minor fix
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@@ -856,10 +856,10 @@ class PreDos(object):
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class RobotInit(object):
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def __init__(self, hr: HmiRequest, pd: PreDos, conf_path: str = ""):
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def __init__(self, hr: HmiRequest, pd: PreDos, reg_path: str = ""):
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self.hr: HmiRequest = hr
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self.pd: PreDos = pd
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self.conf_path: str = conf_path
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self.reg_path: str = reg_path
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def robot_init(self):
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# 推送配置文件
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@@ -873,12 +873,12 @@ class RobotInit(object):
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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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if self.conf_path == "":
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self.conf_path = f"{clibs.base_path}/assets/confs"
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if self.reg_path == "":
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self.reg_path = f"{clibs.base_path}/assets/confs"
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config_files = [
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f"{clibs.base_path}/assets/confs/fieldbus_device.json",
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f"{self.conf_path}/registers.json",
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f"{self.conf_path}/registers.xml"
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f"{self.reg_path}/registers.json",
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f"{self.reg_path}/registers.xml"
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]
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for config_file in config_files:
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filename = os.path.basename(config_file)
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@@ -212,7 +212,7 @@ class PreDos:
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def pull_file_from_server(self, server_file: str, local_file: str): ...
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class RobotInit:
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def __init__(self, hr: HmiRequest, pd: PreDos, conf_path: str = '') -> None: ...
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def __init__(self, hr: HmiRequest, pd: PreDos, reg_path: str = '') -> None: ...
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def robot_init(self) -> None: ...
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def fw_updater(self, fw_file: str): ...
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@@ -1,266 +0,0 @@
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import socket
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import threading
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from codes import clibs as clibs
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from pymodbus.client.tcp import ModbusTcpClient
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class HmiRequest:
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c: socket.socket
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c_xs: socket.socket
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t_rx_pkg: threading.Thread
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t_rx_pkg_xs: threading.Thread
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t_s_heart: threading.Thread
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data: bytes
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is_connected: bool
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def __init__(self) -> None: ...
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def sock_conn(self) -> None: ...
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def close(self) -> None: ...
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def s_heart(self) -> None: ...
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@staticmethod
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def tx_pkg(cmd): ...
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@staticmethod
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def tx_pkg_xs(cmd): ...
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def rx_pkg(self, sock) -> None: ...
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def get_response(self, data: bytes) -> None: ...
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def get_response_xs(self, data: bytes) -> None: ...
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@staticmethod
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def get_from_id(msg_id: str) -> str: ...
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def exec_cmd(self, cmd: str, **kwargs): ...
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class ModbusRequest:
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c: ModbusTcpClient
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def __init__(self) -> None: ...
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def sock_conn(self) -> None: ...
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def r_clear_alarm(self) -> None: ...
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def r_reset_estop(self) -> None: ...
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def r_reset_estop_clear_alarm(self) -> None: ...
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def r_motor_on(self) -> None: ...
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def r_motor_off(self) -> None: ...
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def r_motor_on_off(self, action: bool): ...
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def r_motoron_pp2main_start(self) -> None: ...
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def r_motoron_start(self) -> None: ...
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def r_pulse_motoroff(self) -> None: ...
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def r_pp2main(self) -> None: ...
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def r_program_start(self) -> None: ...
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def r_program_stop(self) -> None: ...
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def r_program_start_stop(self, action: bool): ...
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def r_set_program_speed(self, speed: int): ...
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def r_soft_estop(self, action: bool): ...
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def r_switch_auto_motoron(self) -> None: ...
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def r_switch_auto(self) -> None: ...
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def r_switch_manual(self) -> None: ...
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def r_switch_auto_manual(self, action: bool): ...
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def r_reduced_mode(self, action: bool): ...
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def r_switch_safe_region(self, idx: int, enable: bool): ...
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@property
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def w_alarm_state(self): ...
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@property
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def w_sta_collision(self): ...
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@property
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def w_sta_collision_alarm(self): ...
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@property
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def w_sta_collision_open(self): ...
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@property
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def w_controller_is_running(self): ...
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@property
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def w_encoder_low_battery(self): ...
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@property
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def w_sta_error_code(self): ...
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@property
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def w_sta_estop(self): ...
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@property
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def w_sta_heartbeat(self): ...
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@property
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def w_sta_home(self): ...
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@property
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def w_sta_motor(self): ...
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@property
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def w_sta_operation_mode(self): ...
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@property
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def w_sta_program(self): ...
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@property
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def w_sta_program_full(self): ...
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@property
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def w_sta_program_not_run(self): ...
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@property
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def w_sta_program_reset(self): ...
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@property
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def w_sta_program_speed(self): ...
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@property
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def w_sta_reduce_mode(self): ...
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@property
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def w_sta_robot_is_busy(self): ...
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@property
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def w_sta_robot_is_moving(self): ...
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@property
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def w_safe_door_state(self): ...
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@property
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def w_sta_safe_jnt_pos(self): ...
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@property
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def w_sta_soft_estop(self): ...
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@property
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def w_sta_safe_region(self): ...
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@property
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def w_sta_on_path(self): ...
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@property
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def w_sta_near_path(self): ...
