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228 lines
5.7 KiB
228 lines
5.7 KiB
#!/usr/bin/env python
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# -*- coding: utf_8 -*-
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import struct
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import modbus_tk.defines as cst
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from plc.tools import bytes_to_int_list, get_bit_bool, int_list_to_bytes
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from plc.modbus import ModbusConnection
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from conf.setting import AGVPLC
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from models.path import Path
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import time
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'''
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智能柜地址定义
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'''
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ADDR_DRAWER = 6051
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ADDR_CABINET = 6052
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ADDR_OPEN_DRAWER = 6053
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ADDR_CLOSE_DRAWER = 6054
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class Cabinet:
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'''
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智能柜配置
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'''
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HOST = '192.168.193.211'
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PORT = 6000
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class Worktop:
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'''
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操作台配置
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'''
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HOST = '192.168.193.212'
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PORT = 502
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class AmrDrug:
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'''
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药剂AMR配置PLC
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'''
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HOST = '192.168.193.202'
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PORT = 502
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class AmrInstrument:
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'''
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仪器AMR配置PLC
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'''
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HOST = '192.168.193.203'
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PORT = 502
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"""
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操作台地址定义
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"""
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class WorktopAddr:
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ADDR_POWER_ONE = 6080
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ADDR_POWER_TWO = 6081
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ADDR_TRANSFER_TRAY = 6082
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ADDR_POWER_ONE_STATUS = 6083
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ADDR_POWER_TWO_STATUS = 6084
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ADDR_TANSFER_TRAY_STATUS = 6085
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ADDR_WORKTOP_ERR = 6086
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TASK_ADDR_BEGIN = 6080 # 发送任务的起始未知
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STATUS_ADDR_BEGIN = 6083 # 状态的起始状态
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STATUS_ADDR_LENGTH = 4
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class AmrAddr:
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# 起始地址
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TASK_ADDR_BEGIN = 6001
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# 门状态
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CABIENT_STATUS_ADDR_BEGIN = 6061
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# 抓试剂点位的起始地址
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GRAB_ADDR_BEGIN = 7000
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# 抓取校验点的起始地址
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GRAB_MARK_ADDR_BEGIN = 7600
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# 放试剂点位的起始地址
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DEPOSIT_ADDR_BEGIN= 9000
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# 松抓校验点的起始地址
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DEPOSIT_MARK_ADDR_BEGIN= 7900
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# 状态起始地址及长度
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STATUS_ADDR_BEGIN = 6100
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STATUS_ADDR_LENGTH = 42
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# 取货起始地址及长度
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LOAD_LOCATION_BEGIN = 7000
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LOAD_LOCATION_COUNT = 25
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# 卸货起始地址及长度
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UNLOAD_LOCATION_BEGIN = 7300
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UNLOAD_LOCATION_COUNT = 25
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TASK_STATUS = 6100 # 状态显示1
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AMR_STATUS = 6101 # 状态显示2
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INSTRUMENT_STATUS_1 = 6102 # 状态显示3
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D6103 = 6103
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D6104 = 6104
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INSTRUMENT_STATUS_2 = 6105
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D6105 = 6105
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D6106 = 6106
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D6107 = 6107
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D6108 = 6108
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D6109 = 6109
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INSTRUMENT_CAM_HIGH = 6110
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CUR_LOAD_LAYER_COMPLETE_NUM = 6112 # 当前层已取试剂数量
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CUR_LOAD_LAYER_COMPLETE = 6113 # 当前层试剂已取完
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CUR_LOAD_LAYER_ID = 6114 # 当前在取层数
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LOAD_NUMBER = 6115 # 合计一共已取试剂数量
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D6116 = 6116
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D6117 = 6117
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D6118 = 6118
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D6119 = 6119
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ROBOT_CUR_NAV_LOCATION = 6120 # 机器人当前导航站点
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ROBOT_LOCATING_STATUS = 6121 # 机器人定位状态
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ROBOT_CUR_NAV_STATUS = 6122 # 机器人当前导航状态
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ROBOT_CUR_NAV_TYPE = 6123 # 机器人当前导航类型
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ROBOT_CONFIDENCE_LEVEL = 6124 # 机器人定位置信度
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BATTERY_STATUS = 6126 # 电池电量
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BATTERY_TEM = 6128 # 电池温度
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BATTERY_VOLTAGE = 6130 # 电池电压
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ROBOT_CUR_LOCATION = 6132 # 机器人当前所在站点
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ROBOT_PRE_LOCATION = 6133 # 机器人上一个所在站点
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ROBOT_NXT_LOCATION = 6134 # 机器人下一个要经过的站点
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BLOCK_REASON = 6135 # 被阻挡的原因
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DECELERATION_REASON = 6136 # 机器人减速原因
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ROBOT_CUR_STATUS = 6137 # 状态指示
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def get_worktop_status():
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"""
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获取操作台状态[0,0,88,0]
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"""
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with ModbusConnection(
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Worktop.HOST,
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Worktop.PORT
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) as master:
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worktop_list = master.execute(
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1,
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cst.READ_HOLDING_REGISTERS,
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WorktopAddr.STATUS_ADDR_BEGIN,
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WorktopAddr.STATUS_ADDR_LENGTH,
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)
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print('获取旋转托盘状态：：：',worktop_list)
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# return parser_worktop_status(worktop_list)
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def get_drawer_status():
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'''
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解析抽屉状态
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'''
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with ModbusConnection(
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Cabinet.HOST,
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Cabinet.PORT
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) as master:
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drawer_short_list = master.execute(
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1, cst.READ_HOLDING_REGISTERS, ADDR_DRAWER, 1)
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print('get_drawer_status:::', drawer_short_list)
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# return parser_drawer_status(drawer_short_list[0])
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def get_cabinet_task_status():
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'''
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解析任务状态
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'''
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with ModbusConnection(
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Cabinet.HOST,
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Cabinet.PORT
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) as master:
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task_status_data_list = master.execute(
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1, cst.READ_HOLDING_REGISTERS, ADDR_CABINET, 1)
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print('get_cabinet_task_status:::', task_status_data_list)
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# return parser_task_status(task_status_data_list[0])
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def get_instrument_amr_status():
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'''
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获取试剂amr 并解析AMR状态
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'''
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try:
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with ModbusConnection(
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AmrInstrument.HOST,
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AmrInstrument.PORT
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) as master:
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drawer_short_list = master.execute(
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1,
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cst.READ_HOLDING_REGISTERS,
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AmrAddr.STATUS_ADDR_BEGIN,
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AmrAddr.STATUS_ADDR_LENGTH
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)
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print('get_instrument_amr_status::',drawer_short_list)
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# return parser_ams_status(int_list_to_bytes(drawer_short_list))
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except Exception as e :
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# amr_status = AmrStatus()
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# return amr_status
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print("get_instrument_amr_status Exception: ", e)
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def get_drug_amr_status():
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'''
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获取试剂amr 并解析AMR状态
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'''
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with ModbusConnection(
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AmrDrug.HOST,
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AmrDrug.PORT
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) as master:
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drawer_short_list = master.execute(
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1,
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cst.READ_HOLDING_REGISTERS,
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AmrAddr.STATUS_ADDR_BEGIN,
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AmrAddr.STATUS_ADDR_LENGTH
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)
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print('get_drug_amr_status::',drawer_short_list)
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# return parser_ams_status(int_list_to_bytes(drawer_short_list))
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get_worktop_status()
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get_drawer_status()
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get_cabinet_task_status()
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get_instrument_amr_status()
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get_drug_amr_status() |