完善rokae自动化测试脚本工具，增加readme文件等

.gitignore

@@ -2,3 +2,5 @@
 .idea/
 rokae/testbench.py
 **/__pycache__/
+gui/
+testing/

rokae/README.md

@@ -0,0 +1,220 @@
+## 自动化测试工具脚本
+
+### 0. 用前须知
+
+1. 调用必须在rokae目录下执行
+2. python3.13开发，使用时需版本匹配，并安装requirements.txt中的依赖库
+
+### 1. socket通信（支持xService）
+
+> #### **A. 调用方法示例**
+
+```python
+from codes import openapi
+import time
+
+hr = openapi.HmiRequest()
+time.sleep(2)
+hr.close()
+msg_id = hr.exec_cmd("controller.get_params")
+record = hr.get_from_id(msg_id)
+print(f"version = {eval(record)['data']['version']}")
+```
+
+> #### **B. 目前支持（后续可按需增加）**
+
+```
+collision.get_params
+collision.set_params
+controller.get_params
+controller.heart
+controller.reboot
+controller.set_params
+device.get_params
+diagnosis.get_params
+diagnosis.open
+diagnosis.save
+diagnosis.set_params
+drag.get_params
+drag.set_params
+fieldbus_device.get_params
+fieldbus_device.load_cfg
+fieldbus_device.set_params
+io_device.load_cfg
+jog.get_params
+jog.set_params
+jog.start
+log_code.data.code_list
+log_code.data
+modbus.get_params
+modbus.get_values
+modbus.load_cfg
+modbus.set_params
+move.get_joint_pos
+move.get_monitor_cfg
+move.get_params
+move.get_pos
+move.get_quickstop_distance
+move.get_quickturn_pos
+move.quick_turn
+move.set_monitor_cfg
+move.set_params
+move.set_quickstop_distance
+move.set_quickturn_pos
+move.stop
+overview.get_autoload
+overview.get_cur_prj
+overview.reload
+overview.set_autoload
+register.set_value
+rl_task.pp_to_main
+rl_task.run
+rl_task.set_run_params
+rl_task.stop
+safety.safety_area.overall_enable
+safety.safety_area.safety_area_enable
+safety.safety_area.set_param
+safety.safety_area.signal_enable
+safety_area_data
+servo.clear_alarm
+socket.get_params
+socket.set_params
+soft_limit.get_params
+soft_limit.set_params
+state.get_state
+state.get_tp_mode
+state.set_tp_mode
+state.switch_auto
+state.switch_manual
+state.switch_motor_off
+state.switch_motor_on
+system_io.query_configuration
+system_io.query_event_cfg
+system_io.update_configuration
+```
+
+### 2. modbus通信
+
+> #### **A. 调用方法示例**
+
+```python
+from codes import openapi
+
+md = openapi.ModbusRequest()
+md.r_switch_auto()
+_ = md.w_sta_tcp_vel
+print(_)
+```
+
+> #### **B. 目前支持**
+
+自定义的寄存器读写操作，以及98%以上的预置modbus功能码。
+
+### 3. 外部通信
+
+> #### **A. 调用方法示例**
+
+```python
+from codes import openapi
+
+ec = openapi.EcRequest()
+_ = ec.get_cart_pos
+ec.close_reduced_mode()
+```
+
+> #### **B. 目前支持**
+
+包括状态和控制操作，覆盖98%以上的外部通信功能。
+
+### 4. 文件传输
+
+> #### **A. 调用方法示例**
+
+```python
+from codes import openapi
+
+pd = openapi.PreDos()
+downloads = "C:/Users/Administrator/Downloads"
+pd.pull_prj_from_server("aio", downloads)
+local_prj = downloads + "/aio.zip"
+pd.push_prj_to_server(local_prj)
+
+local_file = downloads + "/aio.txt"
+server_file = "/tmp/aio.txt"
+pd.push_file_to_server(local_file, server_file)
+pd.pull_file_from_server(server_file, local_file)
+```
+
+> #### **B. 目前支持（除了prj_name为工程名，其他均为对应系统下的绝对路径）**
+
+- push_prj_to_server(prj_file)
+- pull_prj_from_server(prj_name, local_prj_path)
+- push_file_to_server(local_file, server_file)
+- pull_file_from_server(server_file, local_file)
+
+### 5. 初始化以及固件更新
+
+> #### **A. 调用方法示例**
+
+```python
+from codes import openapi
+
+ri = openapi.RobotInit()
+ri.robot_init()
+ri.fw_updater("C:/Users/Administrator/Downloads/FW/v3.1.1.rpa")
+ri.fw_updater("C:/Users/Administrator/Downloads/XMS3-R580-W4G3C2_ME_AE_SS_xC.v3.1.0.R0.rpa")
+```
+
+> #### **B. 目前支持**
+
+- robot_init()         # 初始化机器人，新建modbus设备，并配置寄存器文件，打开IO设备中的modbus设备  
+- fw_updater(fw_file)  # 目前仅测试支持机型文件和控制器
+
+### 6. 升级协议
+
+> #### **A. 调用方法示例**
+
+```python
+from codes import openapi
+
+ur = openapi.UpgradeRequest()
+ur.version_query()
+ur.robot_reboot()
+```
+
+> #### **B. 目前支持**
+
+- erase_cfg
+- clear_rubbish
+- soft_reboot
+- version_query
+- robot_reboot
+- backup_origin
+- origin_recovery
+
+### 7. 生成运动轨迹
+
+> #### **A. 调用方法示例**
+
+```python
+from codes import openapi
+
+hr = openapi.HmiRequest()
+pd = openapi.PreDos()            # 如下三行首次运行时，必须打开
+ri = openapi.RobotInit(hr, pd)   # 非首次重复运行时，可以注释
+ri.robot_init()                  # 注释后可以节省运行时间
+md = openapi.ModbusRequest()
+
+pt = openapi.PlotTrajectory(hr, md, prj_name="arc_test_M", tasks=["task0", ], curve_name="hw_cart_pos_feedback_tcp_in_world")
+pt.draw_traj()
+```
+
+> #### **B. 目前支持**
+
+自动保存3D空间运动曲线图到本地的trajectory.html文件
+
+- hw_cart_pos_feedback_motorside
+- hw_cart_pos_feedback_linkside
+- hw_cart_pos_feedback_encoder_tcp_in_world
+- hw_cart_pos_feedback_flan_in_world
+- hw_cart_pos_feedback_tcp_in_world

