主要修复外部通信相关问题，以及使调用方式和其他功能相同
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35884b2247
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@ -765,7 +765,7 @@ class HmiRequest(object):
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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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clibs.logger.error(f"switch_motor_state 参数错误\n{state}: 非法参数，只接受 on/off")
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clibs.logger.error(f"switch_motor_state 参数错误 {state}: 非法参数，只接受 on/off")
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def switch_operation_mode(self, mode: str):
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"""
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@ -779,7 +779,7 @@ class HmiRequest(object):
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case "manual":
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self.execution("state.switch_manual")
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case _:
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clibs.logger.error("switch_operation_mode 参数错误\n非法参数，只接受 auto/manual")
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clibs.logger.error("switch_operation_mode 参数错误 非法参数，只接受 auto/manual")
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def reload_project(self, prj_name: str, tasks: list):
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"""
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@ -1482,7 +1482,7 @@ class HmiRequest(object):
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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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clibs.logger.error("switch_tp_mode 参数错误\n非法参数，只接受 with/without")
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clibs.logger.error("switch_tp_mode 参数错误 非法参数，只接受 with/without")
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def get_tp_mode(self):
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"""
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@ -1719,15 +1719,16 @@ class ExternalCommunication(object):
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def __init__(self):
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self.__c = None
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self.suffix = "\r"
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self.socket_client()
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def socket_client(self):
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self.__c = socket(AF_INET, SOCK_STREAM)
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try:
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self.__c.connect((clibs.ip_addr, clibs.socket_port))
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self.__c.connect((clibs.ip_addr, clibs.external_port))
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clibs.logger.success(f"外部通信连接成功...")
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return self.__c
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except Exception as Err:
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clibs.logger.error(f"外部通信连接失败...\n{Err}")
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clibs.logger.error(f"外部通信连接失败... {Err}")
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def s_string(self, directive):
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order = "".join([directive, self.suffix])
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@ -1797,19 +1798,19 @@ class ExternalCommunication(object):
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def pause_motoroff(self):
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return self.__exec_cmd("pause_motoroff", "暂停程序并下电")
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def set_program_speed(self, speed):
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def set_program_speed(self, speed: int):
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return self.__exec_cmd(f"set_program_speed:{speed}", "设置程序运行速率")
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def trigger_soft_estop(self):
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return self.__exec_cmd("soft_estop", "触发机器人软急停")
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def set_soft_estop(self, enable: str):
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return self.__exec_cmd(f"set_soft_estop:{enable}", "触发(true)/解除(false)机器人软急停")
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def switch_auto_motoron(self):
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return self.__exec_cmd("switch_auto_motoron", "切换自动模式并上电")
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def open_safe_region(self, number):
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def open_safe_region(self, number: int):
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return self.__exec_cmd(f"open_safe_region:{number}", f"打开第 {number} 个安全区域")
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def close_safe_region(self, number):
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def close_safe_region(self, number: int):
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return self.__exec_cmd(f"close_safe_region:{number}", f"打开第 {number} 个安全区域")
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def open_reduced_mode(self):
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@ -1818,8 +1819,8 @@ class ExternalCommunication(object):
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def close_reduced_mode(self):
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return self.__exec_cmd("close_reduced_mode", "关闭缩减模式")
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def setDO_value(self, DO, value):
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return self.__exec_cmd(f"setdo:{DO}, {value}", f"设置 {DO} 的值为 {value}")
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def setdo_value(self, do_name, do_value):
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return self.__exec_cmd(f"setdo:{do_name}, {do_value}", f"设置 {do_name} 的值为 {do_value}")
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def modify_system_time(self, robot_time):
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return self.__exec_cmd(f"set_robot_time:{robot_time}", f"修改控制器和示教器的时间为 {robot_time}")
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@ -1847,25 +1848,25 @@ class ExternalCommunication(object):
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return self.__exec_cmd("collision_state", "碰撞检测状态")
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def task_state(self):
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return self.__exec_cmd("collision_state", "获取机器人运行任务状态")
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return self.__exec_cmd("task_state", "获取机器人运行任务状态")
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def get_cart_pos(self): # TBD
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return self.__exec_cmd("cart_pos/cart_pos_name", "获取笛卡尔位置")
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def get_cart_pos(self): # cart_pos/cart_pos_name 都可以正常返回，区别在返回的前缀，可测试辨别
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return self.__exec_cmd("cart_pos", "获取笛卡尔位置")
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def get_joint_pos(self): # TBD
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return self.__exec_cmd("jnt_pos/jnt_pos_name", "获取轴位置")
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def get_joint_pos(self): # jnt_pos/jnt_pos_name 都可以正常返回，区别在返回的前缀，可测试辨别
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return self.__exec_cmd("jnt_pos", "获取轴位置")
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def get_axis_vel(self): # TBD
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return self.__exec_cmd("jnt_vel/jnt_vel_name", "获取轴速度")
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def get_axis_vel(self): # jnt_vel/jnt_vel_name 都可以正常返回，区别在返回的前缀，可测试辨别
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return self.__exec_cmd("jnt_vel", "获取轴速度")
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def get_axis_trq(self): # TBD
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return self.__exec_cmd("jnt_trq/jnt_trq_name", "获取轴力矩")
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def get_axis_trq(self): # jnt_trq/jnt_trq_name 都可以正常返回，区别在返回的前缀，可测试辨别
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return self.__exec_cmd("jnt_trq", "获取轴力矩")
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def reduced_mode_state(self):
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return self.__exec_cmd("reduced_mode_state", "获取缩减模式状态")
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def get_io_state(self, io_list):
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return self.__exec_cmd(f"io_state:{io_list}", "获取 IO 状态")
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def get_io_state(self, io_list: str): # DO0_0,DI1_3,DO2_5，不能有空格
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return self.__exec_cmd(f"io_state:{io_list}", "获取 IO 状态值")
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def alarm_state(self):
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return self.__exec_cmd("alarm_state", "获取报警状态")
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@ -1946,7 +1947,7 @@ class PreDos(object):
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self.__ssh.connect(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password)
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self.__sftp = self.__ssh.open_sftp()
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except Exception as Err:
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clibs.logger.error(f"SSH 无法连接到 {clibs.ip_addr}:{clibs.ssh_port}，需检查网络连通性或者登录信息是否正确。\n{Err}")
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clibs.logger.error(f"SSH 无法连接到 {clibs.ip_addr}:{clibs.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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exit(110)
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def push_prj_to_server(self, prj_file):
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