import socket
import struct
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
arm = XArmAPI('192.168.1.106', debug=True)
def bytes_to_fp32(bytes_data, is_big_endian=False):
"""
bytes to float
:param bytes_data: bytes
:param is_big_endian: is big endian or not，default is False.
:return: fp32
"""
return struct.unpack('>f' if is_big_endian else '<f', bytes_data)[0]
def bytes_to_fp32_list(bytes_data, n=0, is_big_endian=False):
"""
bytes to float list
:param bytes_data: bytes
:param n: quantity of parameters need to be converted，default is 0，all bytes converted.
:param is_big_endian: is big endian or not，default is False.
:return: float list
"""
ret = []
count = n if n > 0 else len(bytes_data) // 4
for i in range(count):
ret.append(bytes_to_fp32(bytes_data[i * 4: i * 4 + 4], is_big_endian))
return ret
def bytes_to_u32(data):
data_u32 = data[0] << 24 | data[1] << 16 | data[2] << 8 | data[3]
return data_u32
robot_ip = '192.168.1.106' # IP of controller
robot_port = 30003 # Port of controller
# create socket to connect controller
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.setblocking(True)
sock.settimeout(1)
sock.connect((robot_ip, robot_port))
arm.set_report_tau_or_i(tau_or_i=0)
while True:
data = sock.recv(4)
length = bytes_to_u32(data)
data += sock.recv(length - 4)
joint_data = bytes_to_fp32_list(data[59:87]) #The acquired data is the data from J1 to J7
print(joint_data)