rokae/assets/confs/configs.json

@@ -1,5 +1,5 @@
 {
-  "ip_addr": "192.168.40.130",
+  "ip_addr": "192.168.0.160",
   "ssh_port": "22",
   "socket_port": 5050,
   "xService_port": 6666,

rokae/codes/openapi.py

@@ -11,13 +11,18 @@ from typing import Callable, Dict
 from loguru import logger
 from pymodbus.client.tcp import ModbusTcpClient
 from paramiko import SSHClient, AutoAddPolicy
+import plotly.graph_objects as go
 
 from codes import clibs
 
 
 class HmiRequest:
     def __init__(self):
-        self.c = self.c_xs = self.t_rx_pkg = self.t_rx_pkg_xs = self.t_s_heart = None
+        self.c: socket.socket
+        self.c_xs: socket.socket
+        self.t_rx_pkg: threading.Thread
+        self.t_rx_pkg_xs: threading.Thread
+        self.t_s_heart: threading.Thread
         self.data = self.data_xs = b""
         self.is_connected = True
         self.sock_conn()
@@ -170,8 +175,8 @@ class HmiRequest:
         cmd, ts = msg_id.split("@")
         t = ts.replace("T", " ")
         t_ts = datetime.timestamp(datetime.strptime(t, "%Y-%m-%d %H:%M:%S.%f"))
-        t_send = datetime.strftime(datetime.fromtimestamp(t_ts-time_delay), '%Y-%m-%d %H:%M:%S.%f')
+        t_send = datetime.strftime(datetime.fromtimestamp(t_ts-time_delay), "%Y-%m-%d %H:%M:%S.%f")
-        t_receive = datetime.strftime(datetime.fromtimestamp(t_ts+time_delay), '%Y-%m-%d %H:%M:%S.%f')
+        t_receive = datetime.strftime(datetime.fromtimestamp(t_ts+time_delay), "%Y-%m-%d %H:%M:%S.%f")
         for idx in range(time_delay):
             time.sleep(clibs.interval)
             try:
@@ -187,7 +192,7 @@ class HmiRequest:
             logger.error(f"hr: {time_delay}s内无法找到请求 {msg_id} 的响应！")
             # raise Exception()
 
