diff --git a/codes/ui/main_window.py b/codes/ui/main_window.py
index 7b49c7b..2562ebf 100644
--- a/codes/ui/main_window.py
+++ b/codes/ui/main_window.py
@@ -287,7 +287,7 @@ class Ui_MainWindow(QMainWindow):
self.sa_durable.setWidgetResizable(True)
self.scrollAreaWidgetContents = QWidget()
self.scrollAreaWidgetContents.setObjectName(u"scrollAreaWidgetContents")
- self.scrollAreaWidgetContents.setGeometry(QRect(0, 0, 158, 78))
+ self.scrollAreaWidgetContents.setGeometry(QRect(0, 0, 212, 78))
self.horizontalLayout_9 = QHBoxLayout(self.scrollAreaWidgetContents)
self.horizontalLayout_9.setObjectName(u"horizontalLayout_9")
self.verticalLayout_5 = QVBoxLayout()
@@ -650,6 +650,57 @@ class Ui_MainWindow(QMainWindow):
self.cb_ec_cmd.addItem("")
self.cb_ec_cmd.addItem("")
self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
+ self.cb_ec_cmd.addItem("")
self.cb_ec_cmd.setObjectName(u"cb_ec_cmd")
self.cb_ec_cmd.setMinimumSize(QSize(240, 0))
self.cb_ec_cmd.setFont(font4)
@@ -949,13 +1000,64 @@ class Ui_MainWindow(QMainWindow):
self.label_18.setText("")
self.cb_ec_cmd.setItemText(0, QCoreApplication.translate("MainWindow", u"motor_on", None))
self.cb_ec_cmd.setItemText(1, QCoreApplication.translate("MainWindow", u"motor_off", None))
- self.cb_ec_cmd.setItemText(2, QCoreApplication.translate("MainWindow", u"setdo", None))
- self.cb_ec_cmd.setItemText(3, QCoreApplication.translate("MainWindow", u"switch_mode_auto", None))
- self.cb_ec_cmd.setItemText(4, QCoreApplication.translate("MainWindow", u"switch_mode_manual", None))
- self.cb_ec_cmd.setItemText(5, QCoreApplication.translate("MainWindow", u"operating_mode", None))
- self.cb_ec_cmd.setItemText(6, QCoreApplication.translate("MainWindow", u"io_state", None))
- self.cb_ec_cmd.setItemText(7, QCoreApplication.translate("MainWindow", u"motor_on_state", None))
- self.cb_ec_cmd.setItemText(8, QCoreApplication.translate("MainWindow", u"robot_running_state", None))
+ self.cb_ec_cmd.setItemText(2, QCoreApplication.translate("MainWindow", u"pp_to_main", None))
+ self.cb_ec_cmd.setItemText(3, QCoreApplication.translate("MainWindow", u"start", None))
+ self.cb_ec_cmd.setItemText(4, QCoreApplication.translate("MainWindow", u"stop", None))
+ self.cb_ec_cmd.setItemText(5, QCoreApplication.translate("MainWindow", u"clear_alarm", None))
+ self.cb_ec_cmd.setItemText(6, QCoreApplication.translate("MainWindow", u"switch_mode_auto", None))
+ self.cb_ec_cmd.setItemText(7, QCoreApplication.translate("MainWindow", u"switch_mode_manual", None))
+ self.cb_ec_cmd.setItemText(8, QCoreApplication.translate("MainWindow", u"open_drag", None))
+ self.cb_ec_cmd.setItemText(9, QCoreApplication.translate("MainWindow", u"close_drag", None))
+ self.cb_ec_cmd.setItemText(10, QCoreApplication.translate("MainWindow", u"list_prog", None))
+ self.cb_ec_cmd.setItemText(11, QCoreApplication.translate("MainWindow", u"current_prog", None))
+ self.cb_ec_cmd.setItemText(12, QCoreApplication.translate("MainWindow", u"load_prog", None))
+ self.cb_ec_cmd.setItemText(13, QCoreApplication.translate("MainWindow", u"estop_reset", None))
+ self.cb_ec_cmd.setItemText(14, QCoreApplication.translate("MainWindow", u"estopreset_and_clearalarm", None))
