python實(shí)現(xiàn)CS機(jī)器人30001端口數(shù)據(jù)解析
1.簡(jiǎn)介
30001 端口可用于獲取機(jī)器人的各種狀態(tài)及數(shù)據(jù)，CS機(jī)器人會(huì)以 10HZ 的頻率向 30001 端口 發(fā)送機(jī)器人的狀態(tài)數(shù)據(jù)，本文解析”機(jī)器人是否上電“和“機(jī)器人當(dāng)前實(shí)際關(guān)節(jié)角度”為例說(shuō)明如何解析30001端口返回的數(shù)據(jù)。
2.操作流程
為了更容易理解，以下先通過(guò)網(wǎng)絡(luò)調(diào)試助手，手動(dòng)解析說(shuō)明后再通過(guò)python實(shí)現(xiàn)自動(dòng)解析，詳細(xì)報(bào)文請(qǐng)參考”機(jī)器人狀態(tài)報(bào)文表“(“機(jī)器人狀態(tài)報(bào)文表“聯(lián)系艾利特技術(shù)人員獲取)
2.1 通過(guò)調(diào)試軟件手動(dòng)解析
1.通過(guò)網(wǎng)絡(luò)調(diào)試助手連接CS機(jī)器人30001端口后，機(jī)器人會(huì)以 10HZ 的頻率向 30001 端口 發(fā)送數(shù)據(jù)，如圖2-1-1所示：為機(jī)器人FB1網(wǎng)口IP，以16進(jìn)制格式接收。
圖2-1-1
2.1.1 整個(gè)機(jī)器人狀態(tài)報(bào)文截取
1.通過(guò)”機(jī)器人狀態(tài)報(bào)文表”得知機(jī)器人狀態(tài)數(shù)據(jù)總共有1157位字節(jié)(5+53+347+101+445+88+10+37+43+28=1157)，其中報(bào)文頭：前面4位字節(jié)為報(bào)文長(zhǎng)度，第5位字節(jié)為報(bào)文類型=16。
圖2-1-2
2.首先我們需要找到報(bào)文頭，因?yàn)檎{(diào)試助手是以十六進(jìn)制接收機(jī)器人返回的數(shù)據(jù)，”機(jī)器人狀態(tài)報(bào)文表”中的報(bào)文的長(zhǎng)度和報(bào)文類型(16)數(shù)據(jù)為十進(jìn)制，所以首先把整個(gè)報(bào)文長(zhǎng)度(1157)和報(bào)文類型=(16)轉(zhuǎn)換為16進(jìn)制，方便尋找報(bào)文頭，十進(jìn)制1157轉(zhuǎn)換成十六進(jìn)制為 ”485“ 又因?yàn)閳?bào)文頭在數(shù)據(jù)中占四個(gè)字節(jié)所以整個(gè)報(bào)文頭長(zhǎng)度為”00 00 04 85“，十進(jìn)制16轉(zhuǎn)換成十六進(jìn)制為“10”，如圖2-1-3：
圖2-1-3
3.通過(guò)上面的報(bào)文頭數(shù)據(jù)轉(zhuǎn)換后我們?cè)跈C(jī)器人返回的數(shù)據(jù)中找到整個(gè)報(bào)文頭長(zhǎng)度為”00 00 04 85“和報(bào)文類型”10“，從報(bào)文頭”00 00 04 85 10“的第1位往后截取到1157位就是整個(gè)機(jī)器人狀態(tài)的報(bào)文，如圖2-1-4所示：
機(jī)器人返回的數(shù)據(jù)：# RECV HEX
00 00 00 0B C8 00 00 00 00 00 00 00 00 00 04 85 10 00 00 00 35 00 00 00 00 00 0B 76 45 E1 01 01 00 00 00 00 00 03 00 3F F0 00 00 00 00 00 00 3F F0 00 00 00 00 00 00 3F F0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 5B 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 3F F9 21 FB 54 52 45 50 3F F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ......到1157位字節(jié)為整個(gè)機(jī)器人狀態(tài)的報(bào)文
圖2-1-4
2.1.2 機(jī)器人模式解析