-    def exec_cmd(self, cmd, **kwargs):
+    def exec_cmd(self, cmd: str, **kwargs):
         try:
             with open(f"{clibs.base_path}/assets/protocols/{cmd}.json", mode="r", encoding="utf-8") as f_cmd:
                 req = json.load(f_cmd)
@@ -199,15 +204,14 @@ class HmiRequest:
             logger.error(f"hr: 暂不支持 {cmd} 功能，或确认该功能存在，err = {err}")
             raise Exception()
 
-        match cmd:
+        if cmd in ["state.set_tp_mode", "overview.set_autoload", "overview.reload", "rl_task.pp_to_main", "rl_task.run", "rl_task.stop", "rl_task.set_run_params", "diagnosis.set_params", "diagnosis.open", "drag.set_params", "controller.set_params", "collision.set_params", "move.set_quickstop_distance", "move.set_params", "move.set_monitor_cfg", "modbus.get_values", "modbus.set_params", "system_io.update_configuration", "diagnosis.get_params", "jog.set_params", "jog.start", "move.stop", "move.quick_turn", "move.set_quickturn_pos", "soft_limit.set_params", "fieldbus_device.set_params", "socket.set_params", "diagnosis.save", "register.set_value"]:
-            case "state.set_tp_mode" | "overview.set_autoload" | "overview.reload" | "rl_task.pp_to_main" | "rl_task.run" | "rl_task.stop" | "rl_task.set_run_params" | "diagnosis.set_params" | "diagnosis.open" | "drag.set_params" | "controller.set_params" | "collision.set_params" | "move.set_quickstop_distance" | "move.set_params" | "move.set_monitor_cfg" | "modbus.get_values" | "modbus.set_params" | "system_io.update_configuration" | "diagnosis.get_params" | "jog.set_params" | "jog.start" | "move.stop" | "move.quick_turn" | "move.set_quickturn_pos" | "soft_limit.set_params" | "fieldbus_device.set_params" | "socket.set_params" | "diagnosis.save" | "register.set_value":
+            req["data"].update(kwargs)
-                req["data"].update(kwargs)
+        elif cmd in ["safety.safety_area.signal_enable", "safety.safety_area.overall_enable", "safety.safety_area.safety_area_enable", "safety.safety_area.set_param"]:
-            case "safety.safety_area.signal_enable" | "safety.safety_area.overall_enable" | "safety.safety_area.safety_area_enable" | "safety.safety_area.set_param":
+            req["c"].update(kwargs)
-                req["c"].update(kwargs)
+        elif cmd in ["log_code.data.code_list"]:
-            case "log_code.data.code_list":
+            req["s"]["log_code.data"]["code_list"] = kwargs["code_list"]
-                req["s"]["log_code.data"]["code_list"] = kwargs["code_list"]
+        else:
-            case _:
+            pass
-                pass
 
         cmd = json.dumps(req, separators=(",", ":"))
         if p_type == 0:
@@ -217,12 +221,13 @@ class HmiRequest:
         else:
             raise Exception("Unexpected CMD Input")
 
+        time.sleep(clibs.interval/4)
         return req["id"]
 
 
 class ModbusRequest:
     def __init__(self):
-        self.c = None
+        self.c: ModbusTcpClient
         self.sock_conn()
 
     def sock_conn(self):
@@ -250,10 +255,10 @@ class ModbusRequest:
     def r_reset_estop_clear_alarm(self):
         self.__reg_high_pulse(40002, "复位外部急停状态，并清除告警信息")
 
-    def r_motor_off(self):
+    def r_motor_on(self):
         self.__reg_high_pulse(40004, "上电")
 
