界面优化，监控逻辑优化
This commit is contained in:
@ -16,12 +16,12 @@ from codes.common import clibs
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class ModbusRequest(QThread):
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output = Signal(str, str)
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def __init__(self, ip, port, /):
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super().__init__()
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self.ip = ip
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self.port = port
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self.c = None
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self.logger = clibs.logger
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def net_conn(self):
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self.logger("INFO", "openapi", f"Modbus 正在连接中，需要配置设备，这可能需要一点时间......", "blue")
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@ -30,21 +30,11 @@ class ModbusRequest(QThread):
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if self.c.connect():
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self.logger("INFO", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) success!", "green")
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else:
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self.logger("ERROR", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed!", "red", "MdConnFailed")
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def logger(self, level, module, content, color="black", error="", flag="both"):
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flag = "cursor" if level.upper() == "DEBUG" else "both"
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clibs.logger(level, module, content, color, flag, signal=self.output)
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if level.upper() == "ERROR":
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raise Exception(f"{error} | {content}")
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self.logger("ERROR", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed!", "red")
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def close(self):
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if self.c.connect():
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try:
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self.c.close()
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self.logger("INFO", "openapi", f"modbus: 关闭 Modbus 连接成功", "green")
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except Exception as err:
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self.logger("ERROR", "openapi", f"modbus: 关闭 Modbus 连接失败：{err}", "red", "MdCloseFailed")
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self.c.close()
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self.logger("INFO", "openapi", f"modbus: 关闭 Modbus 连接成功", "green")
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def __reg_high_pulse(self, addr: int) -> None:
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self.c.write_register(addr, 0)
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@ -344,7 +334,6 @@ class HmiRequest(QThread):
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self.__port = port
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self.__port_xs = port_xs
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self.__close_hmi = False
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self.__is_connected = False
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self.__index = 0
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self.__previous_data = b""
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self.__valid_data_length = 0
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@ -357,12 +346,10 @@ class HmiRequest(QThread):
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self.__half_pkg_flag = False
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self.__is_first_frame = True
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self.__is_debug = True
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self.logger = clibs.logger
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def net_conn(self):
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self.__socket_conn()
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self.__t_heartbeat = threading.Thread(target=self.__heartbeat)
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self.__t_heartbeat.daemon = True
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self.__t_heartbeat.start()
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self.__t_unpackage = threading.Thread(target=self.__unpackage, args=(self.c,))
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self.__t_unpackage.daemon = True
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self.__t_unpackage.start()
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@ -370,30 +357,13 @@ class HmiRequest(QThread):
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self.__t_unpackage_xs.daemon = True
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self.__t_unpackage_xs.start()
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def logger(self, level, module, content, color="black", error="", flag="both"):
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flag = "cursor" if level.upper() == "DEBUG" else "both"
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clibs.logger(level, module, content, color, flag, signal=self.output)
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if level.upper() == "ERROR":
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raise Exception(f"{error} | {content}")
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@property
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def status(self):
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return self.__is_connected
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def close(self):
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if self.__is_connected:
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try:
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self.__is_connected = False
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time.sleep(clibs.INTERVAL/2)
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self.c.close()
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self.c_xs.close()
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clibs.status["hmi"] = 0
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self.logger("INFO", "openapi", f"hmi: 关闭 Socket 连接成功", "green")
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except Exception as err:
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self.logger("ERROR", "openapi", f"hmi: 关闭 Socket 连接失败 {err}", "red", "HmiCloseFailed")
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self.c.close()
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self.c_xs.close()
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self.logger("INFO", "openapi", f"hmi: 关闭 Socket 连接成功", "green")
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def __socket_conn(self):
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self.close()
