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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
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:
gitea
2024-06-26 19:54:51 +08:00
parent a75775c869
commit 7143a19fa1
7 changed files with 131 additions and 82 deletions
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2
aio/code/automatic_test/__init__.py
View File

@@ -1 +1 @@
__all__ = ['openapi', 'do_brake']
__all__ = ['openapi', 'btn_functions']

50
aio/code/automatic_test/do_brake.py → aio/code/automatic_test/btn_functions.py
View File

@@ -1,4 +1,5 @@
import json
import socket
from os.path import dirname
from sys import argv
@@ -17,40 +18,55 @@ def validate_resp(_id, response, w2t):
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red')
def execution(cmd, hr, w2t, **kwargs):
_id = hr.excution(cmd, **kwargs)
_msg = hr.get_from_id(_id)
if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
else:
_response = json.loads(_msg)
validate_resp(_id, _response, w2t)
return _response
def get_state(hr, w2t):
# 获取机器状态
_id = hr.excution('state.get_state')
_msg = hr.get_from_id(_id)
if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
else:
_response = json.loads(_msg)['data']
validate_resp(_id, _response, w2t)
_response = execution('state.get_state', hr, w2t)
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'}
for component, state in _response.items():
for component, state in _response['data'].items():
w2t(f"{stat_desc[component]}: {state}")
_id = hr.excution('device.get_params')
_msg = hr.get_from_id(_id)
if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
else:
_response = json.loads(_msg)['data']['devices']
validate_resp(_id, _response, w2t)
# 获取设备伺服信息
_response = execution('device.get_params', hr, w2t)
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'}
dev_vers = {}
for device in _response:
for device in _response['data']['devices']:
dev_vers[device['type']] = device['version']
for i in sorted(dev_desc.keys()):
w2t(f"{dev_desc[i]}: {dev_vers[i]}")
# 设置示教器模式
_response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
def warning_info(hr, w2t):
for msg in hr.c_msg:
if 'alarm' in msg.lower():
w2t(msg)
for msg in hr.c_msg_xs:
if 'alarm' in msg.lower():
w2t(msg)
def main(hr, func, w2t):
if hr is None:
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')
# func: get_state/
match func:
case 'get_state':
get_state(hr, w2t)
case 'warning_info':
warning_info(hr, w2t)
if __name__ == '__main__':

64
aio/code/automatic_test/openapi.py
View File

@@ -3,31 +3,49 @@ import socket
import threading
import selectors
import time
from os.path import dirname
import os
MAX_FRAME_SIZE = 1024
socket.setdefaulttimeout(3)
current_path = dirname(__file__)
socket.setdefaulttimeout(2)
current_path = os.path.dirname(__file__)
class HmiRequest(object):
def __init__(self):
def __init__(self, w2t):
super().__init__()
try:
self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.c.connect(('192.168.0.160', 5050))
# self.c.connect(('192.168.84.129', 5050))
self.c.setblocking(False)
self.c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.c_xs.connect(('192.168.0.160', 6666))
# self.c_xs.connect(('192.168.84.129', 6666))
self.c_xs.setblocking(False)
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
f_h.write('1')
except Exception as Err:
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
f_h.write('0')
print("Connection failed, please try to re-connect via switching tabs...")
self.w2t = w2t
self.c = None
self.c_xs = None
def sock_conn():
# while True:
with open(f"{current_path}/../../assets/templates/heartbeat", "r", encoding='utf-8') as f_h:
connection_state = f_h.read().strip()
if connection_state == '0':
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)