1.當(dāng)我們需要解析機(jī)器人的某一種狀態(tài)時(shí),首先需要找到這個(gè)狀態(tài)的子報(bào)文頭即可，例如通過(guò)”機(jī)器人狀態(tài)報(bào)文表”得知”機(jī)器人模式”子報(bào)文長(zhǎng)度為53且占4個(gè)字節(jié)如圖2-1-5所示，所以轉(zhuǎn)換成十六進(jìn)制為“00 00 00 35”。
圖2-1-5
2. 首先需要找到機(jī)器人模式子報(bào)文長(zhǎng)度“00 00 00 35”和子報(bào)文類型”00“，然后從報(bào)文頭“00 00 00 35 00“第1位字節(jié)截取到53位字節(jié)為機(jī)器人模式數(shù)據(jù)的報(bào)文如圖2-1-6所示(紅到紫)：
機(jī)器人返回的數(shù)據(jù)：# RECV HEX
00 00 00 0B C8 00 00 00 00 00 00 00 00 00 04 85 10 00 00 00 35 00 00 00 00 00 0B 76 45 E1 01 01 01 00 00 00 00 03 00 3F F0 00 00 00 00 00 00 3F F0 00 00 00 00 00 00 3F F0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 5B 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 3F F9 21 FB 54 52 45 50 3F F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
圖2-1-6
3. 比如想知道機(jī)器人是否上電，通過(guò)”機(jī)器人狀態(tài)報(bào)文表”得知”機(jī)器人是否上電”在機(jī)器人模式數(shù)據(jù)報(bào)文中的第16位字節(jié)占一個(gè)字節(jié)如圖2-1-7所示，所以“機(jī)器人模式報(bào)文”中的第16位為1時(shí)機(jī)器人上電，為0時(shí)機(jī)器人下電，如圖2-1-8所示“機(jī)器人模式報(bào)文”中的第16位為01機(jī)器人已經(jīng)上電。
圖2-1-7
機(jī)器人返回的數(shù)據(jù)：# RECV HEX
00 00 00 0B C8 00 00 00 00 00 00 00 00 00 04 85 10 00 00 00 35 00 00 00 00 00 0B 76 45 E1 01 01 01 00 00 00 00 03 00 3F F0 00 00 00 00 00 00 3F F0 00 00 00 00 00 00 3F F0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 5B 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 3F F9 21 FB 54 52 45 50 3F F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 EF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
圖2-1-8
2.1.3 關(guān)節(jié)數(shù)據(jù)解析
1.當(dāng)需要解析機(jī)器人實(shí)際關(guān)節(jié)角度時(shí)，一樣的方法首先需要找到關(guān)節(jié)數(shù)據(jù)的子報(bào)文頭，通過(guò)”機(jī)器人狀態(tài)報(bào)文表”得知”關(guān)節(jié)數(shù)據(jù)”子報(bào)文長(zhǎng)度為347字節(jié)且占前面4個(gè)字節(jié),子報(bào)文類型為1占第4個(gè)字節(jié)，如圖2-1-9所示，所以轉(zhuǎn)換成十六進(jìn)制分別為“00 00 01 5B”,”01“。
圖2-1-9
2.首先需要找到關(guān)節(jié)數(shù)據(jù)子報(bào)文長(zhǎng)度“00 00 01 5B”和子報(bào)文類型”01“，然后從報(bào)文頭“00 00 01 5B 01“第1位字節(jié)截取到347位字節(jié)為機(jī)器人模式數(shù)據(jù)的報(bào)文如圖2-1-10所示(紅到紫)
機(jī)器人返回的數(shù)據(jù)：# RECV HEX