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# self.close()
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try:
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self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.c.settimeout(clibs.INTERVAL*5)
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@ -405,16 +375,11 @@ class HmiRequest(QThread):
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state = None
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for i in range(3):
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_ = self.execution("controller.heart")
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time.sleep(clibs.INTERVAL/2)
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self.__is_connected = True
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time.sleep(clibs.INTERVAL/4)
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clibs.status["hmi"] = 1
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self.logger("INFO", "openapi", "hmi: HMI connection success...", "green")
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except Exception as err:
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self.logger("ERROR", "openapi", f"hmi: HMI connection timeout...", "red", "HmiConnTimeout")
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def __heartbeat(self):
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while self.__is_connected:
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self.execution("controller.heart")
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time.sleep(clibs.INTERVAL*2)
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except Exception:
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self.logger("ERROR", "openapi", f"hmi: HMI connection failed...", "red")
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@staticmethod
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def package(cmd):
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@ -439,13 +404,13 @@ class HmiRequest(QThread):
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try:
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sel = selectors.DefaultSelector()
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sel.register(sock, selectors.EVENT_READ, to_read)
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while self.__is_connected:
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while clibs.status["hmi"]:
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events = sel.select()
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for key, mask in events:
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callback = key.data
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callback(key.fileobj, mask)
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except Exception as Err:
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self.logger("DEBUG", "openapi", f"hmi: 老协议解包报错 {Err}", "red", "UnpackageFailed")
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except Exception as err:
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self.logger("DEBUG", "openapi", f"hmi: 老协议解包报错 err = {err}")
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def __get_headers(self, index, data):
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if index + 8 < len(data):
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@ -458,7 +423,7 @@ class HmiRequest(QThread):
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else:
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# print("hr-get_headers: 解包数据有误，需要确认！")
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# print(data)
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self.logger("ERROR", "openapi", f"hmi: 解包数据有误，需要确认，最后一个数据包如下 {data}")
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self.logger("ERROR", "openapi", f"hmi: 解包数据有误，需要确认，最后一个数据包如下 {data}", "red")
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else:
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self.__half_pkg = data[index:]
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self.__half_pkg_flag = True
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@ -681,7 +646,7 @@ class HmiRequest(QThread):
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# if self.__valid_data_length < 0 or self.__leftovers > 1024:
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# print(f"data = {data}")
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# raise Exception("DataError")
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self.logger("ERROR", "openapi", "hmi: Will never be here", "red", "WillNeverBeHere")
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self.logger("ERROR", "openapi", "hmi: will never be here", "red")
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@staticmethod
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def package_xs(cmd):
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@ -701,13 +666,13 @@ class HmiRequest(QThread):
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sel = selectors.DefaultSelector()
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sel.register(sock, selectors.EVENT_READ, to_read)
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while self.__is_connected:
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while clibs.status["hmi"]:
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events = sel.select()
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for key, mask in events:
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callback = key.data
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callback(key.fileobj, mask)
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except Exception as err:
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self.logger("DEBUG", "openapi", f"hmi: xService解包报错 {err}", "red", "XsUnpackageFailed")
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self.logger("DEBUG", "openapi", f"hmi: xService解包报错 err = {err}")
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def get_response_xs(self, data):
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char, response = "", self.__response_xs
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@ -721,7 +686,6 @@ class HmiRequest(QThread):
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else:
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self.__response_xs = response
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@clibs.handle_exception
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def get_from_id(self, msg_id):
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f_text, flag, records, time_delay, ts = f"%{msg_id}%", False, "Null", clibs.INTERVAL*10, msg_id.split("@")[-1]
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t = ts.replace("T", " ")
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@ -740,7 +704,7 @@ class HmiRequest(QThread):
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if flag is True:
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return records
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else:
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self.logger("ERROR", "openapi", f"hmi: {time_delay}s内无法找到请求 {msg_id} 的响应！", "red", "ResponseNotFound")
