v0.1.7.0(2024/06/26)-初步可用
1. [aio.py] 在detect_network函数中需改查询时间间隔是1s，在tabview_click中增加textbox配置normal的语句 2. [do_brake.py -> btn_functions.py] 新增执行相应函数，并在get_state函数中设置无示教器模式 3. [openapi.py] 新增sock_conn函数，并做连接时的异常处理，新增类参数w2t 4. [aio.py] 修改customtkinter库中C:\Users\Administrator\AppData\Local\Programs\Python\Python312\Lib\site-packages\customtkinter\windows\widgets\ctk_tabview.py文件，参考https://github.com/TomSchimansky/CustomTkinter/issues/2296，实现修改tabview组件的字体大小，使用原生字体，同时将segmented button字体修改为原生，为了解决segmented button在禁用和启用时，屏幕抖动的问题，并将大小修改为16 5. [aio.py] 修改了segmented_button_callback的实现逻辑，使代码更简洁 6. [aio.py] 修改了在tabview_click函数中对于实例化openapi的动作，使每次切换标签都会重新实例化，也就是每次都会重新连接，修复显示不正确的问题 7. [openapi.py] 新增了socket关闭的函数，并增加msg_id为None的处理逻辑 8. [btn_functions.py] 完善了状态获取的功能，新增告警获取以及功能切换的逻辑
This commit is contained in:
parent
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@ -294,3 +294,13 @@ v0.1.7.0(2024/06/25)-未发布
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> - 封包解包顺序：帧长度二字节/包长度四字节/协议二字节/预留二字节，\x04\x00:\x00\x00\tR:\x02:\x00
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> - 帧长度和包长度没有必然关系，单帧的时候是帧长度减去包长度等于6，包长度指的是所有内容的长度
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> - HMI内部每次发送1024个字节，进行分包，内容长度规则是：第一帧1024-6=1018(帧大小减去包头长度)，第二帧（包含）及之后的帧，帧长度即是数据长度
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v0.1.7.0(2024/06/26)-初步可用
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1. [aio.py] 在detect_network函数中需改查询时间间隔是1s，在tabview_click中增加textbox配置normal的语句
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2. [do_brake.py -> btn_functions.py] 新增执行相应函数，并在get_state函数中设置无示教器模式
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3. [openapi.py] 新增sock_conn函数，并做连接时的异常处理，新增类参数w2t
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4. [aio.py] 修改customtkinter库中C:\Users\Administrator\AppData\Local\Programs\Python\Python312\Lib\site-packages\customtkinter\windows\widgets\ctk_tabview.py文件，参考https://github.com/TomSchimansky/CustomTkinter/issues/2296，实现修改tabview组件的字体大小，使用原生字体，同时将segmented button字体修改为原生，为了解决segmented button在禁用和启用时，屏幕抖动的问题，并将大小修改为16
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5. [aio.py] 修改了segmented_button_callback的实现逻辑，使代码更简洁
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6. [aio.py] 修改了在tabview_click函数中对于实例化openapi的动作，使每次切换标签都会重新实例化，也就是每次都会重新连接，修复显示不正确的问题
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7. [openapi.py] 新增了socket关闭的函数，并增加msg_id为None的处理逻辑
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8. [btn_functions.py] 完善了状态获取的功能，新增告警获取以及功能切换的逻辑
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@ -6,8 +6,8 @@ VSVersionInfo(
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ffi=FixedFileInfo(
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# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
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# Set not needed items to zero 0.
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filevers=(0, 1, 6, 3),
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prodvers=(0, 1, 6, 3),
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filevers=(0, 1, 7, 0),
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prodvers=(0, 1, 7, 0),
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# Contains a bitmask that specifies the valid bits 'flags'r
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mask=0x3f,
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# Contains a bitmask that specifies the Boolean attributes of the file.
