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krcrpc.py
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krcrpc.py
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import threading
import logging
import traceback
import socket
import time
import json
import re
from queue import Queue
class KRCRPC(threading.Thread):
def __init__(self, krc_rpc_config):
print("krcrpc.py")
# Наследование потока
threading.Thread.__init__(self, args=(), name=krc_rpc_config['hostname'], kwargs=None)
# Hostname компа с OfficeLite
self.krc_hostname = krc_rpc_config['hostname']
# Порт OfficeLite
self.krc_port = krc_rpc_config['port']
# Аутентификация по ключу
self.krc_authkey = krc_rpc_config['authkey']
# Время переподключения
self.reconnect_timeout = krc_rpc_config['reconnect_timeout']
# Время обновления
self.refresh_time = krc_rpc_config['refresh_time']
self.inputs_queue = krc_rpc_config['inputs_queue']
self.outputs_queue = krc_rpc_config['outputs_queue']
self.axis_act_queue = Queue()
self.axis_act_queue.put([0 ** 8])
# объект логинга
self.logger = logging.getLogger("_krcrpc_")
# Статус подключения к KRC RPC
self.connection_ok = False
# Время, в течении которого KRC RPC был недоступен
self.unreachable_time = 0
def run(self):
self.logger.info(f"Connection with KRC RPC {self.krc_hostname} started")
cur_thread = threading.current_thread()
# Основной цикл
do_run = getattr(cur_thread, "do_run", True)
if not do_run:
self.socketclient.close()
self.connection_ok = False
while do_run:
try:
if self.unreachable_time == 0 or (time.time() - self.unreachable_time) > self.reconnect_timeout:
if not self.connection_ok:
# Подключение к KRC RPC ...
try:
# self.connection_ok = False
self.logger.info(f"Подключение к KRC RPC {self.krc_hostname}...")
# Сокет для связи с KRC RPC
self.socketclient = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.socketclient.connect((self.krc_hostname, self.krc_port))
self.connection_ok = True
self.unreachable_time = 0
self.logger.info(f"Соединение открыто {self.krc_hostname}")
# Authentication
message = ("{'method':'auth','params':['" + self.krc_authkey + "'],'id':1}\n").encode()
self.socketclient.send(message)
self.logger.info(f"Auth {self.socketclient.recv(1024)}")
# Robot name
message = "{'method':'Var_ShowVar','params':['$TRAFONAME[]'],'id':2}\n".encode()
self.socketclient.send(message)
self.logger.info(f"Robot name: {self.socketclient.recv(1024)}")
except Exception as error:
self.logger.error(f"Не удалось подключиться к KRC RPC: {self.krc_hostname}\n"
f"Ошибка {str(error)} {traceback.format_exc()}")
self.connection_ok = False
self.unreachable_time = time.time()
else:
self.process_krc_rpc()
except Exception as error:
self.logger.error(f"Не удалось обработать цикл класса KRCRPC\n"
f"Ошибка {str(error)} {traceback.format_exc()}")
self.socketclient.close()
self.connection_ok = False
time.sleep(self.refresh_time)
# Communication with KRC RPC (OfficeLite)
def process_krc_rpc(self):
try:
# ----------------------------------------------------------
# VARIABLES between PLC SIM and OfficeLite
# ----------------------------------------------------------
# Чтение kuka_outputs
kuka_outputs = self.outputs_queue.queue[0]['kuka_outputs']
# Чтение inputs
kuka_inputs = self.inputs_queue.queue[0]['kuka_inputs']
rdk_inputs = self.inputs_queue.queue[0]['rdk_inputs']
# Write values from DB and write to OfficeLite
for output_signal in kuka_outputs:
self.setVar(output_signal)
# self.logger.info(f"OL <-- DB {self.setVar(output_signal)=}...")
# Read values from OfficeLite and write to DB
for input_signal in kuka_inputs:
input_signal.value = self.getVar(input_signal)
# self.logger.info(f"OL --> DB {input_signal.value=}...")
self.inputs_queue.queue[0] = dict(kuka_inputs=kuka_inputs, rdk_inputs=rdk_inputs)
# ----------------------------------------------------------
# MOTION VISUALIZATION VIA $AXIS_ACT
# ----------------------------------------------------------
# response from socket client (bytes)
message = "{'method':'Var_ShowVar','params':['$AXIS_ACT'],'id':3}\n".encode()
self.socketclient.send(message)
response_bytes = self.socketclient.recv(1024)
# RESPONSE PARSING
# convert bytes to str
response_str = response_bytes.decode('UTF-8')
# convert str to json
response_json = json.loads(response_str)
# split only axis value by <:>
raw_axis_act = re.split(': A1 |, A\d |, E\d ', response_json['result'])
# cut and convert string to float
rob_axis_act = [float(axis) for axis in raw_axis_act[1:9]]
# Запись rob_axis_act в очередь
self.axis_act_queue.queue[0] = rob_axis_act
# self.logger.info(f"Robot axis: {rob_axis_act=}...")
except Exception as error:
self.logger.error(f"Не удалось получить данные из KRC RPC\n"
f"Ошибка {str(error)} {traceback.format_exc()}")
self.socketclient.close()
self.connection_ok = False
# self.unreachable_time = time.time()
def sendMessage(self, message, tag):
try:
self.socketclient.send(message)
response_bytes = self.socketclient.recv(1024)
if "Error HRESULT E_FAIL has been returned from a call to a COM component." in str(response_bytes):
self.logger.info(f'krcrpc.py: Error with {tag.name=}')
return response_bytes
else:
return response_bytes
except Exception as error:
self.logger.error(f"Не удалось обработать сообщение в KRC RPC\n"
f"Ошибка {str(error)} {traceback.format_exc()}")
def setVar(self, tag):
message = ("{'method':'Var_SetVar','params':['" + tag.name + "','" + str(tag.value) + "'],'id':3}\n").encode()
response_bytes = self.sendMessage(message,tag)
# self.logger.info(f'sendMessage: {response_bytes=}')
def getVar(self, tag):
message = ("{'method':'Var_ShowVar','params':['" + tag.name + "'],'id':3}\n").encode()
response_bytes = self.sendMessage(message,tag)
# self.logger.info(f'sendMessage: {response_bytes=}')
# RESPONSE PARSING
# convert bytes to str
if response_bytes:
response_str = response_bytes.decode('UTF-8')
# convert str to json
response_json = json.loads(response_str)
# split only axis value by <:>
if 'result' in response_json.keys():
var_value = response_json['result']
if tag.value_type == 'Bool':
if var_value == 'FALSE':
tag.value = False
if var_value == 'TRUE':
tag.value = True
elif tag.value_type == 'Real':
tag.value = float(var_value)
elif "Int" in tag.value_type:
tag.value = int(var_value)
else:
# Read as string (Char, String)
tag.value = var_value.strip('"')
return tag.value