-    def r_motor_on(self):
+    def r_motor_off(self):
         self.__reg_high_pulse(40005, "下电")
 
     def r_motor_on_off(self, action: bool):
@@ -333,7 +338,7 @@ class ModbusRequest:
 
     def __get_state(self, addr: int, count: int = 1, **kwargs):
         res = self.c.read_holding_registers(addr, count=count).registers[0]
-        logger.info(f"md: {addr}-{kwargs['func']}，结果为{res} {kwargs['desc']}")
+        logger.info(f'md: {addr}-{kwargs["func"]}，结果为{res} {kwargs["desc"]}')
         return res
 
     @property
@@ -501,7 +506,7 @@ class ModbusRequest:
 
 class EcRequest:
     def __init__(self):
-        self.c = None
+        self.c: socket.socket
         self.exec_desc = " :--: true表示执行成功，false表示执行失败"
         self.sock_conn()
 
@@ -783,7 +788,7 @@ class PreDos(object):
             logger.error(f"pd: SSH无法连接，需检查网络连通性或者登录信息是否正确 -- {e}")
             raise Exception()
 
-    def push_prj_to_server(self, prj_file):
+    def push_prj_to_server(self, prj_file: str):
         # prj_file：工程的本地完整路径
         self.__ssh2server()
         prj_name, postfix = os.path.basename(prj_file).split(".")
@@ -797,7 +802,7 @@ class PreDos(object):
         _ = stderr.read().decode()
         self.__ssh.close()
 
-    def pull_prj_from_server(self, prj_name, local_prj_path):
+    def pull_prj_from_server(self, prj_name: str, local_prj_path: str):
         # prj_name：要拉取的服务端工程名
         # local_prj_path：存放工程文件的本地路径
         self.__ssh2server()
@@ -817,7 +822,7 @@ class PreDos(object):
 
         self.__ssh.close()
 
-    def push_file_to_server(self, local_file, server_file):
+    def push_file_to_server(self, local_file: str, server_file: str):
         # local_file：本地文件完整路径
         # server_file：服务端文件完整路径
         self.__ssh2server()
@@ -830,7 +835,7 @@ class PreDos(object):
         _ = stderr.read().decode()
         self.__ssh.close()
 
-    def pull_file_from_server(self, server_file, local_file):
+    def pull_file_from_server(self, server_file: str, local_file: str):
         # local_file：本地文件完整路径
         # server_file：服务端文件完整路径
         self.__ssh2server()
@@ -851,9 +856,9 @@ class PreDos(object):
 
 
 class RobotInit(object):
-    def __init__(self):
+    def __init__(self, hr: HmiRequest, pd: PreDos):
-        self.pd = PreDos()
+        self.hr: HmiRequest = hr
-        self.hr = HmiRequest()
+        self.pd: PreDos = pd
 
     def robot_init(self):
         # 推送配置文件
@@ -903,7 +908,7 @@ class RobotInit(object):
         self.hr.exec_cmd("io_device.load_cfg")
         self.hr.exec_cmd("modbus.load_cfg")
 
-    def fw_updater(self, fw_file):
+    def fw_updater(self, fw_file: str):
         """
         :param fw_file: xCore升级文件/机型文件的绝对路径
         :return: None
@@ -984,7 +989,7 @@ class UpgradeRequest:
     http://confluence.i.rokae.com/pages/viewpage.action?pageId=21531754
     """
     def __init__(self):
-        self.c = None
+        self.c: socket.socket
         self.sock_conn()
 
     def sock_conn(self):
@@ -1039,3 +1044,88 @@ class UpgradeRequest:
 
