From 78fd7ccbc961af82ba8471f5aed2b84caec9a5de Mon Sep 17 00:00:00 2001 From: gitea Date: Thu, 3 Oct 2024 19:48:06 +0800 Subject: [PATCH] fix some bugs --- assets/configs/registers.json | 120 +++++++++++++++++++++ assets/configs/registers.xml | 190 ++++++++++++++++++++++++++++++++++ code/common.py | 10 +- code/openapi.py | 17 ++- 4 files changed, 331 insertions(+), 6 deletions(-) diff --git a/assets/configs/registers.json b/assets/configs/registers.json index 18e1508..f4539a1 100644 --- a/assets/configs/registers.json +++ b/assets/configs/registers.json @@ -234,6 +234,126 @@ "name": "r_safe_region03", "retain": false, "type": "bool" + }, + { + "addr": 40100, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_0", + "retain": false, + "type": "bool" + }, + { + "addr": 40101, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_1", + "retain": false, + "type": "bool" + }, + { + "addr": 40102, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_2", + "retain": false, + "type": "bool" + }, + { + "addr": 40103, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_3", + "retain": false, + "type": "bool" + }, + { + "addr": 40104, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_4", + "retain": false, + "type": "bool" + }, + { + "addr": 40105, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_5", + "retain": false, + "type": "bool" + }, + { + "addr": 40106, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_6", + "retain": false, + "type": "bool" + }, + { + "addr": 40107, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_7", + "retain": false, + "type": "bool" + }, + { + "addr": 40108, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_8", + "retain": false, + "type": "bool" + }, + { + "addr": 40109, + "addr_1st": 0, + "addr_2nd": 0, + "bit_bias": 0, + "byte_bias": 0, + "function": "", + "len": 1, + "name": "signal_9", + "retain": false, + "type": "bool" } ], "rdwr": [ diff --git a/assets/configs/registers.xml b/assets/configs/registers.xml index 106cfc6..4d079df 100644 --- a/assets/configs/registers.xml +++ b/assets/configs/registers.xml @@ -361,6 +361,196 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/code/common.py b/code/common.py index aef6e1e..9c9ba81 100644 --- a/code/common.py +++ b/code/common.py @@ -28,7 +28,7 @@ def initialization(): pd.push_file_to_server(config_file, f"{user_settings}/{filename}") pd.push_file_to_server(config_file, f"{interactive_data}/{filename}") - io_device_autotest = {'ai_num': 0, 'ao_num': 0, 'di_num': 16, 'do_num': 16, 'extend_attr': {'mode': 'slaver', 'name': 'autotest', 'type': 'MODBUS'}, 'id': 7, 'name': 'autotest', 'type': 6} + io_device_autotest = {"ai_num": 0, "ao_num": 0, "di_num": 16, "do_num": 16, "extend_attr": {"mode": "slaver", "name": "autotest", "type": "MODBUS"}, "id": 7, "name": "autotest", "type": 6} io_device_file_local = f"..\\assets\\configs\\{io_device_file}" io_device_file_local_tmp = f"..\\assets\\configs\\{io_device_file}_tmp" io_device_file_remote = f"{user_settings}/{io_device_file}" @@ -84,8 +84,9 @@ def initialization(): ec.modify_system_time(time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))) # 关闭拖动 - clibs.logger.info("关闭拖动模式...") - hr.set_drag_params(False, 1, 2) + if robot_type.upper()[:2] not in ["XB", "NB"]: + clibs.logger.info("关闭拖动模式...") + hr.set_drag_params(False, 1, 2) # 关闭碰撞检测 clibs.logger.info("关闭碰撞检测...") @@ -114,4 +115,5 @@ def initialization(): md.r_clear_alarm() -initialization() +if __name__ == "__main__": + initialization() diff --git a/code/openapi.py b/code/openapi.py index 4283830..cd26aa1 100644 --- a/code/openapi.py +++ b/code/openapi.py @@ -139,6 +139,13 @@ class ModbusRequest(object): clibs.logger.info(f"40018-{action} 执行{actions}安全区 safe region 03") sleep(clibs.interval) + def r_write_signals(self, addr: int, value): # OK | 40100 - 40109: signal_0 ~ signal_9 + if -1 < addr < 10 and addr.is_integer(): + self.__c.write_register(40100+addr, value) + clibs.logger.info(f"{40100+addr}-{value} 将寄存器 signal_{addr} 赋值为 {value}") + else: + clibs.logger.error(f"{40100+addr}-{value} 地址错误，无法赋值！") + @property def w_alarm_state(self): # OK res = self.__c.read_holding_registers(40500, 1).registers[0] @@ -418,7 +425,10 @@ class HmiRequest(object): return res.get("data", f"{msg_id} has no data item") sleep(clibs.interval*2) else: # 尝试在上一次分割的日志中查找，只做一次 - res = find_response("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]])) + try: + res = find_response("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]])) + except IndexError: + res = None if res is not None: return res.get("data", f"{msg_id} has no data item") elif flag == 1: @@ -428,7 +438,10 @@ class HmiRequest(object): return res sleep(clibs.interval*2) else: - res = find_response_xs("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]])) + try: + res = find_response_xs("".join([clibs.log_path, sorted(listdir(clibs.log_path))[-3]])) + except IndexError: + res = None if res is not None: return res self.__sth_wrong(11, f"无法找到请求 {msg_id} 的返回结果")