ABB机器人 Robot Web Services 避坑

最新推荐文章于 2023-08-09 07:42:30 发布

MingYang_jin

最新推荐文章于 2023-08-09 07:42:30 发布

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分类专栏：机器人二次开发文章标签： MotoPlus 二次开发 websocket

本文链接：https://blog.csdn.net/jmych24/article/details/123322048

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6 篇文章 8 订阅

订阅专栏

Authentication

认证方式

python实现

import requests
from requests.auth import HTTPDigestAuth
from ws4py.client.threadedclient import WebSocketClient
import json
import xmltodict

def xml_to_json(xml_str):
    # parse是的xml解析器
    xml_parse = xmltodict.parse(xml_str)
    # json库dumps()是将dict转化成json格式,loads()是将json转化成dict格式。
    # dumps()方法的ident=1,格式化json
    json_str = json.dumps(xml_parse, indent=1)
    return json_str

class EchoClient(WebSocketClient):
    def opened(self):
        print("Web socket连接已建立")

    def closed(self, code, reason):
        print(("Closed down", code, reason))

    def received_message(self, m):
        print("=> %d %s" % (len(m), str(m)))

# 设置登录用户和密码
digest_auth = HTTPDigestAuth('Default User', 'robotics')
# 设置Post的Header
content_header = {'Content-Type': 'application/x-www-form-urlencoded;v=2.0'}
# 设置订阅的地址
subscription_url = 'http://127.0.0.1:80/subscription?json=1'
# 设置订阅的Resources
payload = {'resources': ['1', '2'],  # 订阅的第一组信号
      		# 订阅的资源信息 马达指示灯状态 切换到手动模式后会闪烁
           '1': '/rw/iosystem/signals/Local/DRV_1/MOTLMP;state',
           '1-p': '1',  # 订阅的资源的优先级 这里是Medinum
           '2': '/rw/panel/opmode',  # 订阅了手自动信息
           '2-p': '1'
           }
# 申明session
session = requests.Session()
# 进行Post操作
resp = session.post(subscription_url, auth=digest_auth, headers=content_header, data=payload, verify=False)
# 如果接受成功
if resp.status_code == 201:
    print(resp.text)
    # 读取连接的地址
    location = resp.headers['Location']
    print(resp.cookies['-http-session-'])
    print(resp.cookies['ABBCX'])
    # 设置cookie
    cookie = '-http-session-={0}; ABBCX={1}'.format(resp.cookies['-http-session-'], resp.cookies['ABBCX'])
    header = [('Cookie', cookie)]
    print(" resp header :", header)
    print("ws 地址：", location)
    '''
    Cookie: -http-session-=15::http.session::3a7164f8f3668128db7724dc5a680d2c; ABBCX=24
    '''
    ws = EchoClient(location , protocols=['robapi2_subscription'], headers=header)
    ws.connect()
    ws.run_forever()

闭坑

# 鉴权为 DigestAuth
digest_auth = HTTPDigestAuth('Default User', 'robotics')
# 子协议为 robapi2_subscription
ws = EchoClient(location , protocols=['robapi2_subscription'], headers=header)

运行效果

Postman

在这里插入图片描述

Subscriptions

webSocket

Websocket 子协议应配置为robapi2_subscription

websocket = new WebSocket('ws://127.0.0.1:80', ['robapi2_subscription']);

// 添加监听打开事件
websocket.addEventListener('open', function (event) {
    console.log('ws 连接...');
});

// 添加监听接收 事件
websocket.addEventListener('message', function (event) {
    console.log('服务器消息: ', event.data);
});