54 lines
1.8 KiB
Python
54 lines
1.8 KiB
Python
# Set the IP address of the z1 robot
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# Before running the program, please check the network with the robot
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import re
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import os
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import sys
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import socket
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import struct
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def check_ip(ipAddr):
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compile_ip = re.compile('(((\d{1,2})|(1\d{2})|(2[0-4]\d)|(25[0-5]))\.){3}((\d{1,2})|(1\d{2})|(2[0-4]\d)|(25[0-5]))')
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if compile_ip.match(ipAddr):
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return True
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else:
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print("[ERROR] Please input the valid IP address")
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return False
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def ping_ip(ip):
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cmd = "ping " + str(ip) + " -c 1 -w 1 >/dev/null" #send once, wait 1s
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if os.system(cmd):
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print("[ERROR]IP: "+ip+" Destination Host Unreachable")
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return False
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else:
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return True
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if __name__ == '__main__':
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# 1. check arm valid
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if not ping_ip('192.168.123.110'):
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sys.exit(1)
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server_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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address = ("0.0.0.0", 8881)
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armAddr = ("192.168.123.110", 8880)
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server_socket.bind(address)
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pack_format = struct.Struct('6B')
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# 2. read IP address input
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print("Please enter the IP address to set, which should be input as *.*.*.* ")
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ipAddr = ''
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while True:
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ipAddr = input("IP to set: ")
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if check_ip(ipAddr):
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break
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ipset = re.split('\.', ipAddr)
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# 3. send udp socket to set IP address
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send_data = [7, 1, int(ipset[0]), int(ipset[1]), int(ipset[2]), int(ipset[3])]
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send_data = pack_format.pack(*send_data)
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server_socket.sendto(send_data, armAddr)
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data, client = server_socket.recvfrom(6)
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data = pack_format.unpack(data)
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ipAddr = str(data[2])+'.'+str(data[3])+'.'+str( data[4])+'.'+str(data[5])
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print("Set correctly! Current robot IP is", ipAddr)
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print("Please repower the robot and change the IP setting in the z1_controller/config/config.xml")
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