精度到0.1
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b4e8bcb9c9
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e2eaf3cbe5
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@ -195,3 +195,5 @@ chmod +x start_frontend.sh
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前端默认连接 `http://localhost:5000`，如需修改，编辑 `frontend/wrench_gui.py` 中的 `api_base_url` 变量。
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@ -109,3 +109,5 @@ simulator = WrenchSimulator(
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2. **端口被占用**：修改端口号或关闭占用端口的程序
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3. **无响应**：检查网络连接和防火墙设置
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@ -0,0 +1,250 @@
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# SSH反向隧道配置指南
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## 问题分析
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错误信息 `sh: ssh -fN -R 2222:localhost:22 root@123.56.98.4: command not found` 表示：
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1. **SSH客户端未安装** - 系统找不到 `ssh` 命令
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2. 需要先安装 `openssh-client` 或 `openssh-clients`
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## 快速解决方案
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### 步骤1：安装SSH客户端
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**CentOS/RHEL系统：**
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```bash
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sudo yum install -y openssh-clients openssh-server
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```
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**Debian/Ubuntu系统：**
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```bash
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sudo apt-get update
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sudo apt-get install -y openssh-client openssh-server
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```
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**Arch Linux：**
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```bash
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sudo pacman -S openssh
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```
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### 步骤2：验证安装
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```bash
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# 检查SSH是否安装成功
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ssh -V
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# 应该显示类似：OpenSSH_8.0p1, OpenSSL 1.1.1g
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```
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### 步骤3：建立SSH反向隧道
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```bash
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# 基本命令
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ssh -fN -R 2222:localhost:22 root@123.56.98.4 -p 22
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# 参数说明：
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# -f: 后台运行
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# -N: 不执行远程命令
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# -R: 反向隧道
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# 2222: 阿里云服务器上的端口
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# localhost:22: 本地SSH端口
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# root@123.56.98.4: 阿里云服务器地址
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# -p 22: SSH端口
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```
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### 步骤4：测试连接
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在**任何能访问阿里云服务器的机器**上：
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```bash
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# 先SSH到阿里云服务器
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ssh root@123.56.98.4
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# 然后在阿里云服务器上连接内网服务器
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ssh -p 2222 root@localhost
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```
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## 使用提供的脚本（推荐）
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### 方法1：使用自动设置脚本
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```bash
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# 1. 下载并运行设置脚本
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chmod +x ssh_tunnel_setup.sh
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./ssh_tunnel_setup.sh
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# 脚本会自动：
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# - 检测并安装SSH客户端
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# - 配置SSH服务
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# - 生成SSH密钥
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# - 测试连接
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```
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### 方法2：使用自动重连脚本
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```bash
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# 1. 编辑 ssh_tunnel_auto.sh，修改配置参数
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vim ssh_tunnel_auto.sh
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# 2. 运行自动重连脚本（前台运行）
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chmod +x ssh_tunnel_auto.sh
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./ssh_tunnel_auto.sh
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# 或者后台运行
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nohup ./ssh_tunnel_auto.sh > /dev/null 2>&1 &
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```
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### 方法3：配置为系统服务（开机自启）
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```bash
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# 1. 使用root权限运行
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sudo chmod +x ssh_tunnel_service.sh
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sudo ./ssh_tunnel_service.sh
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# 2. 服务会自动：
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# - 创建systemd服务
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# - 设置开机自启
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# - 自动重连
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```
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## 常见问题排查
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### 1. SSH命令找不到
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**问题：** `command not found: ssh`
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**解决：**
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```bash
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# 检查是否安装
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which ssh
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# 如果为空，安装SSH客户端
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# CentOS/RHEL:
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sudo yum install openssh-clients
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# Ubuntu/Debian:
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sudo apt-get install openssh-client
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```
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### 2. 连接被拒绝
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**问题：** `Connection refused`
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**可能原因：**
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- 阿里云服务器防火墙未开放22端口
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- SSH服务未启动
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- 用户名或密码错误
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**解决：**
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```bash
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# 检查SSH服务状态