+ self.cb_ec_cmd.setItemText(15, QCoreApplication.translate("MainWindow", u"motoron_pptomain_start", None))
+ self.cb_ec_cmd.setItemText(16, QCoreApplication.translate("MainWindow", u"motoron_start", None))
+ self.cb_ec_cmd.setItemText(17, QCoreApplication.translate("MainWindow", u"pause_motoroff", None))
+ self.cb_ec_cmd.setItemText(18, QCoreApplication.translate("MainWindow", u"set_program_speed", None))
+ self.cb_ec_cmd.setItemText(19, QCoreApplication.translate("MainWindow", u"set_soft_estop", None))
+ self.cb_ec_cmd.setItemText(20, QCoreApplication.translate("MainWindow", u"switch_auto_motoron", None))
+ self.cb_ec_cmd.setItemText(21, QCoreApplication.translate("MainWindow", u"open_safe_region", None))
+ self.cb_ec_cmd.setItemText(22, QCoreApplication.translate("MainWindow", u"close_safe_region", None))
+ self.cb_ec_cmd.setItemText(23, QCoreApplication.translate("MainWindow", u"open_reduced_mode", None))
+ self.cb_ec_cmd.setItemText(24, QCoreApplication.translate("MainWindow", u"close_reduced_mode", None))
+ self.cb_ec_cmd.setItemText(25, QCoreApplication.translate("MainWindow", u"setdo", None))
+ self.cb_ec_cmd.setItemText(26, QCoreApplication.translate("MainWindow", u"set_robot_time", None))
+ self.cb_ec_cmd.setItemText(27, QCoreApplication.translate("MainWindow", u"motor_on_state", None))
+ self.cb_ec_cmd.setItemText(28, QCoreApplication.translate("MainWindow", u"robot_running_state", None))
+ self.cb_ec_cmd.setItemText(29, QCoreApplication.translate("MainWindow", u"estop_state", None))
+ self.cb_ec_cmd.setItemText(30, QCoreApplication.translate("MainWindow", u"operating_mode", None))
+ self.cb_ec_cmd.setItemText(31, QCoreApplication.translate("MainWindow", u"home_state", None))
+ self.cb_ec_cmd.setItemText(32, QCoreApplication.translate("MainWindow", u"fault_state", None))
+ self.cb_ec_cmd.setItemText(33, QCoreApplication.translate("MainWindow", u"collision_state", None))
+ self.cb_ec_cmd.setItemText(34, QCoreApplication.translate("MainWindow", u"task_state", None))
+ self.cb_ec_cmd.setItemText(35, QCoreApplication.translate("MainWindow", u"cart_pos", None))
+ self.cb_ec_cmd.setItemText(36, QCoreApplication.translate("MainWindow", u"jnt_pos", None))
+ self.cb_ec_cmd.setItemText(37, QCoreApplication.translate("MainWindow", u"jnt_vel", None))
+ self.cb_ec_cmd.setItemText(38, QCoreApplication.translate("MainWindow", u"jnt_trq", None))
+ self.cb_ec_cmd.setItemText(39, QCoreApplication.translate("MainWindow", u"reduced_mode_state", None))
+ self.cb_ec_cmd.setItemText(40, QCoreApplication.translate("MainWindow", u"io_state", None))
+ self.cb_ec_cmd.setItemText(41, QCoreApplication.translate("MainWindow", u"alarm_state", None))
+ self.cb_ec_cmd.setItemText(42, QCoreApplication.translate("MainWindow", u"collision_alarm_state", None))
+ self.cb_ec_cmd.setItemText(43, QCoreApplication.translate("MainWindow", u"collision_open_state", None))
+ self.cb_ec_cmd.setItemText(44, QCoreApplication.translate("MainWindow", u"controller_is_running", None))
+ self.cb_ec_cmd.setItemText(45, QCoreApplication.translate("MainWindow", u"encoder_low_battery_state", None))
