diff --git a/rokae/codes/openapi.cp313-win_amd64.pyd b/rokae/codes/openapi.cp313-win_amd64.pyd index 6b03508..b52a7b6 100644 Binary files a/rokae/codes/openapi.cp313-win_amd64.pyd and b/rokae/codes/openapi.cp313-win_amd64.pyd differ diff --git a/rokae/codes/openapi.py b/rokae/codes/openapi.py index b8daf33..9101e36 100644 --- a/rokae/codes/openapi.py +++ b/rokae/codes/openapi.py @@ -856,10 +856,10 @@ class PreDos(object): class RobotInit(object): - def __init__(self, hr: HmiRequest, pd: PreDos, conf_path: str = ""): + def __init__(self, hr: HmiRequest, pd: PreDos, reg_path: str = ""): self.hr: HmiRequest = hr self.pd: PreDos = pd - self.conf_path: str = conf_path + self.reg_path: str = reg_path def robot_init(self): # 推送配置文件 @@ -873,12 +873,12 @@ class RobotInit(object): user_settings = "/home/luoshi/bin/controller/user_settings" interactive_data = f"/home/luoshi/bin/controller/interactive_data/{robot_type}" - if self.conf_path == "": - self.conf_path = f"{clibs.base_path}/assets/confs" + if self.reg_path == "": + self.reg_path = f"{clibs.base_path}/assets/confs" config_files = [ f"{clibs.base_path}/assets/confs/fieldbus_device.json", - f"{self.conf_path}/registers.json", - f"{self.conf_path}/registers.xml" + f"{self.reg_path}/registers.json", + f"{self.reg_path}/registers.xml" ] for config_file in config_files: filename = os.path.basename(config_file) diff --git a/rokae/codes/openapi.pyi b/rokae/codes/openapi.pyi index a6a03fb..9d364e5 100644 --- a/rokae/codes/openapi.pyi +++ b/rokae/codes/openapi.pyi @@ -212,7 +212,7 @@ class PreDos: def pull_file_from_server(self, server_file: str, local_file: str): ... class RobotInit: - def __init__(self, hr: HmiRequest, pd: PreDos, conf_path: str = '') -> None: ... + def __init__(self, hr: HmiRequest, pd: PreDos, reg_path: str = '') -> None: ... def robot_init(self) -> None: ... def fw_updater(self, fw_file: str): ... diff --git a/rokae/codes/stub/openapi.pyi b/rokae/codes/stub/openapi.pyi deleted file mode 100644 index 047e4d1..0000000 --- a/rokae/codes/stub/openapi.pyi +++ /dev/null @@ -1,266 +0,0 @@ -import socket -import threading -from codes import clibs as clibs -from pymodbus.client.tcp import ModbusTcpClient - -class HmiRequest: - c: socket.socket - c_xs: socket.socket - t_rx_pkg: threading.Thread - t_rx_pkg_xs: threading.Thread - t_s_heart: threading.Thread - data: bytes - is_connected: bool - def __init__(self) -> None: ... - def sock_conn(self) -> None: ... - def close(self) -> None: ... - def s_heart(self) -> None: ... - @staticmethod - def tx_pkg(cmd): ... - @staticmethod - def tx_pkg_xs(cmd): ... - def rx_pkg(self, sock) -> None: ... - def get_response(self, data: bytes) -> None: ... - def get_response_xs(self, data: bytes) -> None: ... - @staticmethod - def get_from_id(msg_id: str) -> str: ... - def exec_cmd(self, cmd: str, **kwargs): ... - -class ModbusRequest: - c: ModbusTcpClient - def __init__(self) -> None: ... - def sock_conn(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: - c: socket.socket - exec_desc: str - def __init__(self) -> None: ... - def sock_conn(self) -> None: ... - def sr_string(self, directive, description, more_desc: str = ''): ... - def s_string(self, directive: str): ... - def r_string(self): ... - 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: - hr: HmiRequest - pd: PreDos - conf_path: str - def __init__(self, hr: HmiRequest, pd: PreDos, conf_path: str = '') -> None: ... - def robot_init(self) -> None: ... - def fw_updater(self, fw_file: str): ... - -class UpgradeRequest: - c: socket.socket - def __init__(self) -> None: ... - def sock_conn(self) -> None: ... - def s_pkg(self, command: dict): ... - def r_pkg(self): ... - def sr_pkg(self, command: dict): ... - 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: - hr: HmiRequest - md: ModbusRequest - curve_name: str - prj_name: str - tasks: list - 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: ...