update sys io conf

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": [

assets/configs/registers.xml

@@ -361,6 +361,196 @@
         <c name="value"/>
         <c name="value_single" type="10" value=""/>
     </l>
+    <l>
+        <c name="addr" type="2" value="40100"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40100"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_0"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40101"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40101"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_1"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40102"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40102"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_2"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40103"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40103"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_3"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40104"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40104"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_4"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40105"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40105"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_5"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40106"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40106"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_6"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40107"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40107"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_7"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40108"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40108"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_8"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40109"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40109"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_9"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
     <l>
         <c name="addr" type="2" value="40500"/>
         <c name="addr_1st" type="2" value="0"/>

assets/configs/requirements.txt

@@ -0,0 +1,3 @@
+loguru==0.7.2
+paramiko==3.5.0
+pymodbus==3.7.2

code/clibs.py

@@ -16,6 +16,7 @@ password = "luoshi2019"  # for real robot
 xService_port = 6666
 external_port = 8080
 modbus_port = 502
+upgrade_port = 4567
 interval = 0.5  # interval after actions being triggered, such as modbus/socket/external communication operations
 heartbeat_interval = 2
 RADIAN = 57.3  # 180 / 3.1415926

code/common.py

@@ -1,7 +1,13 @@
+import os.path
+import socket
 import time
 import openapi
 import json
 import clibs
+from socket import *
+from ctypes import *
+import hashlib
+import struct
 
 
 def initialization():
@@ -28,7 +34,7 @@ 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}"
@@ -66,6 +72,10 @@ def initialization():
     # 关闭缩减模式
     md.r_reduced_mode(0)
 
+    # 打开软限位
+    clibs.logger.info("打开软限位开关...")
+    hr.set_soft_limit_params(enable=True)
+
     # 关闭安全区域
     clibs.logger.info("正在关闭所有的安全区，并关闭总使能开关...")
     hr.set_safety_area_overall(False)
@@ -73,13 +83,16 @@ def initialization():
     for i in range(10):
         hr.set_safety_area_enable(i, False)
 
-    # 打开外部通信
+    # 打开外部通信，并设置控制器时间同步
     clibs.logger.info("配置并打开外部通信，默认服务器，8080端口，后缀为 \"\\r\"...")
     hr.set_socket_params(True, "8080", "\r", 1)
+    ec = openapi.ExternalCommunication()
+    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...")
+    if robot_type.upper()[:2] not in ["XB", "NB"]:
-    hr.set_drag_params(False, 1, 2)
+        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...")
@@ -108,4 +121,190 @@ def initialization():
     md.r_clear_alarm()
 