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self.logger("ERROR", "openapi", f"hmi: {time_delay}s内无法找到请求 {msg_id} 的响应！", "red")
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def execution(self, command, **kwargs):
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req = None
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@ -752,7 +716,7 @@ class HmiRequest(QThread):
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flag = req["p_type"]
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del req["p_type"]
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except Exception as err:
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self.logger("ERROR", "openapi", f"hmi: 暂不支持 {command} 功能，或确认该功能存在... {err}", "red", "CommandNotSupport")
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self.logger("ERROR", "openapi", f"hmi: 暂不支持 {command} 功能，或确认该功能存在...<br>err = {err}", "red")
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match command:
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case "state.set_tp_mode" | "overview.set_autoload" | "overview.reload" | "rl_task.pp_to_main" | "rl_task.run" | "rl_task.stop" | "rl_task.set_run_params" | "diagnosis.set_params" | "diagnosis.open" | "drag.set_params" | "controller.set_params" | "collision.set_state" | "collision.set_params" | "move.set_quickstop_distance" | "move.set_params" | "move.set_monitor_cfg" | "modbus.get_values" | "modbus.set_params" | "system_io.update_configuration" | "diagnosis.get_params" | "jog.set_params" | "jog.start" | "move.stop" | "move.quick_turn" | "move.set_quickturn_pos" | "soft_limit.set_params" | "fieldbus_device.set_params" | "socket.set_params" | "diagnosis.save" | "register.set_value":
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@ -768,17 +732,19 @@ class HmiRequest(QThread):
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cmd = json.dumps(req, separators=(",", ":"))
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try:
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self.c.send(self.package(cmd))
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time.sleep(clibs.INTERVAL/4)
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time.sleep(clibs.INTERVAL/4) # 这里一定是要等几百毫秒的，避免多指令同一时间发送，导致xCore不响应
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self.logger("DEBUG", "openapi", f"hmi: 老协议请求发送成功 {cmd}")
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except Exception as err:
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self.logger("ERROR", "openapi", f"hmi: 老协议请求发送失败 {cmd}，报错信息 {err}", "red", "CommandSendFailed")
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if "controller.heart" in cmd:
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raise Exception()
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self.logger("ERROR", "openapi", f"hmi: 老协议请求发送失败 {cmd}，报错信息 {err}", "red")
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elif flag == 1:
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try:
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self.c_xs.send(self.package_xs(req))
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time.sleep(clibs.INTERVAL/4)
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self.logger("DEBUG", "openapi", f"hmi: xService请求发送成功 {req}")
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except Exception as Err:
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self.logger("ERROR", "openapi", f"hr: xService请求发送失败 {req} 报错信息 {Err}", "red", "CommandSendFailed")
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except Exception as err:
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self.logger("ERROR", "openapi", f"hr: xService请求发送失败 {req} 报错信息 {err}", "red")
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return req["id"]
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@ -796,7 +762,7 @@ class HmiRequest(QThread):
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case "off":
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self.execution("state.switch_motor_off")
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case _:
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self.logger("ERROR", "openapi", f"hmi: switch_motor_state 参数错误 {state}， 非法参数，只接受 on/off", "red", "ArgumentError")
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self.logger("ERROR", "openapi", f"hmi: switch_motor_state 参数错误 {state}， 非法参数，只接受 on/off", "red")
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def switch_operation_mode(self, mode: str): # OK
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"""
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@ -810,7 +776,7 @@ class HmiRequest(QThread):
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case "manual":
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self.execution("state.switch_manual")
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case _:
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self.logger("ERROR", "openapi", f"hmi: switch_operation_mode 参数错误 {mode}，非法参数，只接受 auto/manual", "red", "ArgumentError")
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self.logger("ERROR", "openapi", f"hmi: switch_operation_mode 参数错误 {mode}，非法参数，只接受 auto/manual", "red")
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def reload_project(self, prj_name: str, tasks: list): # OK
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"""
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@ -887,7 +853,7 @@ class HmiRequest(QThread):
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self.__sth_wrong("3min 内未能完成重新连接，需要查看后台控制器是否正常启动，或者 ip/port 是否正确")
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break
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for _ in range(3):
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if not self.__is_connected:
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if not clibs.status["hmi"]:
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break
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time.sleep(2)
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else:
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@ -1517,7 +1483,7 @@ class HmiRequest(QThread):
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case "without":
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self.execution("state.set_tp_mode", tp_mode="without")
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case _:
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self.logger("ERROR", "openapi", f"hmi: switch_tp_mode 参数错误{mode}， 非法参数，只接受 with/without", "red", "ArgumentError")
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self.logger("ERROR", "openapi", f"hmi: switch_tp_mode 参数错误{mode}， 非法参数，只接受 with/without", "red")
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@property
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def get_tp_mode(self): # OK
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@ -1772,8 +1738,6 @@ class HmiRequest(QThread):
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class ExternalCommunication(QThread):
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output = Signal(str, str)
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def __init__(self, ip, port, /):
