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add more ec command, or specifically, all ec commands supported for now

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gitea 2025-03-28 14:29:37 +08:00
parent b07f221bb6
commit 14c01d1ffd
2 changed files with 369 additions and 12 deletions
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118
codes/ui/main_window.py
View File

@ -287,7 +287,7 @@ class Ui_MainWindow(QMainWindow):
self.sa_durable.setWidgetResizable(True) self.sa_durable.setWidgetResizable(True)
self.scrollAreaWidgetContents = QWidget() self.scrollAreaWidgetContents = QWidget()
self.scrollAreaWidgetContents.setObjectName(u"scrollAreaWidgetContents") 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 = QHBoxLayout(self.scrollAreaWidgetContents)
self.horizontalLayout_9.setObjectName(u"horizontalLayout_9") self.horizontalLayout_9.setObjectName(u"horizontalLayout_9")
self.verticalLayout_5 = QVBoxLayout() 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.addItem("")
self.cb_ec_cmd.addItem("")
self.cb_ec_cmd.addItem("")
self.cb_ec_cmd.setObjectName(u"cb_ec_cmd") self.cb_ec_cmd.setObjectName(u"cb_ec_cmd")
self.cb_ec_cmd.setMinimumSize(QSize(240, 0)) self.cb_ec_cmd.setMinimumSize(QSize(240, 0))
self.cb_ec_cmd.setFont(font4) self.cb_ec_cmd.setFont(font4)
@ -949,13 +1000,64 @@ class Ui_MainWindow(QMainWindow):
self.label_18.setText("") self.label_18.setText("")
self.cb_ec_cmd.setItemText(0, QCoreApplication.translate("MainWindow", u"motor_on", None)) 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(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(2, QCoreApplication.translate("MainWindow", u"pp_to_main", None))
self.cb_ec_cmd.setItemText(3, QCoreApplication.translate("MainWindow", u"switch_mode_auto", None)) self.cb_ec_cmd.setItemText(3, QCoreApplication.translate("MainWindow", u"start", None))
self.cb_ec_cmd.setItemText(4, QCoreApplication.translate("MainWindow", u"switch_mode_manual", None)) self.cb_ec_cmd.setItemText(4, QCoreApplication.translate("MainWindow", u"stop", None))
self.cb_ec_cmd.setItemText(5, QCoreApplication.translate("MainWindow", u"operating_mode", None)) self.cb_ec_cmd.setItemText(5, QCoreApplication.translate("MainWindow", u"clear_alarm", None))
self.cb_ec_cmd.setItemText(6, QCoreApplication.translate("MainWindow", u"io_state", 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"motor_on_state", 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"robot_running_state", 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.btn_ec_send.setText(QCoreApplication.translate("MainWindow", u"\u53d1\u9001", None))
self.pushButton.setText(QCoreApplication.translate("MainWindow", u"HMI", None)) self.pushButton.setText(QCoreApplication.translate("MainWindow", u"HMI", None))