+ self.cb_ec_cmd.setItemText(46, QCoreApplication.translate("MainWindow", u"robot_error_code", None))
+ self.cb_ec_cmd.setItemText(47, QCoreApplication.translate("MainWindow", u"program_full", None))
+ self.cb_ec_cmd.setItemText(48, QCoreApplication.translate("MainWindow", u"program_reset_state", None))
+ self.cb_ec_cmd.setItemText(49, QCoreApplication.translate("MainWindow", u"program_speed", None))
+ self.cb_ec_cmd.setItemText(50, QCoreApplication.translate("MainWindow", u"robot_is_busy", None))
+ self.cb_ec_cmd.setItemText(51, QCoreApplication.translate("MainWindow", u"robot_is_moving", None))
+ self.cb_ec_cmd.setItemText(52, QCoreApplication.translate("MainWindow", u"safe_door_open", None))
+ self.cb_ec_cmd.setItemText(53, QCoreApplication.translate("MainWindow", u"soft_estop_state", None))
+ self.cb_ec_cmd.setItemText(54, QCoreApplication.translate("MainWindow", u"cart_vel", None))
+ self.cb_ec_cmd.setItemText(55, QCoreApplication.translate("MainWindow", u"tcp_pos", None))
+ self.cb_ec_cmd.setItemText(56, QCoreApplication.translate("MainWindow", u"tcp_vel", None))
+ self.cb_ec_cmd.setItemText(57, QCoreApplication.translate("MainWindow", u"tcp_vel_mag", None))
+ self.cb_ec_cmd.setItemText(58, QCoreApplication.translate("MainWindow", u"ext_estop_state", None))
+ self.cb_ec_cmd.setItemText(59, QCoreApplication.translate("MainWindow", u"hand_estop_state", None))
self.btn_ec_send.setText(QCoreApplication.translate("MainWindow", u"\u53d1\u9001", None))
self.pushButton.setText(QCoreApplication.translate("MainWindow", u"HMI", None))
diff --git a/ui/main.ui b/ui/main.ui
index 5def571..6e7d656 100644
--- a/ui/main.ui
+++ b/ui/main.ui
@@ -583,7 +583,7 @@
0
0
- 158
+ 212
78
@@ -1259,7 +1259,22 @@
-
- setdo
+ pp_to_main
+
+
+ -
+
+ start
+
+
+ -
+
+ stop
+
+
+ -
+
+ clear_alarm
-
@@ -1274,12 +1289,97 @@
-
- operating_mode
+ open_drag
-
- io_state
+ close_drag
+
+
+ -
+
+ list_prog
+
+
+ -
+
+ current_prog
+
+
+ -
+
+ load_prog
+
+
+ -
+
+ estop_reset
+
+
+ -
+
+ estopreset_and_clearalarm
+
+
+ -
+
+ motoron_pptomain_start
+
+
+ -
+
+ motoron_start
+
+
+ -
+
+ pause_motoroff
+
+
+ -
+
+ set_program_speed
+
+
+ -
+
+ set_soft_estop
+
+
+ -
+
+ switch_auto_motoron
+
+
+ -
+
+ open_safe_region
+
+
+ -
+
+ close_safe_region
+
+
+ -
+
+ open_reduced_mode
+
+
+ -
+
+ close_reduced_mode
+
+
+ -
+
+ setdo
+
+
+ -
+
+ set_robot_time
-
@@ -1292,6 +1392,161 @@
robot_running_state
+ -
+
+ estop_state
+
+
+ -
+
+ operating_mode
+
+
+ -
+
+ home_state
+
+
+ -
+
+ fault_state
+
+
+ -
+
+ collision_state
+
+
+ -
+
+ task_state
+
+
+ -
+
+ cart_pos
+
+
+ -
+
+ jnt_pos
+
+
+ -
+
+ jnt_vel
+
+
+ -
+
+ jnt_trq
+
+
+ -
+
+ reduced_mode_state
+
+
+ -
+
+ io_state
+
+
+ -
+
+ alarm_state
+
+
+ -
+
+ collision_alarm_state
+
+
+ -
+
+ collision_open_state
+
+
+ -
+
+ controller_is_running
+
+
+ -
+
+ encoder_low_battery_state
+
+
+ -
+
+ robot_error_code
+
+
+ -
+
+ program_full
+
+
+ -
+
+ program_reset_state
+
+
+ -
+
+ program_speed
+
+
+ -
+
+ robot_is_busy
+
+
+ -
+
+ robot_is_moving
+
+
+ -
+
+ safe_door_open
+
+
+ -
+
+ soft_estop_state
+
+
+ -
+
+ cart_vel
+
+
+ -
+
+ tcp_pos
+
+
+ -
+
+ tcp_vel
+
+
+ -
+
+ tcp_vel_mag
+
+
+ -
+
+ ext_estop_state
+
+
+ -
+
+ hand_estop_state
+
+
-