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sudo systemctl status sshd
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# 启动SSH服务
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sudo systemctl start sshd
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sudo systemctl enable sshd
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# 检查防火墙
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sudo firewall-cmd --list-ports # CentOS
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sudo ufw status # Ubuntu
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```
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### 3. 隧道建立后无法连接
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**问题：** 在阿里云服务器上 `ssh -p 2222 root@localhost` 失败
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**检查：**
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```bash
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# 1. 检查隧道是否建立
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ps aux | grep ssh | grep 2222
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# 2. 检查端口是否监听（在阿里云服务器上）
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netstat -tlnp | grep 2222
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# 或
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ss -tlnp | grep 2222
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# 3. 检查阿里云服务器SSH配置
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sudo vim /etc/ssh/sshd_config
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# 确保有：GatewayPorts yes
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sudo systemctl restart sshd
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```
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### 4. 连接频繁断开
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**解决：** 使用自动重连脚本，或添加保活参数：
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```bash
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ssh -fN -R 2222:localhost:22 \
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-o ServerAliveInterval=30 \
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-o ServerAliveCountMax=3 \
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root@123.56.98.4 -p 22
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```
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## 安全建议
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1. **使用SSH密钥认证**（推荐）
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```bash
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# 生成密钥对
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ssh-keygen -t rsa -b 2048
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# 复制公钥到阿里云服务器
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ssh-copy-id root@123.56.98.4
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```
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2. **修改SSH端口**（可选）
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```bash
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# 编辑 /etc/ssh/sshd_config
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sudo vim /etc/ssh/sshd_config
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# 修改：Port 2222
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# 重启服务
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sudo systemctl restart sshd
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```
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3. **禁用密码登录**（使用密钥后）
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```bash
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# 编辑 /etc/ssh/sshd_config
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PasswordAuthentication no
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# 重启服务
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sudo systemctl restart sshd
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```
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## 验证连接
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### 在阿里云服务器上验证
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```bash
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# 1. 检查端口监听
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ss -tlnp | grep 2222
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# 2. 测试连接
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ssh -p 2222 root@localhost
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# 3. 查看隧道进程
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ps aux | grep "ssh.*-R.*2222"
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```
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### 从外部访问
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```bash
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# 1. SSH到阿里云服务器
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ssh root@123.56.98.4
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# 2. 通过隧道连接内网服务器
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ssh -p 2222 root@localhost
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```
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## 文件说明
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- `ssh_tunnel_setup.sh` - 自动设置脚本（安装SSH、配置密钥等）
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- `ssh_tunnel_auto.sh` - 自动重连脚本（监控并自动重连）
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- `ssh_tunnel_service.sh` - 创建systemd服务（开机自启）
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- `SSH_TUNNEL_README.md` - 本文档
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## 下一步
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1. 运行 `ssh_tunnel_setup.sh` 完成初始设置
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2. 运行 `ssh_tunnel_auto.sh` 建立隧道
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3. 或运行 `ssh_tunnel_service.sh` 配置为系统服务
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如有问题，请检查日志或联系技术支持。
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@ -75,3 +75,5 @@ conn.close()
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print("\n" + "="*60)
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@ -26,3 +26,5 @@ else:
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conn.close()
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@ -66,3 +66,5 @@ print("\n" + "="*60)
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print("诊断完成")
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print("="*60)
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@ -111,3 +111,5 @@ def migrate_add_device_info():
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if __name__ == "__main__":
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migrate_add_device_info()
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@ -53,3 +53,5 @@ print("2. 后端服务器日志中的调试信息")
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print("3. 重启后端服务器")
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print("="*60)
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@ -1,3 +1,5 @@
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Flask==2.3.3
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flask-cors==4.0.0
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@ -8,3 +8,5 @@ cd /d %~dp0
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python app.py
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pause
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@ -6,3 +6,5 @@ echo ""
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cd "$(dirname "$0")"
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python3 app.py
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@ -40,3 +40,5 @@ def test_query():
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if __name__ == "__main__":
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test_query()
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Binary file not shown.
