新增O6支持USB-RS485模块

新增O6支持USB-RS485模块

Author: hejianxin79

LinkerHand/__pycache__/__init__.cpython-38.pyc

@@ -1,10 +1,10 @@
 VERSION: 2.1.9 # 修复撞帧
 LINKER_HAND:  # 手部配置信息
   LEFT_HAND:
-    EXISTS: False # 是否存在左手
-    TOUCH: True # 是否有压力传感器
-    MODBUS: "None" # 通讯协议是否为485 默认None 当前支持RML(睿尔曼API2)
-    JOINT: L10 # 左手关节数 O6/L6/L7/L10/L20/L21/L25/
+    EXISTS: True # 是否存在左手
+    TOUCH: False # 是否有压力传感器
+    MODBUS: "/dev/ttyUSB0" # 通讯协议是否为485 默认None 如果启动485，则是设备端口 /dev/ttyUSB*
+    JOINT: O6 # 左手关节数 O6/L6/L7/L10/L20/L21/L25/
     NAME: # 无论l10还是l20 joint name都是20个
       - joint41
       - joint42

LinkerHand/__pycache__/linker_hand_api.cpython-38.pyc

@@ -22,20 +22,18 @@ def __init__(self, hand_type="left", hand_joint="L10", modbus = "None",can="can0
         if self.hand_type == "right":
             self.hand_id = 0x27  # Right hand
         if self.hand_joint.upper() == "O6" or self.hand_joint == "L6" or self.hand_joint == "L6P":
-            from .core.can.linker_hand_o6_can import LinkerHandO6Can
-            self.hand = LinkerHandO6Can(can_id=self.hand_id,can_channel=self.can, yaml=self.yaml)
+            if modbus != "None":
+                from core.rs485.linker_hand_o6_rs485 import LinkerHandO6RS485
+                self.hand = LinkerHandO6RS485(hand_id=self.hand_id,modbus_port=modbus,baudrate=115200)
+            else:
+                from core.can.linker_hand_o6_can import LinkerHandO6Can
+                self.hand = LinkerHandO6Can(can_id=self.hand_id,can_channel=self.can, yaml=self.yaml)
         if self.hand_joint == "L7":
             from core.can.linker_hand_l7_can import LinkerHandL7Can
             self.hand = LinkerHandL7Can(can_id=self.hand_id,can_channel=self.can, yaml=self.yaml)
         if self.hand_joint == "L10":
-            #if self.config['LINKER_HAND']['LEFT_HAND']['MODBUS'] == "RML": 
-            if modbus == "RML": # RML API2 485 protocol
-                from core.rml485.linker_hand_l10_485 import LinkerHandL10For485
-                self.hand = LinkerHandL10For485()
-
-            else : # Default CAN protocol
-                from core.can.linker_hand_l10_can import LinkerHandL10Can
-                self.hand = LinkerHandL10Can(can_id=self.hand_id,can_channel=self.can, yaml=self.yaml)
+            from core.can.linker_hand_l10_can import LinkerHandL10Can
+            self.hand = LinkerHandL10Can(can_id=self.hand_id,can_channel=self.can, yaml=self.yaml)
         if self.hand_joint == "L20":
             from core.can.linker_hand_l20_can import LinkerHandL20Can
             self.hand = LinkerHandL20Can(can_id=self.hand_id,can_channel=self.can, yaml=self.yaml)
@@ -46,7 +44,7 @@ def __init__(self, hand_type="left", hand_joint="L10", modbus = "None",can="can0
             from core.can.linker_hand_l25_can import LinkerHandL25Can
             self.hand = LinkerHandL25Can(can_id=self.hand_id,can_channel=self.can, yaml=self.yaml)
         # Open can0
-        if sys.platform == "linux":
+        if sys.platform == "linux" and modbus=="None":
             self.open_can = OpenCan(load_yaml=self.yaml)
             self.open_can.open_can(self.can)
             self.is_can = self.open_can.is_can_up_sysfs(interface=self.can)