00 3F F0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 5B 01 BF B7 91 B4 46 08 38 A1 BF B7 91 B4 46 08 38 A1 BE B9 A1 C1 77 44 F2 AF FF FF B0 37 FF FF B0 37 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00 BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00BF F9 0E 79 07 CC 04 57 BF F9 0E 79 07 CC 04 57 00 00 00 00 00 00 00 00 00 04 6C CE 00 04 6C CE 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 80 00 00 00 FD 00 00 00 00 BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00 3F F9 21 FB 54 52 45 50 3F F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00 00 00 00 65 04 3F DE 32 18 79 45 90 86 BF C8 89 3E F4 BA 52 96 3F DF F
圖2-1-10
3.由圖2-1-9可知關(guān)節(jié)數(shù)據(jù)中的347字節(jié)中前面五個(gè)字節(jié)為子報(bào)文頭,報(bào)文頭后面分別為六個(gè)關(guān)節(jié)的數(shù)據(jù)每個(gè)關(guān)節(jié)數(shù)據(jù)有57個(gè)字節(jié)：子報(bào)文頭(5)+關(guān)節(jié)1數(shù)據(jù)(57)+關(guān)節(jié)2數(shù)據(jù)(57)+關(guān)節(jié)3數(shù)據(jù)(57)+關(guān)節(jié)4數(shù)據(jù)(57)+關(guān)節(jié)5數(shù)據(jù)(57)+關(guān)節(jié)6數(shù)據(jù)=關(guān)節(jié)數(shù)據(jù)(347)，為了便于解析每個(gè)關(guān)節(jié)的數(shù)據(jù)以顏色區(qū)分如圖2-1-11所示：
機(jī)器人返回的數(shù)據(jù)：# RECV HEX
00 3F F0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 5B 01 關(guān)節(jié)1數(shù)據(jù): BF B7 91 B4 46 08 38 A1 BF B7 91 B4 46 08 38 A1 BE B9 A1 C1 77 44 F2 AF FF FF B0 37 FF FF B0 37 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00 關(guān)節(jié)2數(shù)據(jù): BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00 關(guān)節(jié)3數(shù)據(jù): BF F9 0E 79 07 CC 04 57 BF F9 0E 79 07 CC 04 57 00 00 00 00 00 00 00 00 00 04 6C CE 00 04 6C CE 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 80 00 00 00 FD 00 00 00 00 關(guān)節(jié)4數(shù)據(jù): BF F9 21 FB 54 52 45 50 BF F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00 關(guān)節(jié)5數(shù)據(jù): 3F F9 21 FB 54 52 45 50 3F F9 21 FB 54 52 45 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00 關(guān)節(jié)6數(shù)據(jù): 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 41 F0 00 00 00 00 00 00 FD 00 00 00 00 00 00 00 65 04 3F DE 32 18 79 45 90 86 BF
圖2-1-11