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@ -1,2 +1,4 @@
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requests==2.31.0
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@ -8,3 +8,5 @@ cd /d %~dp0
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python wrench_gui.py
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pause
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@ -6,3 +6,5 @@ echo ""
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cd "$(dirname "$0")"
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python3 wrench_gui.py
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@ -0,0 +1,81 @@
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#!/bin/bash
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# SSH反向隧道自动重连脚本
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# 配置参数
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REMOTE_HOST="123.56.98.4"
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REMOTE_USER="root"
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REMOTE_PORT=22
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TUNNEL_PORT=2222
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LOCAL_PORT=22
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CHECK_INTERVAL=60 # 检查间隔（秒）
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echo "=== SSH反向隧道自动重连脚本 ==="
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echo "远程服务器: ${REMOTE_USER}@${REMOTE_HOST}:${REMOTE_PORT}"
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echo "隧道端口: ${TUNNEL_PORT} -> localhost:${LOCAL_PORT}"
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echo "检查间隔: ${CHECK_INTERVAL}秒"
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echo ""
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# 检查SSH是否安装
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if ! command -v ssh &> /dev/null; then
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echo "错误: SSH客户端未安装，请先运行 ssh_tunnel_setup.sh"
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exit 1
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fi
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# 函数：建立SSH隧道
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establish_tunnel() {
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echo "[$(date '+%Y-%m-%d %H:%M:%S')] 建立SSH反向隧道..."
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# 先检查是否已有连接
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PID=$(pgrep -f "ssh.*-R.*${TUNNEL_PORT}:localhost:${LOCAL_PORT}.*${REMOTE_USER}@${REMOTE_HOST}")
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if [ ! -z "$PID" ]; then
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echo "发现已有隧道进程 (PID: $PID)，先关闭..."
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kill $PID 2>/dev/null
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sleep 2
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fi
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# 建立新连接
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ssh -fN -R ${TUNNEL_PORT}:localhost:${LOCAL_PORT} \
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-o ServerAliveInterval=30 \
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-o ServerAliveCountMax=3 \
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-o ExitOnForwardFailure=yes \
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-o StrictHostKeyChecking=no \
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-p ${REMOTE_PORT} \
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${REMOTE_USER}@${REMOTE_HOST}
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if [ $? -eq 0 ]; then
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echo "[$(date '+%Y-%m-%d %H:%M:%S')] ✓ 隧道建立成功"
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return 0
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else
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echo "[$(date '+%Y-%m-%d %H:%M:%S')] ✗ 隧道建立失败"
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return 1
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fi
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}
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# 函数：检查隧道是否存活
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check_tunnel() {
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PID=$(pgrep -f "ssh.*-R.*${TUNNEL_PORT}:localhost:${LOCAL_PORT}.*${REMOTE_USER}@${REMOTE_HOST}")
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if [ ! -z "$PID" ]; then
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# 检查进程是否真的在运行
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if ps -p $PID > /dev/null 2>&1; then
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return 0
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fi
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fi
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return 1
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}
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# 主循环
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echo "开始监控SSH隧道..."
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establish_tunnel
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while true; do
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sleep ${CHECK_INTERVAL}
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if ! check_tunnel; then
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echo "[$(date '+%Y-%m-%d %H:%M:%S')] ⚠ 检测到隧道断开，重新连接..."