     def origin_recovery(self):  # OK 恢复备份，恢复后手动设置，并重启生效
         self.sr_pkg({"cmd": "recover"})
+
+
+class PlotTrajectory:
+    # hw_cart_pos_feedback_motorside：笛卡尔空间下电机侧位置反馈，单位m,rad
+    # hw_cart_pos_feedback_linkside：笛卡尔空间下连杆侧位置反馈，单位m,rad
+    # hw_cart_pos_feedback_encoder_tcp_in_world：笛卡尔位置反馈（关节端编码器数据），单位m,rad
+    # hw_cart_pos_feedback_flan_in_world：笛卡尔位置反馈（法兰相对于世界坐标系）
+    # hw_cart_pos_feedback_tcp_in_world：笛卡尔位置反馈（tcp相对于世界坐标系）
+    def __init__(self, hr: HmiRequest, md: ModbusRequest, prj_name: str, tasks: list, curve_name: str = "hw_cart_pos_feedback_tcp_in_world"):
+        self.hr: HmiRequest = hr
+        self.md: ModbusRequest = md
+        self.curve_name: str = curve_name
+        self.prj_name: str = prj_name
+        self.tasks: list = tasks
+
+    def __change_curve_state(self, stat):
+        if not stat:
+            display_pdo_params = [{"name": "count", "channel": 0}]
+        else:
+            display_pdo_params = [{"name": self.curve_name, "channel": chl} for chl in range(3)]
+        self.hr.exec_cmd("diagnosis.set_params", display_pdo_params=display_pdo_params)
+        self.hr.exec_cmd("diagnosis.open", open=stat, display_open=stat)
+
+    def __plot_trajectory(self, start_time, end_time):
+        x, y, z = [], [], []
+        try:
+            clibs.lock.acquire(True)
+            clibs.cursor.execute(f"SELECT content FROM logs WHERE timestamp BETWEEN '{start_time}' AND '{end_time}' AND content LIKE '%diagnosis.result%' ORDER BY id ASC")
+            records = clibs.cursor.fetchall()
+        finally:
+            clibs.lock.release()
+
+        for record in records:
+            data = eval(record[0])["data"]
+            for item in data:
+                item_rm = [x * 1000 for x in reversed(item["value"])]
+                # item_rm = item["value"]
+                if item.get("channel", None) == 0 and item.get("name", None) == self.curve_name:
+                    x.extend(item_rm)
+                elif item.get("channel", None) == 1 and item.get("name", None) == self.curve_name:
+                    y.extend(item_rm)
+                elif item.get("channel", None) == 2 and item.get("name", None) == self.curve_name:
+                    z.extend(item_rm)
+
+        # pyplot
+        trace_path = go.Scatter3d(x=x, y=y, z=z, mode="lines", line=dict(color="blue", width=4), name="运动轨迹")
+        trace_start = go.Scatter3d(x=[x[0]], y=[y[0]], z=[z[0]], mode="markers+text", marker=dict(color="green", size=8), text=["起点"], textposition="top center", name="起点")
+        trace_end = go.Scatter3d(x=[x[-1]], y=[y[-1]], z=[z[-1]], mode="markers+text", marker=dict(color="red", size=8), text=["终点"], textposition="bottom center", name="终点")
+        fig = go.Figure(data=[trace_path, trace_start, trace_end])
+        fig.write_html("trajectory.html", auto_open=False)
+
+        fig.update_layout(
+            scene=dict(
+                xaxis_title="X",
+                yaxis_title="Y",
+                zaxis_title="Z"
+            ),
+            margin=dict(l=0, r=0, b=0, t=30),
+            legend=dict(x=0, y=1),
+            dragmode="orbit"
+        )
+
+        fig.show(config={"scrollZoom": True})
+
+    def draw_traj(self):
+        self.md.r_soft_estop(True)
+        self.md.r_reset_estop_clear_alarm()
+        self.md.r_switch_auto()
+        self.md.r_motor_on()
+
+        self.__change_curve_state(True)
+        self.hr.exec_cmd("overview.reload", prj_path=f"{self.prj_name}/_build/{self.prj_name}.prj", tasks=self.tasks)
+        self.hr.exec_cmd("rl_task.set_run_params", loop_mode=False, override=1.0)
+        self.hr.exec_cmd("rl_task.pp_to_main", tasks=self.tasks)
+        self.hr.exec_cmd("rl_task.run", tasks=self.tasks)
+
+        t_start = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
+        time.sleep(clibs.interval)
+        while self.md.w_sta_robot_is_moving:
+            time.sleep(clibs.interval * 10)
+        time.sleep(clibs.interval * 5)
+        t_end = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
+        self.__change_curve_state(False)
+
+        self.__plot_trajectory(t_start, t_end)