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@property
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def w_sta_cart_pose(self) -> list: ...
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@property
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def w_sta_cart_vel(self) -> list: ...
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@property
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def w_sta_jnt_pose(self) -> list: ...
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@property
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def w_sta_jnt_vel(self) -> list: ...
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@property
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def w_sta_tcp_pose(self) -> list: ...
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@property
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def w_sta_tcp_vel(self) -> list: ...
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@property
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def w_sta_tcp_vel_mag(self): ...
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def io_write_coils(self, addr, value: bool): ...
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def io_read_coils(self): ...
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def io_read_discretes(self): ...
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class EcRequest:
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c: socket.socket
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exec_desc: str
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def __init__(self) -> None: ...
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def sock_conn(self) -> None: ...
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def sr_string(self, directive, description, more_desc: str = ''): ...
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def s_string(self, directive: str): ...
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def r_string(self): ...
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def motor_on(self): ...
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def motor_off(self): ...
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def pp_to_main(self): ...
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def program_start(self): ...
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def program_stop(self): ...
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def clear_alarm(self): ...
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def switch_operation_auto(self): ...
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def switch_operation_manual(self): ...
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def open_drag_mode(self): ...
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def close_drag_mode(self): ...
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def get_project_list(self): ...
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def get_current_project(self): ...
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def load_project(self, project_name): ...
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def estop_reset(self): ...
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def estopreset_and_clearalarm(self): ...
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def motoron_pp2main_start(self): ...
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def motoron_start(self): ...
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def pause_motoroff(self): ...
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def set_program_speed(self, speed: int = 20): ...
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def set_soft_estop(self, enable: str): ...
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def switch_auto_motoron(self): ...
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def open_safe_region(self, number: int): ...
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def close_safe_region(self, number: int): ...
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def open_reduced_mode(self): ...
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def close_reduced_mode(self): ...
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def setdo_value(self, do_name: str, do_value: str): ...
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def set_robot_time(self, robot_time: str = ...): ...
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@property
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def motor_on_state(self): ...
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@property
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def robot_running_state(self): ...
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@property
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def estop_state(self): ...
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@property
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def operation_mode(self): ...
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@property
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def home_state(self): ...
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@property
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def fault_state(self): ...
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@property
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def collision_state(self): ...
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@property
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def task_state(self): ...
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@property
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def get_cart_pos(self): ...
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@property
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def get_joint_pos(self): ...
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@property
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def get_joint_vel(self): ...
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@property
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def get_joint_trq(self): ...
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@property
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def reduced_mode_state(self): ...
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def get_io_state(self, io_list: str): ...
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@property
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def alarm_state(self): ...
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@property
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def collision_alarm_state(self): ...
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@property
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def collision_open_state(self): ...
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@property
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def controller_is_running(self): ...
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@property
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def encoder_low_battery_state(self): ...
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@property
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def robot_error_code(self): ...
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@property
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def rl_pause_state(self): ...
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@property
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def program_reset_state(self): ...
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@property
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def program_speed_value(self): ...
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@property
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def robot_is_busy(self): ...
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@property
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def robot_is_moving(self): ...
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@property
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def safe_door_state(self): ...
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@property
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def soft_estop_state(self): ...
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@property
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def get_cart_vel(self): ...
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@property
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def get_tcp_pos(self): ...
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@property
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def get_tcp_vel(self): ...
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@property
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def get_tcp_vel_mag(self): ...
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@property
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def ext_estop_state(self): ...
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@property
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def hand_estop_state(self): ...
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@property
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def sta_on_path(self): ...
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@property
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def sta_near_path(self): ...
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class PreDos:
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def __init__(self) -> None: ...
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def push_prj_to_server(self, prj_file: str): ...
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def pull_prj_from_server(self, prj_name: str, local_prj_path: str): ...
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def push_file_to_server(self, local_file: str, server_file: str): ...
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def pull_file_from_server(self, server_file: str, local_file: str): ...
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class RobotInit:
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hr: HmiRequest
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pd: PreDos
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conf_path: str
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def __init__(self, hr: HmiRequest, pd: PreDos, conf_path: str = '') -> None: ...
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def robot_init(self) -> None: ...
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def fw_updater(self, fw_file: str): ...
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class UpgradeRequest:
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c: socket.socket
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def __init__(self) -> None: ...
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def sock_conn(self) -> None: ...
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def s_pkg(self, command: dict): ...
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def r_pkg(self): ...
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def sr_pkg(self, command: dict): ...
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def erase_cfg(self) -> None: ...
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def clear_rubbish(self) -> None: ...
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def soft_reboot(self) -> None: ...
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def version_query(self) -> None: ...
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def robot_reboot(self) -> None: ...
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def backup_origin(self) -> None: ...
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def origin_recovery(self) -> None: ...
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class PlotTrajectory:
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hr: HmiRequest
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md: ModbusRequest
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curve_name: str
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prj_name: str
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tasks: list
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def __init__(self, hr: HmiRequest, md: ModbusRequest, prj_name: str, tasks: list, curve_name: str = 'hw_cart_pos_feedback_tcp_in_world') -> None: ...
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def draw_traj(self) -> None: ...
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