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establish_tunnel
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else
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echo "[$(date '+%Y-%m-%d %H:%M:%S')] ✓ 隧道连接正常"
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fi
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done
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#!/bin/bash
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# 创建systemd服务文件，用于开机自启
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REMOTE_HOST="123.56.98.4"
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REMOTE_USER="root"
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TUNNEL_PORT=2222
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# 获取脚本所在目录
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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AUTO_SCRIPT="${SCRIPT_DIR}/ssh_tunnel_auto.sh"
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echo "=== 创建SSH隧道systemd服务 ==="
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# 检查是否以root运行
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if [ "$EUID" -ne 0 ]; then
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echo "请使用sudo运行此脚本"
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exit 1
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fi
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# 创建服务文件
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SERVICE_FILE="/etc/systemd/system/ssh-tunnel.service"
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cat > ${SERVICE_FILE} << EOF
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[Unit]
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Description=SSH Reverse Tunnel to ${REMOTE_HOST}
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After=network.target ssh.service
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Wants=network-online.target
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[Service]
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Type=simple
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User=root
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ExecStart=/bin/bash ${AUTO_SCRIPT}
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Restart=always
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RestartSec=10
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StandardOutput=journal
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StandardError=journal
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[Install]
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WantedBy=multi-user.target
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EOF
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echo "✓ 服务文件已创建: ${SERVICE_FILE}"
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# 重新加载systemd
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systemctl daemon-reload
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echo "✓ systemd配置已重新加载"
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# 启用服务
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systemctl enable ssh-tunnel.service
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echo "✓ 服务已设置为开机自启"
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# 启动服务
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read -p "是否立即启动服务？(y/n): " start_now
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if [ "$start_now" = "y" ] || [ "$start_now" = "Y" ]; then
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systemctl start ssh-tunnel.service
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echo "✓ 服务已启动"
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echo ""
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echo "查看服务状态: systemctl status ssh-tunnel"
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echo "查看服务日志: journalctl -u ssh-tunnel -f"
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fi
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echo ""
|
||||
echo "=== 服务配置完成 ==="
|
||||
echo ""
|
||||
echo "常用命令："
|
||||
echo " 启动服务: sudo systemctl start ssh-tunnel"
|
||||
echo " 停止服务: sudo systemctl stop ssh-tunnel"
|
||||
echo " 查看状态: sudo systemctl status ssh-tunnel"
|
||||
echo " 查看日志: sudo journalctl -u ssh-tunnel -f"
|
||||
echo " 禁用自启: sudo systemctl disable ssh-tunnel"
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,107 @@
|
|||
#!/bin/bash
|
||||
# SSH反向隧道设置脚本
|
||||
|
||||
echo "=== SSH反向隧道设置脚本 ==="
|
||||
|
||||
# 1. 检查SSH客户端是否安装
|
||||
echo "1. 检查SSH客户端..."
|
||||
if command -v ssh &> /dev/null; then
|
||||
echo "✓ SSH客户端已安装: $(which ssh)"
|
||||
ssh -V
|
||||
else
|
||||
echo "✗ SSH客户端未安装，开始安装..."
|
||||
|
||||
# 检测Linux发行版
|
||||
if [ -f /etc/redhat-release ]; then
|
||||
# CentOS/RHEL
|
||||
echo "检测到 CentOS/RHEL 系统"
|
||||
sudo yum install -y openssh-clients openssh-server
|
||||
elif [ -f /etc/debian_version ]; then
|
||||
# Debian/Ubuntu
|
||||
echo "检测到 Debian/Ubuntu 系统"
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y openssh-client openssh-server
|
||||
elif [ -f /etc/arch-release ]; then
|
||||
# Arch Linux
|
||||
echo "检测到 Arch Linux 系统"
|
||||
sudo pacman -S --noconfirm openssh
|
||||
else
|
||||
echo "无法自动检测系统类型，请手动安装 openssh-client"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# 验证安装
|
||||
if command -v ssh &> /dev/null; then
|
||||
echo "✓ SSH客户端安装成功"
|
||||
ssh -V
|
||||
else
|
||||
echo "✗ SSH客户端安装失败，请手动安装"
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "2. 检查SSH服务是否运行..."
|
||||
if systemctl is-active --quiet sshd || systemctl is-active --quiet ssh; then
|
||||
echo "✓ SSH服务正在运行"
|
||||
else
|
||||
echo "⚠ SSH服务未运行，启动SSH服务..."
|
||||
sudo systemctl start sshd 2>/dev/null || sudo systemctl start ssh
|
||||
sudo systemctl enable sshd 2>/dev/null || sudo systemctl enable ssh
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "3. 生成SSH密钥（如果不存在）..."
|
||||
if [ ! -f ~/.ssh/id_rsa ]; then
|
||||
echo "生成SSH密钥..."
|
||||
ssh-keygen -t rsa -b 2048 -f ~/.ssh/id_rsa -N ""
|
||||
echo "✓ SSH密钥已生成"
|
||||
else
|
||||
echo "✓ SSH密钥已存在"
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "4. 配置SSH密钥免密登录（可选）..."