rokae/codes/openapi.pyi

@@ -0,0 +1,229 @@
+import socket
+import threading
+from pymodbus.client.tcp import ModbusTcpClient
+
+class HmiRequest:
+    is_connected: bool
+    def __init__(self) -> None: ...
+    def close(self) -> None: ...
+    @staticmethod
+    def get_from_id(msg_id: str) -> str: ...
+    def exec_cmd(self, cmd: str, **kwargs): ...
+
+class ModbusRequest:
+    def __init__(self) -> None: ...
+    def r_clear_alarm(self) -> None: ...
+    def r_reset_estop(self) -> None: ...
+    def r_reset_estop_clear_alarm(self) -> None: ...
+    def r_motor_on(self) -> None: ...
+    def r_motor_off(self) -> None: ...
+    def r_motor_on_off(self, action: bool): ...
+    def r_motoron_pp2main_start(self) -> None: ...
+    def r_motoron_start(self) -> None: ...
+    def r_pulse_motoroff(self) -> None: ...
+    def r_pp2main(self) -> None: ...
+    def r_program_start(self) -> None: ...
+    def r_program_stop(self) -> None: ...
+    def r_program_start_stop(self, action: bool): ...
+    def r_set_program_speed(self, speed: int): ...
+    def r_soft_estop(self, action: bool): ...
+    def r_switch_auto_motoron(self) -> None: ...
+    def r_switch_auto(self) -> None: ...
+    def r_switch_manual(self) -> None: ...
+    def r_switch_auto_manual(self, action: bool): ...
+    def r_reduced_mode(self, action: bool): ...
+    def r_switch_safe_region(self, idx: int, enable: bool): ...
+    @property
+    def w_alarm_state(self): ...
+    @property
+    def w_sta_collision(self): ...
+    @property
+    def w_sta_collision_alarm(self): ...
+    @property
+    def w_sta_collision_open(self): ...
+    @property
+    def w_controller_is_running(self): ...
+    @property
+    def w_encoder_low_battery(self): ...
+    @property
+    def w_sta_error_code(self): ...
+    @property
+    def w_sta_estop(self): ...
+    @property
+    def w_sta_heartbeat(self): ...
+    @property
+    def w_sta_home(self): ...
+    @property
+    def w_sta_motor(self): ...
+    @property
+    def w_sta_operation_mode(self): ...
+    @property
+    def w_sta_program(self): ...
+    @property
+    def w_sta_program_full(self): ...
+    @property
+    def w_sta_program_not_run(self): ...
+    @property
+    def w_sta_program_reset(self): ...
+    @property
+    def w_sta_program_speed(self): ...
+    @property
+    def w_sta_reduce_mode(self): ...
+    @property
+    def w_sta_robot_is_busy(self): ...
+    @property
+    def w_sta_robot_is_moving(self): ...
+    @property
+    def w_safe_door_state(self): ...
+    @property
+    def w_sta_safe_jnt_pos(self): ...
+    @property
+    def w_sta_soft_estop(self): ...
+    @property
+    def w_sta_safe_region(self): ...
+    @property
+    def w_sta_on_path(self): ...
+    @property
+    def w_sta_near_path(self): ...
+    @property
+    def w_sta_cart_pose(self) -> list: ...
+    @property
+    def w_sta_cart_vel(self) -> list: ...
+    @property
+    def w_sta_jnt_pose(self) -> list: ...
+    @property
+    def w_sta_jnt_vel(self) -> list: ...
+    @property
+    def w_sta_tcp_pose(self) -> list: ...
+    @property
+    def w_sta_tcp_vel(self) -> list: ...
+    @property
+    def w_sta_tcp_vel_mag(self): ...
+    def io_write_coils(self, addr, value: bool): ...
+    def io_read_coils(self): ...
+    def io_read_discretes(self): ...
+
+class EcRequest:
+    def __init__(self) -> None: ...
+    def motor_on(self): ...
+    def motor_off(self): ...
+    def pp_to_main(self): ...
+    def program_start(self): ...
+    def program_stop(self): ...
+    def clear_alarm(self): ...
+    def switch_operation_auto(self): ...
+    def switch_operation_manual(self): ...
+    def open_drag_mode(self): ...
+    def close_drag_mode(self): ...