 
-initialization()
+def fw_updater(local_file_path):
+    fw_size = os.path.getsize(local_file_path)
+    if fw_size > 10000000:
+        # get previous version of xCore
+        hr = openapi.HmiRequest()
+        version_previous = hr.get_robot_params["version"]
+        hr.close()
+
+    # var def
+    remote_file_path = './upgrade/lircos.zip'
+    fw_content = bytearray()
+    package_data = bytearray()
+    package_data_with_head = bytearray()
+
+    # socket connect
+    clibs.logger.info(f"正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...")
+    try:
+        tcp_socket = socket(AF_INET, SOCK_STREAM)
+        tcp_socket.connect((clibs.ip_addr, clibs.upgrade_port))
+        tcp_socket.setblocking(True)
+    except Exception as Err:
+        clibs.logger.error(f"{Err} | 连接 {clibs.ip_addr}:{clibs.upgrade_port} 失败...")
+        exit(1)
+
+    # get firmware content of binary format
+    clibs.logger.info(f"正在读取 {local_file_path} 文件内容...")
+    with open(local_file_path, 'rb') as f_fw:
+        fw_content += f_fw.read()
+
+    # construct package data: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634148
+    clibs.logger.info("正在构造数据包，以及包头...")
+    # 1 protocol id
+    protocol_id = c_ushort(htons(0))  # 2 bytes
+    package_data += protocol_id
+
+    # 2 write type
+    write_type = c_ubyte(0)
+    package_data += bytes(write_type)
+
+    # 3 md5
+    md5_hash = hashlib.md5()
+    md5_hash.update(fw_content)
+    fw_md5 = md5_hash.hexdigest()
+    i = 0
+    while i < len(fw_md5):
+        _ = (fw_md5[i:i + 2])
+        package_data += bytes.fromhex(_)
+        i += 2
+
+    # 4 remote path len
+    remote_file_path_len = c_ushort(htons(len(remote_file_path)))
+    package_data += remote_file_path_len
+
+    # 5 remote path
+    package_data += remote_file_path.encode("ascii")
+
+    # 6 file
+    package_data += fw_content
+
+    # construct communication protocol: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634045
+    # 1 get package data with header
+    package_size = c_uint(htonl(len(package_data)))
+    package_type = c_ubyte(1)  # 0-无协议 1-文件 2-json
+    package_reserve = c_ubyte(0)  # 预留位
+
+    package_data_with_head += package_size
+    package_data_with_head += package_type
+    package_data_with_head += package_reserve
+    package_data_with_head += package_data
+
+    # 2 send data to server
+    clibs.logger.info("正在发送数据到 xCore，升级控制器无需重启，升级配置文件会自动软重启...")
+    start = 0
+    len_of_package = len(package_data_with_head)
+    while start < len_of_package:
+        end = 10240 + start
+        if end > len_of_package:
+            end = len_of_package
+        sent = tcp_socket.send((package_data_with_head[start:end]))
+        time.sleep(0.01)
+        if sent == 0:
+            raise RuntimeError("socket connection broken")
+        else:
+            start += sent
+
+    waited = 5 if fw_size > 10000000 else 25
+    time.sleep(waited)
+
+    if fw_size > 10000000:
+        # get current version of xCore
+        hr = openapi.HmiRequest()
+        version_current = hr.get_robot_params["version"]
+        hr.close()
+
+        clibs.logger.info(f"控制器升级成功：from {version_previous} to {version_current} :)")
+    else:
+        clibs.logger.info(f"配置文件升级成功 :)")
+
+    tcp_socket.close()
+
+
+class UpgradeJsonCmd(object):
+    def __init__(self):
+        self.__c = None
+        self.__sock_conn()
+
+    def __sock_conn(self):
+        # socket connect
+        clibs.logger.info(f"正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...")
+        try:
+            self.__c = socket(AF_INET, SOCK_STREAM)
+            self.__c.connect((clibs.ip_addr, clibs.upgrade_port))
+            self.__c.setblocking(True)
+            self.__c.settimeout(3)
+        except Exception as Err:
+            clibs.logger.error(f"{Err} | 连接 {clibs.ip_addr}:{clibs.upgrade_port} 失败...")
+            exit(1)
+
+    @staticmethod
+    def __do_package(cmd):
+        package_size = struct.pack('!I', len(cmd))
+        package_type = struct.pack('B', 2)
+        reserved_byte = struct.pack('B', 0)
+        return package_size + package_type + reserved_byte + cmd
+
+    def __recv_result(self, cmd):
+        time.sleep(2)
+        try:
+            res = self.__c.recv(10240).decode()
+        except timeout:
+            res = "ResponseNone"
+        clibs.logger.info(f"请求命令 {cmd.decode()} 的返回信息：\n{res[8:]}")
+        self.__c.close()
+        time.sleep(2)
+
+    def __exec(self, command: dict):
+        try:
+            self.__c.recv(10240)
+        except timeout:
+            pass
+        cmd = json.dumps(command, separators=(",", ":")).encode("utf-8")
+        self.__c.sendall(self.__do_package(cmd))
+        self.__recv_result(cmd)
+
+    def erase_cfg(self):
+        # 一键抹除机器人配置(.rc_cfg)、交互数据配置(interactive_data)，但保留用户日志
+        # 场景：如果xCore版本升级跨度过大，配置文件可能不兼容导致无法启动，可以使用该功能抹除配置，重新生成配置。
+        # 机器人参数、零点等会丢失！
+        self.__exec({"cmd": "erase"})
+
+    def clear_rubbish(self):
+        self.__exec({"cmd": "clearRubbish"})
+
+    def soft_reboot(self):
+        self.__exec({"cmd": "soft_reboot"})
+
+    def version_query(self):
+        self.__exec({"query": "version"})
+
+    def robot_reboot(self):
+        self.__exec({"cmd": "reboot"})
+
+    def reset_passwd(self):
+        # 不生效，有问题
+        self.__exec({"cmd": "passwd"})
+
+    def backup_origin(self):
+        # xCore
+        # .rc_cfg /
+        # interactive_data /
+        # module /
+        # demo_project /
+        # robot_cfg /
+        # dev_eni.xml
+        # ecat_license
+        # libemllI8254x.so & libemllI8254x_v3.so
+        # set_network_parameters
+        self.__exec({"cmd": "backup_origin"})
+
+    def origin_recovery(self):
+        self.__exec({"cmd": "recover"})
+
+
+if __name__ == "__main__":
+    # initialization()
+    # fw_updater()
+    pass

code/openapi.py

@@ -8,6 +8,8 @@ from time import time, sleep, strftime, localtime
 from pymodbus.client.tcp import ModbusTcpClient
 # from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
 # from pymodbus.constants import Endian
+from functools import wraps
+from inspect import getcallargs
 from paramiko import SSHClient, AutoAddPolicy
 import clibs
 