|
||||
read -p "是否配置免密登录到阿里云服务器？(y/n): " setup_key
|
||||
if [ "$setup_key" = "y" ] || [ "$setup_key" = "Y" ]; then
|
||||
read -p "请输入阿里云服务器IP: " server_ip
|
||||
read -p "请输入阿里云服务器用户名（默认root）: " server_user
|
||||
server_user=${server_user:-root}
|
||||
|
||||
echo "复制SSH公钥到阿里云服务器..."
|
||||
ssh-copy-id -p 22 ${server_user}@${server_ip}
|
||||
|
||||
if [ $? -eq 0 ]; then
|
||||
echo "✓ 免密登录配置成功"
|
||||
else
|
||||
echo "⚠ 免密登录配置失败，请手动配置或使用密码登录"
|
||||
fi
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "5. 测试SSH连接..."
|
||||
read -p "请输入阿里云服务器IP（用于测试连接）: " test_ip
|
||||
read -p "请输入用户名（默认root）: " test_user
|
||||
test_user=${test_user:-root}
|
||||
|
||||
echo "测试连接到 ${test_user}@${test_ip}..."
|
||||
ssh -o ConnectTimeout=5 -p 22 ${test_user}@${test_ip} "echo '连接成功！'"
|
||||
|
||||
if [ $? -eq 0 ]; then
|
||||
echo "✓ SSH连接测试成功"
|
||||
else
|
||||
echo "✗ SSH连接测试失败，请检查："
|
||||
echo " - 网络连接是否正常"
|
||||
echo " - 阿里云服务器防火墙是否开放22端口"
|
||||
echo " - 用户名和密码是否正确"
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "=== 设置完成 ==="
|
||||
echo ""
|
||||
echo "使用方法："
|
||||
echo " 手动连接: ssh -fN -R 2222:localhost:22 root@123.56.98.4 -p 22"
|
||||
echo ""
|
||||
echo " 或者使用自动重连脚本（见下方）"
|
||||
|
||||
|
||||
|
|
@ -7,3 +7,5 @@ echo.
|
|||
python wrench_simulator.py
|
||||
pause
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -5,3 +5,5 @@ echo "========================================"
|
|||
echo ""
|
||||
python3 wrench_simulator.py
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -79,3 +79,5 @@ if __name__ == "__main__":
|
|||
print("4. 设备地址码不匹配")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -70,3 +70,5 @@ def test_simulator():
|
|||
if __name__ == "__main__":
|
||||
test_simulator()
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -316,7 +316,7 @@ class WrenchController:
|
|||
return self._send_command(bytes(data))
|
||||
|
||||
def set_torque_parameters(self,
|
||||
target_torque: int,
|
||||
target_torque: float,
|
||||
mode: int = 1,
|
||||
torque_tolerance: float = 0.10,
|
||||
target_angle: int = 0,
|
||||
|
|
@ -329,7 +329,7 @@ class WrenchController:
|
|||
controller_sn: str = None) -> bytes:
|
||||
"""
|
||||
设定扭矩参数（功能码0x10）
|
||||
:param target_torque: 目标扭矩(Nm)
|
||||
:param target_torque: 目标扭矩(Nm，支持一位小数，协议中按Nm×10编码为整数)
|
||||
:param mode: 模式 1=M1模式(扭矩模式), 2=M2模式(角度模式)
|
||||
:param torque_tolerance: 扭矩偏差百分比(仅M1模式)，如0.10表示±10%
|
||||
:param target_angle: 目标角度(度)，M1模式填0
|
||||
|
|
@ -353,13 +353,18 @@ class WrenchController:
|
|||
# 获取当前时间
|
||||
now = datetime.now()
|
||||
|
||||
# 计算扭矩上下限
|
||||
# 计算扭矩上下限（以物理量 Nm 计算，可带一位小数）
|
||||
if mode == 1: # M1模式
|
||||
torque_min = int(target_torque * (1 - torque_tolerance))
|
||||
torque_max = int(target_torque * (1 + torque_tolerance))
|
||||
torque_min_nm = target_torque * (1 - torque_tolerance)
