python实现CS机器人30001端口数据解析
1.简介
30001 端口可用于获取机器人【jī qì rén】👞的各种状态及数据【shù jù】♌，CS机器人【jī qì rén】👞会以【huì yǐ】 10HZ 的频率【de pín lǜ】🏨向 30001 端口 发送机【fā sòng jī】🕓器人的状态数据【shù jù】，本文解【běn wén jiě】析🍎”机器人【jī qì rén】👞是否上【shì fǒu shàng】电“和“机器人【jī qì rén】👞当前实🐄际关节角度【jiǎo dù】”为例说🙆明如何📕解析🍎30001端口返回的数🗻据【jù】。
2.操作流程
为了更🎌容易理解，以下先【yǐ xià xiān】通过网【tōng guò wǎng】🎽络调试🗓助手，手动解🔛析说明后再通过🌕python实现自动解析【dòng jiě xī】🔫，详细报【xiáng xì bào】文请参考”机器人【jī qì rén】🐰状态报文表【wén biǎo】“(“机器人【jī qì rén】🐰状态报文表【wén biǎo】“联系漫【lián xì màn】蛙技术💍人员获取【qǔ】)
2.1 通过调试软件手动解析
1.通过网络调试🤲助手连【zhù shǒu lián】⏸接CS机器人【rén】🕎30001端口【duān kǒu】后，机器人【rén】🕎会以【yǐ】🤚 10HZ 的频率向📗 30001 端口【duān kǒu】 发送数据，如图2-1-1所示【suǒ shì】：为机器人【rén】🕎FB1网口【wǎng kǒu】IP，以【yǐ】🤚16进制格💷式接收【shì jiē shōu】💠。
图2-1-1
2.1.1 整个机器人状态报文截取
1.通过”机器人状💡态报文表”得知机【dé zhī jī】器人状💡态数据【tài shù jù】总共有🦂1157位字节【wèi zì jiē】🚷(5+53+347+101+445+88+10+37+43+28=1157)，其中报文头💟：前面4位字节【wèi zì jiē】🚷为报文【wéi bào wén】💿长度，第【dì】5位字节【wèi zì jiē】🚷为报文【wéi bào wén】💿类型👶=16。
图2-1-2
2.首先我们需要【men xū yào】找到报文头【wén tóu】🛒，因为调【yīn wéi diào】试助手是以十【shì yǐ shí】🖐六进制🌺接收机器人返【qì rén fǎn】回的数据【shù jù】🦒，”机器人状态报🌪文表【wén biǎo】”中的报【zhōng de bào】文的长度【zhǎng dù】和报文【hé bào wén】类型【lèi xíng】🕌(16)数据【shù jù】🦒为十进【wéi shí jìn】制🍜，所以首【suǒ yǐ shǒu】🗞先把整🎋个报文【gè bào wén】💟长度【zhǎng dù】(1157)和报文【hé bào wén】类型【lèi xíng】🕌=(16)转换为🙂16进制，方便寻找报文头【wén tóu】🛒，十进制🍜1157转换成十六进📕制为🤢 ”485“ 又因为【yòu yīn wéi】报文头【wén tóu】🛒在数据【shù jù】🦒中占四【zhōng zhàn sì】个字节😣所以整个报文【gè bào wén】💟头长度【zhǎng dù】为”00 00 04 85“，十进制🍜16转换成十六进📕制为🤢“10”，如图😠2-1-3：
图2-1-3
3.通过上♎面的报文头数【wén tóu shù】⚓据转换后我们【hòu wǒ men】在机器【zài jī qì】🙌人返回🧦的数据中找到【zhōng zhǎo dào】整个报文头长度为【dù wéi】🥁”00 00 04 85“和报文类型【lèi xíng】😆”10“，从报文头”00 00 04 85 10“的第【de dì】🐁1位往后🔰截取到1157位就是整个机器人状态的报文，如图【rú tú】2-1-4所示：
机器人返回的数据：# 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位字节【wèi zì jiē】为整个【wéi zhěng gè】😕机器人状态的🍨报文
图2-1-4
2.1.2 机器人模式解析
