def gripper_ctrl(self, mode: str, level: int = 1):
ret = self._robot_ctrl.robot_do_command(f'robotic_gripper {mode} {level}')
if check_robot_resp_ok(ret):
return True
else:
logging.error(f'get gripper_status fail')
return False
def ir_switch(self, switch: str):
ret = self._robot_ctrl.robot_do_command(
f'ir_distance_sensor measure {switch}')
if check_robot_resp_ok(ret):
return True
else:
logging.error(f'set ir_switch = {switch} fail')
return False
def marker_push_switch(self, switch):
cmd = f'AI push marker {switch}'
ret = self._robot_ctrl.robot_do_command(cmd)
if check_robot_resp_ok(ret):
logging.info(f"cmd = {cmd}, SUCCESS")
return True
else:
logging.error(f'{cmd} failed, resp = {ret}')
return False
def marker_set(self, color, dist):
cmd = f'AI attribute marker_color {color} marker_dist {dist}'
ret = self._robot_ctrl.robot_do_command(cmd)
if check_robot_resp_ok(ret):
logging.info(f"cmd = {cmd}, SUCCESS")
return True
else:
logging.error(f'{cmd} failed, resp = {ret}')
return False
def connect_robo(self):
if self.conn:
return True
ip_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# 绑定 IP 广播端口
ip_sock.bind(('0.0.0.0', 40926))
# 等待接收机器人广播数据
data, ip_str = ip_sock.recvfrom(1024)
host = ip_str[0]
# 设置全局rb ip
global_var.robotic_ip.robotic_host = host
# 设置机器人连接地址端口
self._address = (host, int(40923))
self.conn = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
logging.info(f"connect to robot: {self._address}")
try:
self.conn.connect(self._address)
logging.info(f"connected to {self._address}")
# 开启命令模式
ret = self.robot_do_command('command')
if not check_robot_resp_ok(ret):
logging.error(f"command mode set failed!")
self.disconnect_robo()
return True
except Exception as err:
self.disconnect_robo()
logging.error(
f"connect to robotic failed! robot={self._address}, err = {err}"
)
return False