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@ -31,12 +31,12 @@ VSVersionInfo(
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'040904b0',
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[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
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StringStruct('FileDescription', 'All in one automatic toolbox'),
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StringStruct('FileVersion', '0.1.6.3 (2024-06-18)'),
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StringStruct('FileVersion', '0.1.7.0 (2024-06-26)'),
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StringStruct('InternalName', 'AIO.exe'),
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StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
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StringStruct('OriginalFilename', 'AIO.exe'),
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StringStruct('ProductName', 'AIO'),
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StringStruct('ProductVersion', '0.1.6.3 (2024-06-18)')])
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StringStruct('ProductVersion', '0.1.7.0 (2024-06-26)')])
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]),
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VarFileInfo([VarStruct('Translation', [1033, 1200])])
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]
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@ -1 +1 @@
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0.1.6.3 @ 06/18/2024
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0.1.7.0 @ 06/26/2024
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@ -110,7 +110,7 @@ class App(customtkinter.CTk):
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self.tabview.add("Automatic Test")
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# create main menu for data process
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self.menu_main_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), values=["init", "brake", "current", "iso", "wavelogger"], font=self.my_font, text_color='yellow', button_color='red', fg_color='green', command=self.func_main_callback)
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self.menu_main_dp.grid(row=1, column=1, sticky='we', padx=5, pady=5)
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self.menu_main_dp.grid(row=1, column=1, sticky='we', padx=5, pady=10)
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self.menu_main_dp.set("Start Here!")
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# create sub menu for data process
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self.menu_sub_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'))
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@ -123,7 +123,7 @@ class App(customtkinter.CTk):
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for widgit in widgits_dp:
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if widgit == 'path':
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widgits_dp[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f'{widgit.upper()}', font=self.my_font)
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widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=5)
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widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=10)
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widgits_dp[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=670, placeholder_text=widgits_dp[widgit]['text'], font=self.my_font)
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widgits_dp[widgit]['entry'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
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widgits_dp[widgit]['entry'].configure(state='disabled')
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@ -142,11 +142,10 @@ class App(customtkinter.CTk):
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# For data process tab END =====================================================================
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# For automatic test tab START =====================================================================
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# create buttons
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self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), font=self.my_font, command=lambda value='机器状态': self.thread_it(self.segmented_button_callback))
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self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), dynamic_resizing=False, font=customtkinter.CTkFont(size=16, weight='bold'), command=lambda value='机器状态': self.thread_it(self.segmented_button_callback))
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self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew")
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self.seg_button.configure(values=["无效功能", "触发急停", "停止运动", "继续运动", "零点位姿", "机器状态", "告警信息"])
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self.seg_button.set("无效功能")
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# self.seg_button.configure(state="disabled")
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self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "停止运动", "继续运动", "零点位姿", "机器状态", "告警信息"])
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self.seg_button.set("功能切换")
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# create progress bar
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self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
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self.progressbar.grid(row=5, column=1, padx=5, pady=5, sticky="ew")
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@ -196,38 +195,27 @@ class App(customtkinter.CTk):
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self.myThread.start()
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def segmented_button_callback(self):
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_btn_funcs = {'get_state': '机器状态', 'warning_info': '告警信息', '3': '4', '5': '6', '7': '8'}
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value = self.seg_button.get()
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self.seg_button.configure(state='disabled')
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self.textbox.configure(state='normal')
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# self.tabview.configure(state='disabled')
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self.textbox.delete(index1='1.0', index2='end')
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with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
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connection_state = f_h.read().strip()
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match value:
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case '触发急停':
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self.textbox.delete(index1='1.0', index2='end')
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self.write2textbox(f"segment button is triggered: {value}")
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case '停止运动':
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self.textbox.delete(index1='1.0', index2='end')
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self.write2textbox(f"segment button is triggered: {value}")
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case '继续运动':
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self.textbox.delete(index1='1.0', index2='end')
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self.write2textbox(f"segment button is triggered: {value}")
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case '零点位姿':
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self.textbox.delete(index1='1.0', index2='end')
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self.write2textbox(f"segment button is triggered: {value}")
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case '机器状态':
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self.textbox.configure(state='normal')
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self.textbox.delete(index1='1.0', index2='end')
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with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
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connection_state = f_h.read().strip()
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if connection_state == '0':
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self.write2textbox("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...")
