112 lines
4.0 KiB
Python
112 lines
4.0 KiB
Python
import time
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import openapi
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import json
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import clibs
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def initialization():
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hr = openapi.HmiRequest()
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pd = openapi.PreDos()
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# 推送配置文件
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clibs.logger.info("推送配置文件 fieldbus_device.json/registers.json/registers.xml 到控制器，并配置 IO 设备，设备号为 7...")
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robot_params = hr.get_robot_params
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robot_type = robot_params["robot_type"]
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security_type = robot_params["security_type"]
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controller_type = robot_params["controller_type"]
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io_device_file = "_".join(["io_device", controller_type, security_type, "1"])
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user_settings = "/home/luoshi/bin/controller/user_settings"
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interactive_data = f"/home/luoshi/bin/controller/interactive_data/{robot_type}"
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config_files = [
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"..\\assets\\configs\\fieldbus_device.json",
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"..\\assets\\configs\\registers.json",
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"..\\assets\\configs\\registers.xml"
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]
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for config_file in config_files:
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filename = config_file.split("\\")[-1]
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pd.push_file_to_server(config_file, f"{user_settings}/{filename}")
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pd.push_file_to_server(config_file, f"{interactive_data}/{filename}")
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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}
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io_device_file_local = f"..\\assets\\configs\\{io_device_file}"
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io_device_file_local_tmp = f"..\\assets\\configs\\{io_device_file}_tmp"
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io_device_file_remote = f"{user_settings}/{io_device_file}"
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pd.pull_file_from_server(io_device_file_remote, io_device_file_local)
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with open(io_device_file_local, mode="r", encoding="utf-8") as f:
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data = json.load(f)
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for _ in data["device_list"]:
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if _["extend_attr"].get("name", None) == "autotest":
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break
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else:
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data["device_list"].append(io_device_autotest)
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with open(io_device_file_local_tmp, mode="w", encoding="utf-8") as f_tmp:
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json.dump(data, f_tmp, indent=4)
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pd.push_file_to_server(io_device_file_local_tmp, f"{user_settings}/{io_device_file}")
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pd.push_file_to_server(io_device_file_local_tmp, f"{interactive_data}/{io_device_file}")
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hr.reload_io()
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hr.reload_registers()
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hr.reload_fieldbus()
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hr.set_fieldbus_device_params("autotest", True)
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md = openapi.ModbusRequest()
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# 触发急停并恢复
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md.r_soft_estop(0)
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md.r_soft_estop(1)
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# 断开示教器连接
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clibs.logger.info("断开示教器连接...")
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hr.switch_tp_mode("without")
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# 清空 system IO 配置
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clibs.logger.info("清空所有的 System IO 功能配置...")
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hr.update_system_io_configuration([], [], [], [], [])
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# 关闭缩减模式
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md.r_reduced_mode(0)
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# 关闭安全区域
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clibs.logger.info("正在关闭所有的安全区，并关闭总使能开关...")
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hr.set_safety_area_overall(False)
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hr.set_safety_area_signal(False)
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for i in range(10):
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hr.set_safety_area_enable(i, False)
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# 打开外部通信
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clibs.logger.info("配置并打开外部通信，默认服务器，8080端口，后缀为 \"\\r\"...")
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hr.set_socket_params(True, "8080", "\r", 1)
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# 关闭拖动
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clibs.logger.info("关闭拖动模式...")
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hr.set_drag_params(False, 1, 2)
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# 关闭碰撞检测
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clibs.logger.info("关闭碰撞检测...")
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hr.set_collision_params(False, 0, 1, 100)
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# 清除所有过滤错误码
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clibs.logger.info("清除所有过滤错误码设定...")
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hr.set_filtered_error_code("clear", [])
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# 回拖动位姿
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clibs.logger.info("正在回拖动位姿...")
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hr.switch_operation_mode("manual")
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hr.switch_motor_state("on")
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hr.set_quickturn_pos(enable_drag=True)
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hr.move2quickturn("drag")
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while True:
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if md.w_robot_is_moving:
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time.sleep(1)
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else:
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break
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hr.stop_move(1)
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hr.switch_motor_state("off")
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hr.close()
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# 清除所有告警
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md.r_clear_alarm()
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initialization()
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