4.通過(guò)”機(jī)器人狀態(tài)報(bào)文表”得知，如圖2-1-12得知每個(gè)關(guān)節(jié)的實(shí)際關(guān)節(jié)角度數(shù)據(jù)在每個(gè)關(guān)節(jié)數(shù)據(jù)的前8個(gè)字節(jié)，所以：關(guān)節(jié)1的實(shí)際關(guān)節(jié)角度為:”BF B7 91 B4 46 08 38 A1“，關(guān)節(jié)2的實(shí)際關(guān)節(jié)角度為:”BF F9 21 FB 54 52 45 50“，關(guān)節(jié)3的實(shí)際關(guān)節(jié)角度為:”BF F9 0E 79 07 CC 04 57“，關(guān)節(jié)4的實(shí)際關(guān)節(jié)角度為:"BF F9 21 FB 54 52 45 50",關(guān)節(jié)5的實(shí)際關(guān)節(jié)角度為:”3F F9 21 FB 54 52 45 50“，關(guān)節(jié)6的實(shí)際關(guān)節(jié)角度為:”00 00 00 00 00 00 00 00“，
圖2-1-12
5.由于網(wǎng)絡(luò)調(diào)試助手是以16進(jìn)制接收機(jī)器人返回的數(shù)據(jù)，所以需要把16進(jìn)制轉(zhuǎn)換成浮點(diǎn)數(shù)(8個(gè)字節(jié)為雙精度浮點(diǎn)數(shù))，可以在網(wǎng)上下載”浮點(diǎn)數(shù)十六進(jìn)制轉(zhuǎn)換器“對(duì)數(shù)據(jù)進(jìn)行轉(zhuǎn)換，下面以關(guān)節(jié)1的實(shí)際關(guān)節(jié)角度:”BF B7 91 B4 46 08 38 A1“為例對(duì)數(shù)據(jù)進(jìn)行轉(zhuǎn)換，得到的數(shù)據(jù)正確，說(shuō)明解析關(guān)節(jié)1實(shí)際關(guān)節(jié)角度正確，如圖2-1-13所示：
圖2-1-13
6. 通過(guò)”浮點(diǎn)數(shù)十六進(jìn)制轉(zhuǎn)換器“對(duì)每個(gè)關(guān)節(jié)實(shí)際角度數(shù)據(jù)依次進(jìn)行轉(zhuǎn)換得：
關(guān)節(jié)1實(shí)際關(guān)節(jié)角度：BF B7 91 B4 46 08 38 A1 = -0.0920670195557
關(guān)節(jié)2實(shí)際關(guān)節(jié)角度：BF F9 21 FB 54 52 45 50 = -1.5707963270000
關(guān)節(jié)3實(shí)際關(guān)節(jié)角度：BF F9 0E 79 07 CC 04 57 = -1.5660333923882
關(guān)節(jié)4實(shí)際關(guān)節(jié)角度：BF F9 21 FB 54 52 45 50 = -1.5707963270000
關(guān)節(jié)5實(shí)際關(guān)節(jié)角度：3F F9 21 FB 54 52 45 50 = 1.5707963270146
關(guān)節(jié)6實(shí)際關(guān)節(jié)角度：00 00 00 00 00 00 00 00 = 0.00
四舍五入保留兩位小數(shù)后與機(jī)器人示教器上顯示的數(shù)據(jù)一樣說(shuō)明解析正確，如圖2-1-14，單位(弧度)。
圖2-1-14
2.2 通過(guò)python自動(dòng)解析
通過(guò)以上手動(dòng)解析的方法對(duì)機(jī)器人狀態(tài)報(bào)文以及數(shù)據(jù)格式基本了解后下面通過(guò)python對(duì)30001端口數(shù)據(jù)進(jìn)行解析，還是以”機(jī)器人是否上電“和“機(jī)器人當(dāng)前實(shí)際關(guān)節(jié)角度”為例說(shuō)明。
2.2.1 程序思路
1.把機(jī)器人模式子報(bào)文長(zhǎng)度”53“和關(guān)節(jié)數(shù)據(jù)子報(bào)文長(zhǎng)度”347“按照大端字節(jié)序打包成4個(gè)字節(jié)的形制存放相應(yīng)的變量中(CS機(jī)器人數(shù)據(jù)協(xié)議采用大端模式，子報(bào)文長(zhǎng)度占4個(gè)字節(jié)，機(jī)器人以字節(jié)流的格式返回，把子報(bào)文長(zhǎng)度轉(zhuǎn)換成字節(jié)流的格式方便程序中使用）；