@@ -137,6 +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]
@@ -338,7 +347,8 @@ class HmiRequest(object):
             # 尝试连续三次发送心跳包，确认建联成功
             self.__error_code = 0
             for i in range(3):
-                self.execution("controller.heart")
+                self.execution.__wrapped__(self, "controller.heart")
+                # self.execution("controller.heart")
                 sleep(clibs.interval/5)
             if not self.__error_code:
                 self.__is_connected = True
@@ -412,12 +422,15 @@ class HmiRequest(object):
             for _ in range(3):
                 res = find_response(clibs.log_data_debug)
                 if res is not None:
-                    return res["data"]
+                    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, listdir(clibs.log_path)[0]]))
+                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["data"]
+                    return res.get("data", f"{msg_id} has no data item")
         elif flag == 1:
             for _ in range(3):
                 res = find_response_xs(clibs.log_data_debug)
@@ -425,14 +438,18 @@ class HmiRequest(object):
                     return res
                 sleep(clibs.interval*2)
             else:
-                res = find_response_xs("".join([clibs.log_path, listdir(clibs.log_path)[0]]))
+                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")
 
     def __msg_storage(self, response, flag=0):
         # response是解码后的字符串
-        clibs.logger.debug(f"{loads(response)}")
+        if "move.monitor" not in response:
+            clibs.logger.debug(f"{loads(response)}")
         messages = self.c_msg if flag == 0 else self.c_msg_xs
         if "move.monitor" in response:
             pass
@@ -596,7 +613,7 @@ class HmiRequest(object):
 
     @staticmethod
     def __package_xs(cmd):
-        return f"{dumps(cmd, separators=(",", ":"))}\r".encode()
+        return "".join([dumps(cmd, separators=(",", ":")), "\r"]).encode()
 
     def __unpackage(self, sock):
         def to_read(conn, mask):
@@ -644,6 +661,17 @@ class HmiRequest(object):
         except Exception as Err:
             self.__sth_wrong(8, f"错误信息：{Err}")
 
+    @staticmethod
+    def validate_req(func):
+        @wraps(func)
+        def wrapper(self, *args, **kwargs):
+            all_args = getcallargs(func, self, *args, **kwargs)
+            _id = func(self, *args, **kwargs)
+            self.get_from_id(_id, flag=all_args["protocol_flag"])
+            return _id
+        return wrapper
+
+    @validate_req
     def execution(self, command, protocol_flag=0, **kwargs):
         def log_reqs(request):
             with open(clibs.log_data_reqs, mode="a", encoding="utf-8") as f_log:
@@ -1052,7 +1080,7 @@ class HmiRequest(object):
 
     def set_diagnosis_params(self, display_pdo_params: list, frequency: int = 50, version: str = "1.4.1"):  # OK
         """
-        设置诊断功能显示参数
+        设置诊断功能显示参数 [{"name": "hw_joint_vel_feedback", "channel": 0}, ]
         :param display_pdo_params: 指定要采集的曲线名称，具体可通过 get_diagnosis_params 函数功能获取所有目前已支持的曲线
         :param frequency: 采样频率，默认 50ms
         :param version: xDiagnose的版本号
@@ -1742,7 +1770,7 @@ class HmiRequest(object):
         :return: None
         """
         origin_code_list = self.get_filtered_error_code["g"]["log_code.data"]["code_list"]
-        # [{'id': 10000, 'title': 'HMI请求包解析错误'}, {'id': 10002, 'title': '快速调整启动失败'}]
+        # [{"id": 10000, "title": "HMI请求包解析错误"}, {"id": 10002, "title": "快速调整启动失败"}]
         if action == "clear":
             code_list = []
         elif action == "add":
@@ -1799,10 +1827,14 @@ class ExternalCommunication(object):
         self.__c.send(order.encode())
         sleep(clibs.interval)
 