+    def get_project_list(self): ...
+    def get_current_project(self): ...
+    def load_project(self, project_name): ...
+    def estop_reset(self): ...
+    def estopreset_and_clearalarm(self): ...
+    def motoron_pp2main_start(self): ...
+    def motoron_start(self): ...
+    def pause_motoroff(self): ...
+    def set_program_speed(self, speed: int = 20): ...
+    def set_soft_estop(self, enable: str): ...
+    def switch_auto_motoron(self): ...
+    def open_safe_region(self, number: int): ...
+    def close_safe_region(self, number: int): ...
+    def open_reduced_mode(self): ...
+    def close_reduced_mode(self): ...
+    def setdo_value(self, do_name: str, do_value: str): ...
+    def set_robot_time(self, robot_time: str = ...): ...
+    @property
+    def motor_on_state(self): ...
+    @property
+    def robot_running_state(self): ...
+    @property
+    def estop_state(self): ...
+    @property
+    def operation_mode(self): ...
+    @property
+    def home_state(self): ...
+    @property
+    def fault_state(self): ...
+    @property
+    def collision_state(self): ...
+    @property
+    def task_state(self): ...
+    @property
+    def get_cart_pos(self): ...
+    @property
+    def get_joint_pos(self): ...
+    @property
+    def get_joint_vel(self): ...
+    @property
+    def get_joint_trq(self): ...
+    @property
+    def reduced_mode_state(self): ...
+    def get_io_state(self, io_list: str): ...
+    @property
+    def alarm_state(self): ...
+    @property
+    def collision_alarm_state(self): ...
+    @property
+    def collision_open_state(self): ...
+    @property
+    def controller_is_running(self): ...
+    @property
+    def encoder_low_battery_state(self): ...
+    @property
+    def robot_error_code(self): ...
+    @property
+    def rl_pause_state(self): ...
+    @property
+    def program_reset_state(self): ...
+    @property
+    def program_speed_value(self): ...
+    @property
+    def robot_is_busy(self): ...
+    @property
+    def robot_is_moving(self): ...
+    @property
+    def safe_door_state(self): ...
+    @property
+    def soft_estop_state(self): ...
+    @property
+    def get_cart_vel(self): ...
+    @property
+    def get_tcp_pos(self): ...
+    @property
+    def get_tcp_vel(self): ...
+    @property
+    def get_tcp_vel_mag(self): ...
+    @property
+    def ext_estop_state(self): ...
+    @property
+    def hand_estop_state(self): ...
+    @property
+    def sta_on_path(self): ...
+    @property
+    def sta_near_path(self): ...
+
+class PreDos:
+    def __init__(self) -> None: ...
+    def push_prj_to_server(self, prj_file: str): ...
+    def pull_prj_from_server(self, prj_name: str, local_prj_path: str): ...
+    def push_file_to_server(self, local_file: str, server_file: str): ...
+    def pull_file_from_server(self, server_file: str, local_file: str): ...
+
+class RobotInit:
+    def __init__(self, hr: HmiRequest, pd: PreDos) -> None: ...
+    def robot_init(self) -> None: ...
+    def fw_updater(self, fw_file: str): ...
+
+class UpgradeRequest:
+    def __init__(self) -> None: ...
+    def erase_cfg(self) -> None: ...
+    def clear_rubbish(self) -> None: ...
+    def soft_reboot(self) -> None: ...
+    def version_query(self) -> None: ...
+    def robot_reboot(self) -> None: ...
+    def backup_origin(self) -> None: ...
+    def origin_recovery(self) -> None: ...
+
+class PlotTrajectory:
+    def __init__(self, hr: HmiRequest, md: ModbusRequest, prj_name: str, tasks: list, curve_name: str = 'hw_cart_pos_feedback_tcp_in_world') -> None: ...
+    def draw_traj(self) -> None: ...

rokae/requirements.txt

@@ -0,0 +1,4 @@
+loguru==0.7.3
+paramiko==3.5.1
+plotly==6.3.0
+pymodbus==3.9.2