1.当我们需要解析机器【xī jī qì】人❔的某一种状【zhǒng zhuàng】🏺态时【tài shí】,首先需【shǒu xiān xū】要找到这个状态的子报文头即可，例如通🎄过”机器人【jī qì rén】❔状态报🚓文表”得知”机器人【jī qì rén】❔模式🔔”子报文长度为【zhǎng dù wéi】🚗53且占【qiě zhàn】🛃4个字节【gè zì jiē】👉如图2-1-5所示，所以转换成十【huàn chéng shí】六进制【liù jìn zhì】为🐎“00 00 00 35”。
图2-1-5
2. 首先需🥙要找到⬅机器人模式子【mó shì zǐ】报文长【bào wén zhǎng】度【dù】“00 00 00 35”和子报文类型📩”00“，然后从🛵报文头“00 00 00 35 00“第1位字节【wèi zì jiē】🏔截取到53位字节【wèi zì jiē】🏔为机器【wéi jī qì】🏸人模式数据的报文如图【tú】😜2-1-6所示(红到紫【hóng dào zǐ】)：
机器人返回的数据：# 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
图2-1-6
3. 比如想知道机【zhī dào jī】器人【rén】👶是否上【shì fǒu shàng】电【diàn】，通过【tōng guò】📯”机器人【jī qì rén】👶状态报【zhuàng tài bào】文【wén】表”得知【dé zhī】”机器人【jī qì rén】👶是否上【shì fǒu shàng】电【diàn】”在机器人【jī qì rén】👶模式数据报文【wén】中的第😉16位字节占一个🌔字节如图👭2-1-7所示😅，所以【suǒ yǐ】“机器人【jī qì rén】👶模式报【mó shì bào】文【wén】”中的第😉16位为【wèi wéi】🔴1时机器【shí jī qì】人【rén】👶上电【diàn】，为0时机器【shí jī qì】人【rén】👶下电【diàn】，如图👭2-1-8所示😅“机器人【jī qì rén】👶模式报【mó shì bào】文【wén】”中的第😉16位为【wèi wéi】🔴01机器人【jī qì rén】👶已经上电【diàn】。
图2-1-7
机器人返回的数据：# 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
图2-1-8
2.1.3 关节数据解析
1.当需要解析机【jiě xī jī】📒器人实际关节角度时👥，一样的【yī yàng de】方法首【fāng fǎ shǒu】🧤先需要找到关节数据【jù】🧣的子报💏文头，通过🆑”机器人【jī qì rén】🥃状态报【zhuàng tài bào】文表”得知”关节数据【jù】🧣”子报文🚡长度为【zhǎng dù wéi】347字节且占前面4个字节【gè zì jiē】,子报文🚡类型为1占第【zhàn dì】✔4个字节【gè zì jiē】，如图2-1-9所示【suǒ shì】🍮，所以转换成十🍁六进制【liù jìn zhì】分别为“00 00 01 5B”,”01“。
图2-1-9
2.首先需要找到关节数据子报文长度“00 00 01 5B”和子报【hé zǐ bào】文类型🛋”01“，然后从✉报文头【bào wén tóu】🤱“00 00 01 5B 01“第🕋1位字节【wèi zì jiē】🕜截取到【jié qǔ dào】347位字节【wèi zì jiē】🕜为机器人模式【rén mó shì】数据的报文如图🕉2-1-10所示(红到紫)
机器人返回的数据：# 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
图2-1-10
3.由图2-1-9可知关🥂节数据【shù jù】🏾中的🍫347字节中前面五【qián miàn wǔ】个字节【gè zì jiē】为子报文【zǐ bào wén】头,报文头后面分别为六个关节【guān jiē】💸的数据【shù jù】📃每个关😎节数据【shù jù】🏾有57个字节【gè zì jiē】：子报文【zǐ bào wén】头(5)+关节【guān jiē】💸1数据【shù jù】📃(57)+关节【guān jiē】💸2数据【shù jù】📃(57)+关节【guān jiē】💸3数据【shù jù】📃(57)+关节【guān jiē】💸4数据【shù jù】📃(57)+关节【guān jiē】💸5数据【shù jù】📃(57)+关节【guān jiē】💸6数据【shù jù】📃=关节【guān jiē】💸数据【shù jù】📃(347)，为了便【wéi le biàn】于解析【yú jiě xī】每个关😎节的数据【shù jù】📃以颜色区分🤷如图【rú tú】❔2-1-11所示【suǒ shì】：