-    def r_string(self):
+    def r_string(self, directive):
         result, char = "", ""
         while char != self.suffix:
-            char = self.__c.recv(1).decode(encoding="unicode_escape")
+            try:
+                char = self.__c.recv(1).decode(encoding="unicode_escape")
+            except TimeoutError:
+                clibs.logger.error(f"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！")
+                exit(101)
             result = "".join([result, char])
         sleep(clibs.interval)
         return result
@@ -1847,10 +1879,10 @@ class ExternalCommunication(object):
     def load_program(self, program_name):  # OK
         return self.__exec_cmd(f"load_prog:{program_name}", "加载工程", self.exec_desc)
 
-    def estop_reset(self):
+    def estop_reset(self):  # OK | 复原外部 IO 急停和安全门急停，前提是硬件已复原
         return self.__exec_cmd("estop_reset", "急停复位", self.exec_desc)
 
-    def estopreset_and_clearalarm(self):
+    def estopreset_and_clearalarm(self):  # OK | 外部 IO/安全门急停/安全碰撞告警都可以清除，前提是硬件已复原
         return self.__exec_cmd("estopreset_and_clearalarm", "急停复位并清除报警", self.exec_desc)
 
     def motoron_pp2main_start(self):  # OK
@@ -1862,7 +1894,7 @@ class ExternalCommunication(object):
     def pause_motoroff(self):  # OK
         return self.__exec_cmd("pause_motoroff", "暂停程序并下电", self.exec_desc)
 
-    def set_program_speed(self, speed: int):  # OK
+    def set_program_speed(self, speed: int):  # OK | 1-100
         return self.__exec_cmd(f"set_program_speed:{speed}", "设置程序运行速率(滑块)", self.exec_desc)
 
     def set_soft_estop(self, enable: str):  # OK
@@ -1871,10 +1903,10 @@ class ExternalCommunication(object):
     def switch_auto_motoron(self):  # OK
         return self.__exec_cmd("switch_auto_motoron", "切换自动模式并上电", self.exec_desc)
 
-    def open_safe_region(self, number: int):  # OK
+    def open_safe_region(self, number: int):  # OK | 1-10
         return self.__exec_cmd(f"open_safe_region:{number}", f"打开第 {number} 个安全区域(1-10，信号控制开关需打开，不限操作模式)", self.exec_desc)
 
-    def close_safe_region(self, number: int):  # OK
+    def close_safe_region(self, number: int):  # OK | 1-10
         return self.__exec_cmd(f"close_safe_region:{number}", f"关闭第 {number} 个安全区域(1-10，信号控制开关需打开，不限操作模式)", self.exec_desc)
 
     def open_reduced_mode(self):  # OK
@@ -1883,11 +1915,11 @@ class ExternalCommunication(object):
     def close_reduced_mode(self):  # OK
         return self.__exec_cmd("close_reduced_mode", "关闭缩减模式(不限操作模式)", self.exec_desc)
 
-    def setdo_value(self, do_name, do_value):
+    def setdo_value(self, do_name: str, do_value: str):  # OK | do_value 为 true/false
-        return self.__exec_cmd(f"setdo:{do_name}, {do_value}", f"设置 {do_name} 的值为 {do_value}", self.exec_desc)
+        return self.__exec_cmd(f"setdo:{do_name},{do_value}", f"设置 {do_name} 的值为 {do_value} ", self.exec_desc)
 
-    def modify_system_time(self, robot_time):
+    def modify_system_time(self, robot_time):  # OK
-        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}", self.exec_desc)
+        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} 的", self.exec_desc)
 
     # --------------------------------------------------------------------------------------------------
     @property
@@ -1899,7 +1931,7 @@ class ExternalCommunication(object):
         return self.__exec_cmd("robot_running_state", "获取程序运行状态", " :--: 返回 true 表示正在运行，false 未运行")
 
     @property
-    def estop_state(self):
+    def estop_state(self):  # OK | 只表示外部急停，安全门触发不会返回 true，只要有急停标识 E 字母，就会返回 true
         return self.__exec_cmd("estop_state", "急停状态", " :--: 返回 true 表示处于急停状态，false 非急停")
 
     @property
@@ -1907,16 +1939,16 @@ class ExternalCommunication(object):
         return self.__exec_cmd("operating_mode", "获取工作模式", " :--: 返回 true 表示自动模式，false 手动模式")
 