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else:
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do_brake.main(self.hr, 'get_state', self.write2textbox)
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case '告警信息':
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self.textbox.delete(index1='1.0', index2='end')
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self.write2textbox(f"segment button is triggered: {value}")
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if connection_state == '0' and value != '功能切换':
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self.write2textbox("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 50, 'red')
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else:
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for _func in _btn_funcs:
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if _btn_funcs[_func] == value:
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btn_functions.main(self.hr, _func, self.write2textbox)
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break
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self.seg_button.configure(state='normal')
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self.textbox.configure(state='disable')
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# self.tabview.configure(state='normal')
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def detect_network(self):
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with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
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@ -236,7 +224,7 @@ class App(customtkinter.CTk):
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with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
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pb_color = 'green' if f_h.read().strip() == '1' else 'red'
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self.progressbar.configure(progress_color=pb_color)
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sleep(3)
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sleep(1)
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def tabview_click(self):
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self.initialization()
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@ -249,10 +237,21 @@ class App(customtkinter.CTk):
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self.menu_main_dp.set("Start Here!")
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elif tab_name == 'Automatic Test':
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self.menu_main_at.set("Start Here!")
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with open(f"{current_path}/../assets/templates/heartbeat", "r", encoding='utf-8') as f_h:
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connection_state = f_h.read().strip()
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if connection_state == '0' or self.hr is None:
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self.hr = openapi.HmiRequest()
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self.seg_button.configure(state='normal')
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with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
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f_h.write('0')
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self.textbox.configure(state='normal')
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try:
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self.hr.close_sock()
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self.hr = openapi.HmiRequest(self.write2textbox)
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except:
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self.hr = openapi.HmiRequest(self.write2textbox)
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# if connection_state == '0' or self.hr is None:
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# self.textbox.configure(state='normal')
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# self.hr = openapi.HmiRequest(self.write2textbox)
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# self.textbox.configure(state='disabled')
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def initialization(self):
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tab_name = self.tabview.get()
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@ -283,7 +282,7 @@ class App(customtkinter.CTk):
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widgits_at[widgit]['optionmenu'].configure(state='normal')
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widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
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widgits_at[widgit]['optionmenu'].configure(state='disabled')
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self.seg_button.set("无效按钮")
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self.seg_button.set("功能切换")
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def func_main_callback(self, func_name):
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self.initialization()
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@ -1 +1 @@
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__all__ = ['openapi', 'do_brake']
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__all__ = ['openapi', 'btn_functions']
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@ -1,4 +1,5 @@
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import json
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import socket
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from os.path import dirname
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from sys import argv
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@ -17,40 +18,55 @@ def validate_resp(_id, response, w2t):
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w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red')
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def execution(cmd, hr, w2t, **kwargs):
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_id = hr.excution(cmd, **kwargs)
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
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else:
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_response = json.loads(_msg)
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validate_resp(_id, _response, w2t)
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return _response
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def get_state(hr, w2t):
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# 获取机器状态
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_id = hr.excution('state.get_state')
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
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else:
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_response = json.loads(_msg)['data']
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validate_resp(_id, _response, w2t)
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_response = execution('state.get_state', hr, w2t)
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stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
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for component, state in _response.items():
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for component, state in _response['data'].items():
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w2t(f"{stat_desc[component]}: {state}")
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_id = hr.excution('device.get_params')
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