|
||||
torque_max_nm = target_torque * (1 + torque_tolerance)
|
||||
else: # M2模式
|
||||
torque_min = int(target_torque * 0.8) # 默认下限
|
||||
torque_max = int(target_torque * 1.2) # 默认上限
|
||||
torque_min_nm = target_torque * 0.8 # 默认下限
|
||||
torque_max_nm = target_torque * 1.2 # 默认上限
|
||||
|
||||
# 协议中扭矩以 0.1Nm 精度编码：协议值 = Nm × 10
|
||||
target_torque_val = int(round(target_torque * 10))
|
||||
torque_min_val = int(round(torque_min_nm * 10))
|
||||
torque_max_val = int(round(torque_max_nm * 10))
|
||||
|
||||
# 角度需要乘10
|
||||
angle_value = target_angle * 10
|
||||
|
|
@ -401,14 +406,14 @@ class WrenchController:
|
|||
# 参数模式
|
||||
data.append(mode)
|
||||
|
||||
# 目标扭矩 (2字节)
|
||||
data.extend(struct.pack('>H', target_torque))
|
||||
# 目标扭矩 (2字节，Nm×10)
|
||||
data.extend(struct.pack('>H', target_torque_val))
|
||||
|
||||
# 扭矩下限 (2字节)
|
||||
data.extend(struct.pack('>H', torque_min))
|
||||
# 扭矩下限 (2字节，Nm×10)
|
||||
data.extend(struct.pack('>H', torque_min_val))
|
||||
|
||||
# 扭矩上限 (2字节)
|
||||
data.extend(struct.pack('>H', torque_max))
|
||||
# 扭矩上限 (2字节，Nm×10)
|
||||
data.extend(struct.pack('>H', torque_max_val))
|
||||
|
||||
# 目标角度 (2字节)
|
||||
data.extend(struct.pack('>H', angle_value))
|
||||
|
|
@ -427,8 +432,8 @@ class WrenchController:
|
|||
mode_str = "M1(扭矩模式)" if mode == 1 else "M2(角度模式)"
|
||||
print(f"\n设定扭矩参数:")
|
||||
print(f" 模式: {mode_str}")
|
||||
print(f" 目标扭矩: {target_torque} Nm")
|
||||
print(f" 扭矩范围: {torque_min}-{torque_max} Nm")
|
||||
print(f" 目标扭矩: {target_torque:.1f} Nm")
|
||||
print(f" 扭矩范围: {torque_min_nm:.1f}-{torque_max_nm:.1f} Nm")
|
||||
print(f" 目标角度: {target_angle}°")
|
||||
print(f" 角度范围: {angle_min}-{angle_max}°")
|
||||
print(f" 报文: {data.hex(' ').upper()}")
|
||||
|
|
@ -512,12 +517,17 @@ class WrenchController:
|
|||
|
||||
mode = "M1(扭矩模式)" if response[26] == 0x01 else "M2(角度模式)"
|
||||
|
||||
target_torque = struct.unpack('>H', response[27:29])[0]
|
||||
actual_torque = struct.unpack('>H', response[29:31])[0]
|
||||
# 扭矩以 0.1Nm 精度编码，需要还原为物理量
|
||||
target_torque_raw = struct.unpack('>H', response[27:29])[0]
|
||||
actual_torque_raw = struct.unpack('>H', response[29:31])[0]
|
||||
target_torque = target_torque_raw / 10.0
|
||||
actual_torque = actual_torque_raw / 10.0
|
||||
target_angle = struct.unpack('>H', response[31:33])[0] / 10
|
||||
actual_angle = struct.unpack('>H', response[33:35])[0] / 10
|
||||
torque_max = struct.unpack('>H', response[35:37])[0]
|
||||
torque_min = struct.unpack('>H', response[37:39])[0]
|
||||
torque_max_raw = struct.unpack('>H', response[35:37])[0]
|
||||
torque_min_raw = struct.unpack('>H', response[37:39])[0]
|
||||
torque_max = torque_max_raw / 10.0
|
||||
torque_min = torque_min_raw / 10.0
|
||||
angle_max = struct.unpack('>H', response[39:41])[0] / 10