     @property
-    def home_state(self):  # NG
+    def home_state(self):  # OK | 需要设置一下 "HMI 设置->快速调整"
-        return self.__exec_cmd("home_state", "获取 HOME 输出状态", " :--: 返回 true 表示处于 HOME 点，false 未处于 HOME 点")
+        return self.__exec_cmd("home_state", "获取 HOME 输出状态", " :--: 返回 true 表示法兰中心处于 HOME 点，false 未处于 HOME 点")
 
     @property
     def fault_state(self):  # OK
         return self.__exec_cmd("fault_state", "获取 故障状态", " :--: 返回 true 表示处于故障状态，false 非故障状态")
 
     @property
-    def collision_state(self):  # NG
+    def collision_state(self):  # OK | 但是触发后，无法清除？
-        return self.__exec_cmd("collision_state", "获取碰撞检测状态", " :--: 返回 true 表示碰撞检测打开，false 未打开")
+        return self.__exec_cmd("collision_state", "获取碰撞触发状态", " :--: 返回 true 表示碰撞已触发，false 未触发")
 
     @property
     def task_state(self):  # OK
@@ -1950,8 +1982,8 @@ class ExternalCommunication(object):
         return self.__exec_cmd("alarm_state", "获取报警状态", " :--: 返回 true 表示当前有告警，false 没有告警")
 
     @property
-    def collision_alarm_state(self):
+    def collision_alarm_state(self):  # OK
-        return self.__exec_cmd("collision_alarm_state", "获取碰撞检测报警状态", " :--: 返回 true 表示碰撞检测已触发，false 未触发")
+        return self.__exec_cmd("collision_alarm_state", "获取碰撞报警状态", " :--: 返回 true 表示有碰撞告警，false 没有碰撞告警")
 
     @property
     def collision_open_state(self):  # OK
@@ -1970,8 +2002,21 @@ class ExternalCommunication(object):
         return self.__exec_cmd("robot_error_code", "获取机器人错误码")
 
     @property
-    def rl_pause_state(self):
+    def rl_pause_state(self):  # OK
-        return self.__exec_cmd("program_full", "获取 RL 的暂停状态")
+        # 0 -- 初始化状态，刚开机上电时
+        # 1 -- RL 运行中
+        # 2 -- HMI 暂停
+        # 3 -- 系统 IO 暂停
+        # 4 -- 寄存器功能码暂停
+        # 5 -- 外部通讯暂停
+        # 6 --
+        # 7 -- Pause 指令暂停
+        # 8 --
+        # 9 --
+        # 10 -- 外部 IO 急停
+        # 11 -- 安全门急停
+        # 12 -- 其他因素停止，比如碰撞检测
+        return self.__exec_cmd("program_full", "获取 RL 的暂停状态", " :--: 返回值含义详见功能定义")
 
     @property
     def program_reset_state(self):  # OK
@@ -1982,15 +2027,15 @@ class ExternalCommunication(object):
         return self.__exec_cmd("program_speed", "获取程序运行速度")
 
     @property
-    def robot_is_busy(self):
+    def robot_is_busy(self):  # OK | 触发条件为 pp2main/重载工程/推送到控制器，最好测试工程大一些，比较容易触发
-        return self.__exec_cmd("robot_is_busy", "获取程序忙碌状态", " :--: 返回 true 表示控制器忙碌，false 非忙碌状态")
+        return self.__exec_cmd("robot_is_busy", "获取程序忙碌状态", " :--: 返回 1 表示控制器忙碌，0 非忙碌状态")
 
     @property
     def robot_is_moving(self):  # OK
         return self.__exec_cmd("robot_is_moving", "获取程序运行状态", " :--: 返回 true 表示机器人正在运动，false 未运动")
 
     @property
-    def safe_door_state(self):
+    def safe_door_state(self):  # OK
         return self.__exec_cmd("safe_door_state", "获取安全门状态", " :--: 返回 true 表示安全门已触发，false 未触发")
 
     @property
@@ -2027,8 +2072,8 @@ class ExternalCommunication(object):
 
     def __exec_cmd(self, directive, description, more_desc=""):
         self.s_string(directive)
-        result = self.r_string().strip()
+        result = self.r_string(directive).strip()
-        clibs.logger.info(f"执行{description}指令 {directive}，返回值为 {result}{more_desc}")
+        clibs.logger.info(f"执行{description}指令是 {directive}，返回值为 {result}{more_desc}")
         return result