机器人返回的数据：# RECV HEX
00 3F F0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 5B 01 关节【guān jiē】🤖1数据【shù 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 关节【guān jiē】🤖2数据【shù 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 关节【guān jiē】🤖3数据【shù 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 关节【guān jiē】🤖4数据【shù 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 关节【guān jiē】🤖5数据【shù 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 关节【guān jiē】🤖6数据【shù 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
图2-1-11
4.通过”机器人🔋状态报文表🆎”得知，如图2-1-12得知每个关节【gè guān jiē】👗的实际【de shí jì】🥫关节角【guān jiē jiǎo】🍯度数据【dù shù jù】在每个【zài měi gè】关节【guān jiē】👗数据的【shù jù de】前8个字节【gè zì jiē】，所以：关节【guān jiē】👗1的实际【de shí jì】🥫关节角【guān jiē jiǎo】🍯度为【dù wéi】📰:”BF B7 91 B4 46 08 38 A1“，关节【guān jiē】👗2的实际【de shí jì】🥫关节角【guān jiē jiǎo】🍯度为【dù wéi】📰:”BF F9 21 FB 54 52 45 50“，关节【guān jiē】👗3的实际【de shí jì】🥫关节角【guān jiē jiǎo】🍯度为【dù wéi】📰:”BF F9 0E 79 07 CC 04 57“，关节【guān jiē】👗4的实际【de shí jì】🥫关节角【guān jiē jiǎo】🍯度为【dù wéi】📰:"BF F9 21 FB 54 52 45 50",关节【guān jiē】👗5的实际【de shí jì】🥫关节角【guān jiē jiǎo】🍯度为【dù wéi】📰:”3F F9 21 FB 54 52 45 50“，关节【guān jiē】👗6的实际【de shí jì】🥫关节角【guān jiē jiǎo】🍯度为【dù wéi】📰:”00 00 00 00 00 00 00 00“，
图2-1-12
5.由于网络调试【luò diào shì】🤸助手是以❕16进制接收机器🛸人返回【rén fǎn huí】🚠的数据【de shù jù】，所以需😒要把16进制转【jìn zhì zhuǎn】换成浮🌾点数【shù】(8个字节【gè zì jiē】为双精度浮点🚃数【shù】)，可以❕在网上【zài wǎng shàng】下【xià】🌘载”浮点数【shù】十六进📟制转换🐇器🛸“对数据【duì shù jù】进🏝行转换🐇，下面以【xià miàn yǐ】❕关节【guān jiē】🦋1的实际关【shí jì guān】节🦋角度:”BF B7 91 B4 46 08 38 A1“为例对数据【duì shù jù】进🏝行转换🐇，得到的🤟数【shù】据正确，说明解【shuō míng jiě】析关节【xī guān jiē】🦋1实际关【shí jì guān】节🦋角度正【jiǎo dù zhèng】确，如图2-1-13所示📓：
图2-1-13
6. 通过【tōng guò】”浮点数十六进【shí liù jìn】制转换器🏉“对每个关节实【guān jiē shí】😇际角度数据依次进行【cì jìn háng】👻转换得🚧：