|
||||
angle_min = struct.unpack('>H', response[41:43])[0] / 10
|
||||
|
||||
|
|
@ -533,7 +543,7 @@ class WrenchController:
|
|||
"actual_torque": actual_torque,
|
||||
"target_angle": target_angle,
|
||||
"actual_angle": actual_angle,
|
||||
"torque_range": f"{torque_min}-{torque_max} Nm",
|
||||
"torque_range": f"{torque_min:.1f}-{torque_max:.1f} Nm",
|
||||
"angle_range": f"{angle_min}-{angle_max}°"
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -106,9 +106,15 @@ class WrenchSimulator:
|
|||
second = data[73]
|
||||
|
||||
mode = data[74]
|
||||
target_torque = struct.unpack('>H', data[75:77])[0]
|
||||
torque_min = struct.unpack('>H', data[77:79])[0]
|
||||
torque_max = struct.unpack('>H', data[79:81])[0]
|
||||
|
||||
# 扭矩以 0.1Nm 精度编码，协议值 = Nm×10
|
||||
target_torque_raw = struct.unpack('>H', data[75:77])[0]
|
||||
torque_min_raw = struct.unpack('>H', data[77:79])[0]
|
||||
torque_max_raw = struct.unpack('>H', data[79:81])[0]
|
||||
target_torque = target_torque_raw / 10.0
|
||||
torque_min = torque_min_raw / 10.0
|
||||
torque_max = torque_max_raw / 10.0
|
||||
|
||||
target_angle = struct.unpack('>H', data[81:83])[0] / 10
|
||||
angle_max = struct.unpack('>H', data[83:85])[0] / 10
|
||||
angle_min = struct.unpack('>H', data[85:87])[0] / 10
|
||||
|
|
@ -121,7 +127,7 @@ class WrenchSimulator:
|
|||
"controller_sn": controller_sn,
|
||||
"timestamp": f"{year}-{month:02d}-{day:02d} {hour:02d}:{minute:02d}:{second:02d}",
|
||||
"mode": mode,
|
||||
"target_torque": target_torque,
|
||||
"target_torque": target_torque, # Nm，支持一位小数
|
||||
"torque_min": torque_min,
|
||||
"torque_max": torque_max,
|
||||
"target_angle": target_angle,
|
||||
|
|
@ -138,8 +144,8 @@ class WrenchSimulator:
|
|||
print(f" 控制器SN: {controller_sn}")
|
||||
print(f" 时间: {params['timestamp']}")
|
||||
print(f" 模式: {'M1(扭矩模式)' if mode == 1 else 'M2(角度模式)'}")
|
||||
print(f" 目标扭矩: {target_torque} Nm")
|
||||
print(f" 扭矩范围: {torque_min}-{torque_max} Nm")
|
||||
print(f" 目标扭矩: {target_torque:.1f} Nm")
|
||||
print(f" 扭矩范围: {torque_min:.1f}-{torque_max:.1f} Nm")
|
||||
print(f" 目标角度: {target_angle}°")
|
||||
print(f" 角度范围: {angle_min}-{angle_max}°")
|
||||
|
||||
|
|
@ -174,19 +180,34 @@ class WrenchSimulator:
|
|||
if params is None:
|
||||
params = self.current_parameters
|
||||
|
||||
# 使用当前参数或默认值
|
||||
# 使用当前参数或默认值（以物理量计算）
|
||||
employee_id = params.get("employee_id", "2222222222")
|
||||
mode = params.get("mode", 1)
|
||||
target_torque = params.get("target_torque", 300)
|
||||
torque_min = params.get("torque_min", 270)
|
||||
torque_max = params.get("torque_max", 330)
|
||||
target_angle = int(params.get("target_angle", 0) * 10)
|
||||
angle_min = int(params.get("angle_min", 1) * 10)
|
||||
angle_max = int(params.get("angle_max", 360) * 10)
|
||||
|
||||
|
||||
