minor fix

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 == "":
+        if self.reg_path == "":
-            self.conf_path = f"{clibs.base_path}/assets/confs"
+            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.reg_path}/registers.json",
-            f"{self.conf_path}/registers.xml"
+            f"{self.reg_path}/registers.xml"
         ]
         for config_file in config_files:
             filename = os.path.basename(config_file)

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): ...
 

rokae/codes/stub/openapi.pyi

@@ -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: ...