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
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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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