# 扭矩以 Nm 表示，支持一位小数
|
||||
target_torque_nm = float(params.get("target_torque", 300.0))
|
||||
torque_min_nm = float(params.get("torque_min", 270.0))
|
||||
torque_max_nm = float(params.get("torque_max", 330.0))
|
||||
|
||||
# 角度以度表示，协议中仍按×10存整数
|
||||
target_angle_deg = float(params.get("target_angle", 0.0))
|
||||
angle_min_deg = float(params.get("angle_min", 1.0))
|
||||
angle_max_deg = float(params.get("angle_max", 360.0))
|
||||
|
||||
# 模拟实际值（略高于目标值，表示成功）
|
||||
actual_torque = target_torque + 5 # 实际扭矩略高于目标
|
||||
actual_angle = int(params.get("target_angle", 45) * 10) if mode == 2 else 0
|
||||
actual_torque_nm = target_torque_nm + 0.5 # 实际扭矩略高于目标
|
||||
actual_angle_deg = float(params.get("target_angle", 45.0)) if mode == 2 else 0.0
|
||||
|
||||
# 协议编码：扭矩 Nm×10，角度 deg×10
|
||||
target_torque_val = int(round(target_torque_nm * 10))
|
||||
torque_min_val = int(round(torque_min_nm * 10))
|
||||
torque_max_val = int(round(torque_max_nm * 10))
|
||||
actual_torque_val = int(round(actual_torque_nm * 10))
|
||||
|
||||
target_angle_val = int(round(target_angle_deg * 10))
|
||||
angle_min_val = int(round(angle_min_deg * 10))
|
||||
angle_max_val = int(round(angle_max_deg * 10))
|
||||
actual_angle_val = int(round(actual_angle_deg * 10))
|
||||
|
||||
# 获取当前时间
|
||||
now = datetime.now()
|
||||
|
|
@ -219,29 +240,29 @@ class WrenchSimulator:
|
|||
# 参数模式 (1字节)
|
||||
data.append(mode)
|
||||
|
||||
# 目标扭矩 (2字节)
|
||||
data.extend(struct.pack('>H', target_torque))
|
||||
# 目标扭矩 (2字节，Nm×10)
|
||||
data.extend(struct.pack('>H', target_torque_val))
|
||||
|
||||
# 实际扭矩 (2字节)
|
||||
data.extend(struct.pack('>H', actual_torque))
|
||||
# 实际扭矩 (2字节，Nm×10)
|
||||
data.extend(struct.pack('>H', actual_torque_val))
|
||||
|
||||
# 目标角度 (2字节)
|
||||
data.extend(struct.pack('>H', target_angle))
|
||||
# 目标角度 (2字节，deg×10)
|
||||
data.extend(struct.pack('>H', target_angle_val))
|
||||
|
||||
# 实际角度 (2字节)
|
||||
data.extend(struct.pack('>H', actual_angle))
|
||||
# 实际角度 (2字节，deg×10)
|
||||
data.extend(struct.pack('>H', actual_angle_val))
|
||||
|
||||
# 扭矩上限 (2字节)
|
||||
data.extend(struct.pack('>H', torque_max))
|
||||
# 扭矩上限 (2字节，Nm×10)
|
||||
data.extend(struct.pack('>H', torque_max_val))
|
||||
|
||||
# 扭矩下限 (2字节)
|
||||
data.extend(struct.pack('>H', torque_min))
|
||||
# 扭矩下限 (2字节，Nm×10)
|
||||
data.extend(struct.pack('>H', torque_min_val))
|
||||
|
||||
# 角度上限 (2字节)
|
||||
data.extend(struct.pack('>H', angle_max))
|
||||
# 角度上限 (2字节，deg×10)
|
||||
data.extend(struct.pack('>H', angle_max_val))
|
||||
|
||||
# 角度下限 (2字节)
|
||||
data.extend(struct.pack('>H', angle_min))
|
||||
# 角度下限 (2字节，deg×10)
|
||||
data.extend(struct.pack('>H', angle_min_val))
|
||||
|
||||
# 计算并添加校验码
|
||||
checksum = self._calculate_checksum(data)
|
||||
|
|
|
|||
Loading…
Reference in New Issue