From 57d9da7bc74f0dd14b281017eea5a3847ee5483b Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 20 Sep 2024 15:47:07 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=BB=E8=A6=81=E4=BF=AE=E5=A4=8D=E5=A4=96?= =?UTF-8?q?=E9=83=A8=E9=80=9A=E4=BF=A1=E7=9B=B8=E5=85=B3=E9=97=AE=E9=A2=98?= =?UTF-8?q?=EF=BC=8C=E4=BB=A5=E5=8F=8A=E4=BD=BF=E8=B0=83=E7=94=A8=E6=96=B9?= =?UTF-8?q?=E5=BC=8F=E5=92=8C=E5=85=B6=E4=BB=96=E5=8A=9F=E8=83=BD=E7=9B=B8?= =?UTF-8?q?=E5=90=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- code/openapi.py | 49 +++++++++++++++++++++++++------------------------ 1 file changed, 25 insertions(+), 24 deletions(-) diff --git a/code/openapi.py b/code/openapi.py index dec4b83..76cc699 100644 --- a/code/openapi.py +++ b/code/openapi.py @@ -765,7 +765,7 @@ class HmiRequest(object): case "off": self.execution("state.switch_motor_off") case _: - clibs.logger.error(f"switch_motor_state 参数错误\n{state}: 非法参数，只接受 on/off") + clibs.logger.error(f"switch_motor_state 参数错误 {state}: 非法参数，只接受 on/off") def switch_operation_mode(self, mode: str): """ @@ -779,7 +779,7 @@ class HmiRequest(object): case "manual": self.execution("state.switch_manual") case _: - clibs.logger.error("switch_operation_mode 参数错误\n非法参数，只接受 auto/manual") + clibs.logger.error("switch_operation_mode 参数错误 非法参数，只接受 auto/manual") def reload_project(self, prj_name: str, tasks: list): """ @@ -1482,7 +1482,7 @@ class HmiRequest(object): case "without": self.execution("state.set_tp_mode", tp_mode="without") case _: - clibs.logger.error("switch_tp_mode 参数错误\n非法参数，只接受 with/without") + clibs.logger.error("switch_tp_mode 参数错误 非法参数，只接受 with/without") def get_tp_mode(self): """ @@ -1719,15 +1719,16 @@ class ExternalCommunication(object): def __init__(self): self.__c = None self.suffix = "\r" + self.socket_client() def socket_client(self): self.__c = socket(AF_INET, SOCK_STREAM) try: - self.__c.connect((clibs.ip_addr, clibs.socket_port)) + self.__c.connect((clibs.ip_addr, clibs.external_port)) clibs.logger.success(f"外部通信连接成功...") return self.__c except Exception as Err: - clibs.logger.error(f"外部通信连接失败...\n{Err}") + clibs.logger.error(f"外部通信连接失败... {Err}") def s_string(self, directive): order = "".join([directive, self.suffix]) @@ -1797,19 +1798,19 @@ class ExternalCommunication(object): def pause_motoroff(self): return self.__exec_cmd("pause_motoroff", "暂停程序并下电") - def set_program_speed(self, speed): + def set_program_speed(self, speed: int): return self.__exec_cmd(f"set_program_speed:{speed}", "设置程序运行速率") - def trigger_soft_estop(self): - return self.__exec_cmd("soft_estop", "触发机器人软急停") + def set_soft_estop(self, enable: str): + return self.__exec_cmd(f"set_soft_estop:{enable}", "触发(true)/解除(false)机器人软急停") def switch_auto_motoron(self): return self.__exec_cmd("switch_auto_motoron", "切换自动模式并上电") - def open_safe_region(self, number): + def open_safe_region(self, number: int): return self.__exec_cmd(f"open_safe_region:{number}", f"打开第 {number} 个安全区域") - def close_safe_region(self, number): + def close_safe_region(self, number: int): return self.__exec_cmd(f"close_safe_region:{number}", f"打开第 {number} 个安全区域") def open_reduced_mode(self): @@ -1818,8 +1819,8 @@ class ExternalCommunication(object): def close_reduced_mode(self): return self.__exec_cmd("close_reduced_mode", "关闭缩减模式") - def setDO_value(self, DO, value): - return self.__exec_cmd(f"setdo:{DO}, {value}", f"设置 {DO} 的值为 {value}") + def setdo_value(self, do_name, do_value): + return self.__exec_cmd(f"setdo:{do_name}, {do_value}", f"设置 {do_name} 的值为 {do_value}") def modify_system_time(self, robot_time): 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}") @@ -1847,25 +1848,25 @@ class ExternalCommunication(object): return self.__exec_cmd("collision_state", "碰撞检测状态") def task_state(self): - return self.__exec_cmd("collision_state", "获取机器人运行任务状态") + return self.__exec_cmd("task_state", "获取机器人运行任务状态") - def get_cart_pos(self): # TBD - return self.__exec_cmd("cart_pos/cart_pos_name", "获取笛卡尔位置") + 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 + return self.__exec_cmd("cart_pos", "获取笛卡尔位置") - def get_joint_pos(self): # TBD - return self.__exec_cmd("jnt_pos/jnt_pos_name", "获取轴位置") + 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 + return self.__exec_cmd("jnt_pos", "获取轴位置") - def get_axis_vel(self): # TBD - return self.__exec_cmd("jnt_vel/jnt_vel_name", "获取轴速度") + 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 + return self.__exec_cmd("jnt_vel", "获取轴速度") - def get_axis_trq(self): # TBD - return self.__exec_cmd("jnt_trq/jnt_trq_name", "获取轴力矩") + 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 + return self.__exec_cmd("jnt_trq", "获取轴力矩") def reduced_mode_state(self): return self.__exec_cmd("reduced_mode_state", "获取缩减模式状态") - def get_io_state(self, io_list): - return self.__exec_cmd(f"io_state:{io_list}", "获取 IO 状态") + def get_io_state(self, io_list: str): # DO0_0,DI1_3,DO2_5，不能有空格 + return self.__exec_cmd(f"io_state:{io_list}", "获取 IO 状态值") def alarm_state(self): return self.__exec_cmd("alarm_state", "获取报警状态") @@ -1946,7 +1947,7 @@ class PreDos(object): self.__ssh.connect(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password) self.__sftp = self.__ssh.open_sftp() except Exception as Err: - 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}") + 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}") exit(110) def push_prj_to_server(self, prj_file):