2.連接機(jī)器人30001端口后循環(huán)接收機(jī)器人返回的數(shù)據(jù)，判斷接收的數(shù)據(jù)中是否有機(jī)器人模式子報(bào)文頭和關(guān)節(jié)數(shù)據(jù)子報(bào)文頭；
3.解析”機(jī)器人是c)“后再次去掉”子報(bào)文類型(1個(gè)字節(jié))“還剩48個(gè)字節(jié)=數(shù)據(jù)C,通過(guò)”機(jī)器人狀態(tài)報(bào)文表”得知”機(jī)器人是否上電“位于”機(jī)器人模式”報(bào)文中的第16位，由于數(shù)據(jù)C中已經(jīng)去掉子報(bào)文頭(“子報(bào)文長(zhǎng)度4個(gè)字節(jié)”和子報(bào)文類型1個(gè)字節(jié))，因此機(jī)器人是否上電“位于數(shù)據(jù)C中的第11位，所以需要把C[10:11]換成成整數(shù)后判斷是否為1，為1時(shí)機(jī)器人已上電，為0時(shí)機(jī)器人已下電；
4.解析“關(guān)節(jié)實(shí)際角度”時(shí)：一樣的方法以關(guān)節(jié)數(shù)據(jù)報(bào)文頭分割，數(shù)據(jù)分割后得到數(shù)據(jù)為[A，B],先判斷數(shù)據(jù)B的長(zhǎng)度是否大于343(判斷關(guān)節(jié)數(shù)據(jù)是否完整)，因?yàn)殛P(guān)節(jié)數(shù)據(jù)子報(bào)文頭占4個(gè)字節(jié)，把關(guān)節(jié)子報(bào)文頭分割還剩343個(gè)字節(jié)，如果數(shù)據(jù)B的長(zhǎng)度大343時(shí)，那么可以截取數(shù)據(jù)B的前343位字節(jié)做為關(guān)節(jié)數(shù)據(jù)報(bào)文C數(shù)據(jù)，如:C=B[1:343](再次去掉前面一個(gè)字節(jié)：子報(bào)文類型)，因?yàn)榉指畹糇印皥?bào)文長(zhǎng)度(4個(gè)字節(jié))“后再次去掉”子報(bào)文類型(1個(gè)字節(jié))“還剩342個(gè)字節(jié)=數(shù)據(jù)C,通過(guò)”機(jī)器人狀態(tài)報(bào)文表”得知數(shù)據(jù)C前57位是關(guān)節(jié)1的數(shù)據(jù)，關(guān)節(jié)1數(shù)據(jù)后57位是關(guān)節(jié)2數(shù)據(jù)，關(guān)節(jié)2數(shù)c據(jù)后57位是關(guān)節(jié)3數(shù)據(jù)，依此類推到關(guān)節(jié)6數(shù)據(jù)，每個(gè)關(guān)節(jié)的前8個(gè)字節(jié)是相應(yīng)的實(shí)際關(guān)節(jié)角度，因此解析數(shù)據(jù)C的前8位字節(jié)為關(guān)節(jié)1的實(shí)際關(guān)節(jié)角度后去掉關(guān)節(jié)1的所有數(shù)據(jù)后得數(shù)據(jù)D，解析數(shù)據(jù)D的前8位字節(jié)為關(guān)節(jié)2的實(shí)際關(guān)節(jié)角度后去掉關(guān)節(jié)2的所有數(shù)據(jù)后得數(shù)據(jù)F，依此類推到關(guān)節(jié)6,如：關(guān)節(jié)1=C[0:8],D=C[57:],關(guān)2=D[0:8],F=[57:]，依此類推得到六個(gè)關(guān)節(jié)的數(shù)據(jù)，最后將截取的數(shù)據(jù)轉(zhuǎn)換成雙精度浮點(diǎn)數(shù)；
2.2.2 程序代碼
python解析30001端口機(jī)器人模式及關(guān)節(jié)位置案例.py
3.常見(jiàn)問(wèn)題解答
1.需要連接CS機(jī)器人FB1網(wǎng)口，機(jī)器人切換遠(yuǎn)程模式；
2.機(jī)器人數(shù)據(jù)協(xié)議采用大端模。(例如: 00 00 08，小端模式:08 00 00 ,大端模式:00 00 08)；
3.機(jī)器人返回的位置數(shù)據(jù)以米和弧度為單位；
4.端口連接不上時(shí)，檢查一下網(wǎng)絡(luò)是不是沒(méi)有連接上，可以在示教器網(wǎng)絡(luò)設(shè)置頁(yè)面查看，或者使用電腦ping一下看看能否ping通，網(wǎng)口是否正常連接的FB1口，機(jī)器人否是遠(yuǎn)程模式。