263
ui/main.ui
View File

@ -583,7 +583,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>158</width> <width>212</width>
<height>78</height> <height>78</height>
</rect> </rect>
</property> </property>
@ -1259,7 +1259,22 @@
</item> </item>
<item> <item>
<property name="text"> <property name="text">
<string>setdo</string> <string>pp_to_main</string>
</property>
</item>
<item>
<property name="text">
<string>start</string>
</property>
</item>
<item>
<property name="text">
<string>stop</string>
</property>
</item>
<item>
<property name="text">
<string>clear_alarm</string>
</property> </property>
</item> </item>
<item> <item>
@ -1274,12 +1289,97 @@
</item> </item>
<item> <item>
<property name="text"> <property name="text">
<string>operating_mode</string> <string>open_drag</string>
</property> </property>
</item> </item>
<item> <item>
<property name="text"> <property name="text">
<string>io_state</string> <string>close_drag</string>
</property>
</item>
<item>
<property name="text">
<string>list_prog</string>
</property>
</item>
<item>
<property name="text">
<string>current_prog</string>
</property>
</item>
<item>
<property name="text">
<string>load_prog</string>
</property>
</item>
<item>
<property name="text">
<string>estop_reset</string>
</property>
</item>
<item>
<property name="text">
<string>estopreset_and_clearalarm</string>
</property>
</item>
<item>
<property name="text">
<string>motoron_pptomain_start</string>
</property>
</item>
<item>
<property name="text">
<string>motoron_start</string>
</property>
</item>
<item>
<property name="text">
<string>pause_motoroff</string>
</property>
</item>
<item>
<property name="text">
<string>set_program_speed</string>
</property>
</item>
<item>
<property name="text">
<string>set_soft_estop</string>
</property>
</item>
<item>
<property name="text">
<string>switch_auto_motoron</string>
</property>
</item>
<item>
<property name="text">
<string>open_safe_region</string>
</property>
</item>
<item>
<property name="text">
<string>close_safe_region</string>
</property>
</item>
<item>
<property name="text">
<string>open_reduced_mode</string>
</property>
</item>
<item>
<property name="text">
<string>close_reduced_mode</string>
</property>
</item>
<item>
<property name="text">
<string>setdo</string>
</property>
</item>
<item>
<property name="text">
<string>set_robot_time</string>
</property> </property>
</item> </item>
<item> <item>
@ -1292,6 +1392,161 @@
<string>robot_running_state</string> <string>robot_running_state</string>
</property> </property>
</item> </item>
<item>
<property name="text">
<string>estop_state</string>
</property>
</item>
<item>
<property name="text">
<string>operating_mode</string>
</property>
</item>
<item>
<property name="text">
<string>home_state</string>
</property>
</item>
<item>
<property name="text">
<string>fault_state</string>
</property>
</item>
<item>
<property name="text">
<string>collision_state</string>
</property>
</item>
<item>
<property name="text">
<string>task_state</string>
</property>
</item>
<item>
<property name="text">
<string>cart_pos</string>
</property>
</item>
<item>
<property name="text">
<string>jnt_pos</string>
</property>
</item>
<item>
<property name="text">
<string>jnt_vel</string>
</property>
</item>
<item>
<property name="text">
<string>jnt_trq</string>
</property>
</item>
<item>
<property name="text">
<string>reduced_mode_state</string>
</property>
</item>
<item>
<property name="text">
<string>io_state</string>
</property>
</item>
<item>
<property name="text">
<string>alarm_state</string>
</property>
</item>
<item>
<property name="text">
<string>collision_alarm_state</string>
</property>
</item>
<item>
<property name="text">
<string>collision_open_state</string>
</property>
</item>
<item>
<property name="text">
<string>controller_is_running</string>
</property>
</item>
<item>
<property name="text">
<string>encoder_low_battery_state</string>
</property>
</item>
<item>
<property name="text">
<string>robot_error_code</string>
</property>
</item>
<item>
<property name="text">
<string>program_full</string>
</property>
</item>
<item>
<property name="text">
<string>program_reset_state</string>
</property>
</item>
<item>
<property name="text">
<string>program_speed</string>
</property>
</item>
<item>
<property name="text">
<string>robot_is_busy</string>
</property>
</item>
<item>
<property name="text">
<string>robot_is_moving</string>
</property>
</item>
<item>
<property name="text">
<string>safe_door_open</string>
</property>
</item>
<item>
<property name="text">
<string>soft_estop_state</string>
</property>
</item>
<item>
<property name="text">
<string>cart_vel</string>
</property>
</item>
<item>
<property name="text">
<string>tcp_pos</string>
</property>
</item>
<item>
<property name="text">
<string>tcp_vel</string>
</property>
</item>
<item>
<property name="text">
<string>tcp_vel_mag</string>
</property>
</item>
<item>
<property name="text">
<string>ext_estop_state</string>
</property>
</item>
<item>
<property name="text">
<string>hand_estop_state</string>
</property>
</item>
</widget> </widget>
</item> </item>
<item> <item>