关节1实际关【shí jì guān】节角度🏋：BF B7 91 B4 46 08 38 A1 = -0.0920670195557
关节2实际关🏊节角度【jiē jiǎo dù】：BF F9 21 FB 54 52 45 50 = -1.5707963270000
关节3实际关【shí jì guān】节角度😚：BF F9 0E 79 07 CC 04 57 = -1.5660333923882
关节4实际关节角度【jiē jiǎo dù】㊗：BF F9 21 FB 54 52 45 50 = -1.5707963270000
关节5实际关节角度【jiē jiǎo dù】😊：3F F9 21 FB 54 52 45 50 = 1.5707963270146
关节6实际关节角度【jiē jiǎo dù】🍇：00 00 00 00 00 00 00 00 = 0.00
四舍五【sì shě wǔ】入保留🤑两位小Ⓜ数后与【shù hòu yǔ】机器人【jī qì rén】示教器🌗上显示🚋的数据一样说明解析【míng jiě xī】正确，如图2-1-14，单位(弧度【hú dù】🌽)。
图2-1-14
2.2 通过python自动解析
通过以🌗上手动解析的【jiě xī de】🤯方法对【duì】🔎机器人【jī qì rén】状态报文以及🙀数据格式基本【shì jī běn】了解后【le jiě hòu】📁下面通过🤰python对【duì】🔎30001端口数💡据进行解析【jiě xī】，还是以【hái shì yǐ】❗”机器人【jī qì rén】是否上【shì fǒu shàng】电“和【hé】🤨“机器人【jī qì rén】当前实际关节角度”为例说明。
2.2.1 程序思路
1.把机器【bǎ jī qì】🆒人模式【rén mó shì】子报文【zǐ bào wén】长度”53“和关节【hé guān jiē】🦎数据子【shù jù zǐ】报文长【bào wén zhǎng】度”347“按照大🍚端字节序打包成💺4个字节【gè zì jiē】🛄的形制存放相【cún fàng xiàng】✨应的变量中🔽(CS机器人【jī qì rén】数据协议采用【yòng】💇大端模式【shì】，子报文【zǐ bào wén】长度占👭4个字节【gè zì jiē】🛄，机器人【jī qì rén】以字节流的格式【shì】👈返回，把子报文【zǐ bào wén】长度转换成💺字节流的格式【shì】👈方便程序中使🎑用【yòng】💇）；
2.连接机器人30001端口后循环接收机器🏹人返回的数据，判断接🈁收的数🧔据中是否有机【fǒu yǒu jī】⚡器人模【qì rén mó】式子报【shì zǐ bào】文头【wén tóu】🏫和关节【hé guān jiē】数🥊据子报【jù zǐ bào】文头【wén tóu】🏫；
3.解析”机器人【jī qì rén】📇是【shì】c)“后再次🧞去掉”子报文【zǐ bào wén】🥝类型【lèi xíng】🌶(1个字节【gè zì jiē】🚺)“还剩【hái shèng】48个字节【gè zì jiē】🚺=数据【shù jù】C,通过”机器人【jī qì rén】📇状态报文表【wén biǎo】”得知【dé zhī】”机器人【jī qì rén】📇是【shì】否上电👕“位🦊于【yú】”机器人【jī qì rén】📇模式🥍”报文中🎇的第💛16位🦊，由于【yú】数据【shù jù】C中已经✏去掉子🏩报文头(“子报文【zǐ bào wén】🥝长度【zhǎng dù】4个字节【gè zì jiē】🚺”和子报🌽文类型【lèi xíng】🌶1个字节【gè zì jiē】🚺)，因此机🏓器人是【shì】否上电👕“位🦊于【yú】数据【shù jù】C中的第💛11位🦊，所以需要把【yào bǎ】C[10:11]换成成整数后【zhěng shù hòu】判断是【shì】否为【fǒu wéi】1，为1时机器【shí jī qì】🤤人已上【rén yǐ shàng】电👕，为0时机器【shí jī qì】🤤人已下🛩电👕；
