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