0C 00 01 00 00 03 E8 00 00 00 C8 00 00 F0 58'
assert slave.data_buffer[9:11] == '\x00\x00'
mod.reversed()
assert slave.data_buffer[9:11] == '\x00\x01'
mod.start(False)
time.sleep(0.1)
assert slave.data_buffer[7:9] == '\x00\x00'
for x in range(10):
time.sleep(0.1)
gets = mod.read_pulse()
if gets:
print 'read get no.', x, gets
assert gets < 1000
assert gets > 10
slave.close()
slave.ser.close()
mod.ser.close()
def plat_motor_goto(self, station, head_dir, move):
if self._platform_state:
station = self._platform_state
# state = self._platform_state
# station = STATION_DIR[state]
# assert station in MOTOR_STATE[state]
print station, head_dir, move
cmd = self.send_translater(station, head_dir, move)
logger.info('mode send cmd' + hex2str(cmd))
self.ser.write(cmd)
def Ttest_modebusmerge_x1_runs_on_slave():
logging.basicConfig(level=logging.INFO)
slave = Slave()
slave.start()
mode = AbsModeBusModeByAxis(port='com13')
mode.plat_motor_goto("PLAT1", 'xstart', 50000)
sleep(1)
print('databuffer' + hex2str(slave.data_buffer))
mode.plat_motor_goto("PLAT1", 'xstart', 'stop')
mode.plat_motor_goto("PLAT1", 'xstart', 0)
sleep(1)
mode.plat_motor_goto("PLAT1", 'xstart', 'stop')
mode.close()
slave.close()
def run(self):
Thread(target=self._to_dist).start()
Thread(target=self.emit_sharp).start() #清晰度线程
while self.RUNNING:
try:
readed = self.ser.read(21)
except Exception as e:
raise e
if readed:
self.data_buffer = readed
info = 'slave get buffer ' + " ".join("{:02x}".format(ord(c))
for c in readed)
logging.info(info) #记录INFO级别的日志
if readed[1:2] == '\x10': #第二位为十六进制10
cmdline = readed[:8]
crc = struct.pack('>H', self.crc16(cmdline))
#对readed的前八位进行校验，并将它用字符串进行返回，根据>H打包
cmdline = cmdline + crc[1:] + crc[:1]
# print 'get write'," ".join("{:02x}".format(ord(c)) for c in result)
self.ser.write(cmdline)
value = readed[9:11]
# print " ".join("{:02x}".format(ord(c)) for c in value)
# value = value[1:] + value[:1]
# print " ".join("{:02x}".format(ord(c)) for c in value)
value = struct.unpack('>H', value)[0]
# self._goto_direction(value)
self.get_direction = value
elif readed[1:2] == '\x03':
for_invert = struct.pack('>I', self.direction)
value = for_invert[2:] + for_invert[:2]
readed = '\x01\x03\x04' + value
crc = struct.pack('>H', self.crc16(readed))
readed = readed + crc[1:] + crc[:1]
logger.info('slave write' + hex2str(readed))
self.ser.write(readed)
warning = "get direct {} {}".format(
self.direction, self.get_direction)
logger.warning(warning)
self.ser.close()
def test_send_translater():
send = SendTranslater()
sends = send('PLAT1', 'xstart', 35000)
sendsstr = " ".join("{:02x}".format(ord(c)) for c in sends)
print(sendsstr)
assert sendsstr.upper() == "01 10 00 C8 00 02 04 00 01 88 B8 C9 EB"
sends = send('PLAT2', 'xstart', 'stop')
sendsstr = " ".join("{:02x}".format(ord(c)) for c in sends)
print(sendsstr)
assert sendsstr.upper() == "02 10 00 C8 00 01 02 00 00 A2 E8"
sends = send('PLAT1', 'xstart', 'rest')
sendsstr = " ".join("{:02x}".format(ord(c)) for c in sends)
print(sendsstr)
assert sendsstr.upper() == "01 10 00 E6 00 01 02 00 02 31 97"
read = ReadTranslater()
readstr = hex2str(read('up1'))
assert readstr.upper() == "01 03 00 F0 00 01 84 39"
def plat_motor_reset(self):
cmd = self.send_translater('PLAT1', 'xstart', 'rest')
logger.info('mode send cmd' + hex2str(cmd))
self.ser.write(cmd)