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super().__init__()
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self.c = None
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@ -1781,34 +1745,32 @@ class ExternalCommunication(QThread):
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self.port = int(port)
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self.suffix = "\r"
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self.exec_desc = " :--: 返回 true 表示执行成功，false 失败"
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def logger(self, level, module, content, color="black", error="", flag="both"):
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flag = "cursor" if level.upper() == "DEBUG" else "both"
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clibs.logger(level, module, content, color, flag, signal=self.output)
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if level.upper() == "ERROR":
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raise Exception(f"{error} | {content}")
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self.logger = clibs.logger
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def net_conn(self):
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# clibs.c_hr.execution("socket.set_params", enable=False, ip="0.0.0.0", port=str(self.port), suffix="\r", type=1)
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# time.sleep(clibs.INTERVAL)
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clibs.c_hr.execution("socket.set_params", enable=False, ip="0.0.0.0", port=str(self.port), suffix="\r", type=1)
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time.sleep(clibs.INTERVAL)
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clibs.c_hr.execution("socket.set_params", enable=True, ip="0.0.0.0", port=str(self.port), suffix="\r", type=1)
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time.sleep(clibs.INTERVAL*2)
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# time.sleep(clibs.INTERVAL*2)
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self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.c.settimeout(clibs.INTERVAL*5)
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try:
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self.c.connect((self.ip, self.port))
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self.logger("INFO", "openapi", f"ec: 外部通信连接成功...", "green")
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return self.c
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# return self.c
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except Exception as err:
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self.logger("ERROR", "openapi", f"ec: 外部通信连接失败... {err}", "red", "EcConnFailed")
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self.logger("ERROR", "openapi", f"ec: 外部通信连接失败... {err}", "red")
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def close(self):
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if clibs.status["ec"]:
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try:
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self.c.close()
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self.logger("INFO", "openapi", f"ec: 关闭外部通信连接成功", "green")
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except Exception as err:
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self.logger("ERROR", "openapi", f"ec: 关闭外部通信连接失败：{err}", "red", "EcCloseFailed")
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self.c.close()
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self.logger("INFO", "openapi", f"ec: 关闭外部通信连接成功", "green")
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@clibs.db_lock
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def sr_string(self, directive, interval=clibs.INTERVAL/2):
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self.s_string(directive)
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time.sleep(interval)
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result = self.r_string(directive)
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return result
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def s_string(self, directive):
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order = "".join([directive, self.suffix])
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@ -1820,7 +1782,7 @@ class ExternalCommunication(QThread):
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try:
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char = self.c.recv(1).decode(encoding="unicode_escape")
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except Exception as err:
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self.logger("ERROR", "openapi", f"ec: 获取请求指令 {directive} 的返回数据超时，需确认指令发送格式以及内容正确！具体报错信息如下 {err}", "red", "RecvMsgFailed")
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self.logger("ERROR", "openapi", f"ec: 获取请求指令 {directive} 的返回数据超时，需确认指令发送格式以及内容正确！具体报错信息如下 {err}", "red")
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result = "".join([result, char])
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return result
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@ -2057,7 +2019,7 @@ class ExternalCommunication(QThread):
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def __exec_cmd(self, directive, description, more_desc=""):
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self.s_string(directive)
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time.sleep(clibs.INTERVAL)
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time.sleep(clibs.INTERVAL/2)
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result = self.r_string(directive).strip()
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self.logger("DEBUG", "openapi", f"ec: 执行{description}指令是 {directive}，返回值为 {result}{more_desc}")
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return result
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@ -2082,7 +2044,6 @@ class PreDos(object):
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print(f"predos: SSH 无法连接到 {self.ip}:{self.ssh_port}，需检查网络连通性或者登录信息是否正确 {err}")
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raise Exception("SshConnFailed")
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@clibs.handle_exception
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def push_prj_to_server(self, prj_file):
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# prj_file：本地工程完整路径
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self.__ssh2server()
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@ -2151,7 +2112,6 @@ class PreDos(object):
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class RobotInit(object):
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@staticmethod
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@clibs.handle_exception
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def modbus_init():
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clibs.c_pd = PreDos(clibs.ip_addr, clibs.ssh_port, clibs.username, clibs.password)
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# 推送配置文件
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