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else:
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_response = json.loads(_msg)['data']['devices']
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validate_resp(_id, _response, w2t)
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# 获取设备伺服信息
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_response = execution('device.get_params', hr, w2t)
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dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'}
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dev_vers = {}
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for device in _response:
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for device in _response['data']['devices']:
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dev_vers[device['type']] = device['version']
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for i in sorted(dev_desc.keys()):
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w2t(f"{dev_desc[i]}: {dev_vers[i]}")
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# 设置示教器模式
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_response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
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def warning_info(hr, w2t):
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for msg in hr.c_msg:
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if 'alarm' in msg.lower():
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w2t(msg)
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for msg in hr.c_msg_xs:
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if 'alarm' in msg.lower():
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w2t(msg)
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def main(hr, func, w2t):
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if hr is None:
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w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red')
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# func: get_state/
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match func:
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case 'get_state':
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get_state(hr, w2t)
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case 'warning_info':
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warning_info(hr, w2t)
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if __name__ == '__main__':
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@ -3,31 +3,49 @@ import socket
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import threading
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import selectors
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import time
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from os.path import dirname
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import os
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MAX_FRAME_SIZE = 1024
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socket.setdefaulttimeout(3)
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current_path = dirname(__file__)
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socket.setdefaulttimeout(2)
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current_path = os.path.dirname(__file__)
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class HmiRequest(object):
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def __init__(self):
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def __init__(self, w2t):
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super().__init__()
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try:
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self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.c.connect(('192.168.0.160', 5050))
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# self.c.connect(('192.168.84.129', 5050))
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self.c.setblocking(False)
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self.c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.c_xs.connect(('192.168.0.160', 6666))
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# self.c_xs.connect(('192.168.84.129', 6666))
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self.c_xs.setblocking(False)
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with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
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f_h.write('1')
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except Exception as Err:
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with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
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f_h.write('0')
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print("Connection failed, please try to re-connect via switching tabs...")
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self.w2t = w2t
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self.c = None
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self.c_xs = None
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def sock_conn():
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# while True:
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with open(f"{current_path}/../../assets/templates/heartbeat", "r", encoding='utf-8') as f_h:
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connection_state = f_h.read().strip()
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if connection_state == '0':
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try:
|
||||
c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
c.connect(('192.168.0.160', 5050))
|
||||
# c.connect(('192.168.84.129', 5050))
|
||||
c.setblocking(False)
|
||||
c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
c_xs.connect(('192.168.0.160', 6666))
|
||||
# c_xs.connect(('192.168.84.129', 6666))
|
||||
c_xs.setblocking(False)
|
||||
|
||||
self.w2t("Connection success", 0, 0, 'green')
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
|
||||
f_h.write('1')
|
||||
return c, c_xs
|
||||
|
||||
except Exception as Err:
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
|
||||
f_h.write('0')
|
||||
self.w2t("Connection failed...", 0, 0, 'red')
|
||||
return None, None
|
||||
|
||||
self.c, self.c_xs = sock_conn()
|
||||
if self.c is None or self.c_xs is None:
|
||||
self.w2t("Aborting! Try to switch tabs to re-connect!", 0, 1, 'red')
|
||||
|
||||
self.c_msg = []
|
||||
self.c_msg_xs = []
|
||||
@ -47,6 +65,10 @@ class HmiRequest(object):
|
||||
self.t_unpackage_xs.daemon = True
|
||||
self.t_unpackage_xs.start()
|
||||
|
||||
def close_sock(self):
|
||||
self.c.close()
|
||||
self.c_xs.close()
|
||||
|
||||
def header_check(self, index, data):
|
||||
try:
|
||||
_frame_size = int.from_bytes(data[index:index+2], byteorder='big')
|
||||
@ -67,7 +89,7 @@ class HmiRequest(object):
|
||||
def heartbeat(self):
|
||||
while True:
|
||||
_id = self.excution('controller.heart')
|
||||
_flag = 1 if self.get_from_id(_id) else 0
|
||||
_flag = 0 if self.get_from_id(_id) is None else 1
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
|
||||
f_h.write(str(_flag))
|
||||
time.sleep(3)
|
||||
@ -170,6 +192,8 @@ class HmiRequest(object):
|
||||
messages = self.c_msg if flag == 0 else self.c_msg_xs
|
||||
for i in range(3):
|
||||
for msg in messages:
|
||||
if msg_id is None:
|
||||
self.w2t("未能成功获取到 message id...", 0, 10, 'red')
|
||||
if msg_id in msg:
|
||||
return msg
|
||||
time.sleep(1)
|
||||
|
||||
Reference in New Issue
Block a user