4.解析“关节【guān jiē】🍱实际角【shí jì jiǎo】度【dù】”时【shí】：一样的方法以关节【guān jiē】数🥓据【jù】🧛报文头分割【tóu fèn gē】👍，数据分【shù jù fèn】🦇割后得【gē hòu dé】🎂到数据【shù jù】👱为[A，B],先判断数据【shù jù】👱B的长度【de zhǎng dù】是否大于🦔343(判断关【pàn duàn guān】节【jiē】数🥓据【jù】🧛是否完整)，因为关节【wéi guān jiē】🏺数据【shù jù】👱子报文【zǐ bào wén】🌙头占【tóu zhàn】4个字节【gè zì jiē】🚄，把关节【bǎ guān jiē】🍱子报文【zǐ bào wén】🌙头分割【tóu fèn gē】👍还剩【hái shèng】🚺343个字节【gè zì jiē】🚄，如果数据【shù jù】👱B的长度【de zhǎng dù】大343时【shí】，那么可以截取数据【shù jù】👱B的前【de qián】🔮343位字节【wèi zì jiē】🎊做为关💦节【jiē】🎊数据【shù jù】👱报文C数据【shù jù】👱，如:C=B[1:343](再次去【qù】❣掉【diào】前面🔈一个字节【gè zì jiē】🚄：子报文【zǐ bào wén】🌙类型【lèi xíng】)，因为分🧔割掉【diào】子📕“报文长度【dù】(4个字节【gè zì jiē】🚄)“后再次去【qù】❣掉【diào】”子报文【zǐ bào wén】🌙类型【lèi xíng】(1个字节【gè zì jiē】🚄)“还剩【hái shèng】🚺342个字节【gè zì jiē】🚄=数据【shù jù】👱C,通过”机器人【jī qì rén】状态报🍣文表🌼”得知数【dé zhī shù】据【jù】👱C前🤞57位是关节【guān jiē】🍱1的数据【shù jù】👱，关节【guān jiē】🍱1数据【shù jù】👱后57位是关节【guān jiē】🍱2数据【shù jù】👱，关节【guān jiē】🍱2数c据【jù】后📌57位是关节【guān jiē】🍱3数据【shù jù】👱，依此类【yī cǐ lèi】🙉推到关🕺节【jiē】🎊6数据【shù jù】👱，每个关🏉节【jiē】🎊的前【de qián】🔮8个字节【gè zì jiē】🚄是相应🐥的实际【de shí jì】关节角【guān jiē jiǎo】🔯度【dù】，因此解析数据【shù jù】👱C的前【de qián】🔮8位字节【wèi zì jiē】🎊为关节【wéi guān jiē】🏺1的实际【de shí jì】关节角【guān jiē jiǎo】🔯度后去【dù hòu qù】💜掉关节【diào guān jiē】🏿1的所有数据【shù jù】👱后得数据【shù jù】👱D，解析数据【shù jù】👱D的前【de qián】🔮8位字节【wèi zì jiē】🎊为关节【wéi guān jiē】🏺2的实际【de shí jì】关节角【guān jiē jiǎo】🔯度后去【dù hòu qù】💜掉关节【diào guān jiē】🏿2的所有数据【shù jù】👱后得数据【shù jù】👱F，依此类【yī cǐ lèi】🙉推到关🕺节【jiē】🎊6,如：关节【guān jiē】🍱1=C[0:8],D=C[57:],关👨2=D[0:8],F=[57:]，依此类【yī cǐ lèi】🙉推得到六个关节【guān jiē】🍱的数据【shù jù】👱，最后将【zuì hòu jiāng】截取的数据【shù jù】👱转换成双精度【dù】浮点数；
2.2.2 程序代码
python解析【jiě xī】30001端口机器人模🕔式及关节位置【jiē wèi zhì】🏚案例.py
3.常见问题解答
1.需要连🎫接🏄CS机器人【jī qì rén】🚨FB1网口，机器人【jī qì rén】🚨切换远【qiē huàn yuǎn】程模式【chéng mó shì】；
2.机器人数据协【shù jù xié】议采用大端模【dà duān mó】👬。(例如📷: 00 00 08，小端模式【shì】✴:08 00 00 ,大端模【dà duān mó】👬式【shì】✴:00 00 08)；
3.机器人♌返回的🙌位置数【wèi zhì shù】据以米【jù yǐ mǐ】和弧度为单位；
4.端口【duān kǒu】🗨连接不上时，检查一下网络😏是不是没有连👌接上【jiē shàng】，可以在🏙示教器网络设【wǎng luò shè】置页面【zhì yè miàn】查看，或者使【huò zhě shǐ】🚸用电脑ping一下看【yī xià kàn】看能否🎿ping通，网口是【wǎng kǒu shì】🕝否正常【fǒu zhèng cháng】连接的FB1口🗨，机器人⛩否是远程模式。
