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

aio/README.md

@@ -294,3 +294,13 @@ v0.1.7.0(2024/06/25)-未发布
 > - 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
 > - 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
 > - 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
+
+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

aio/assets/file_version_info.txt

@@ -6,8 +6,8 @@ VSVersionInfo(
   ffi=FixedFileInfo(
     # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
     # Set not needed items to zero 0.
-    filevers=(0, 1, 6, 3),
+    filevers=(0, 1, 7, 0),
-    prodvers=(0, 1, 6, 3),
+    prodvers=(0, 1, 7, 0),
     # Contains a bitmask that specifies the valid bits 'flags'r
     mask=0x3f,
     # Contains a bitmask that specifies the Boolean attributes of the file.
@@ -31,12 +31,12 @@ VSVersionInfo(
         '040904b0',
         [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
         StringStruct('FileDescription', 'All in one automatic toolbox'),
-        StringStruct('FileVersion', '0.1.6.3 (2024-06-18)'),
+        StringStruct('FileVersion', '0.1.7.0 (2024-06-26)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.1.6.3 (2024-06-18)')])
+        StringStruct('ProductVersion', '0.1.7.0 (2024-06-26)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/vers

@@ -1 +1 @@
-0.1.6.3 @ 06/18/2024
+0.1.7.0 @ 06/26/2024

aio/code/aio.py

@@ -110,7 +110,7 @@ class App(customtkinter.CTk):
         self.tabview.add("Automatic Test")
         # create main menu for data process
         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)
-        self.menu_main_dp.grid(row=1, column=1, sticky='we', padx=5, pady=5)
+        self.menu_main_dp.grid(row=1, column=1, sticky='we', padx=5, pady=10)
         self.menu_main_dp.set("Start Here!")
         # create sub menu for data process
         self.menu_sub_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'))
@@ -123,7 +123,7 @@ class App(customtkinter.CTk):
         for widgit in widgits_dp:
             if widgit == 'path':
                 widgits_dp[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f'{widgit.upper()}', font=self.my_font)
-                widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=5)
+                widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=10)
                 widgits_dp[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=670, placeholder_text=widgits_dp[widgit]['text'], font=self.my_font)
                 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')
                 widgits_dp[widgit]['entry'].configure(state='disabled')
@@ -142,11 +142,10 @@ class App(customtkinter.CTk):
         # For data process tab END =====================================================================
         # For automatic test tab START =====================================================================
         # create buttons
-        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))
+        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))
         self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew")
-        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"])
+        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"])
-        self.seg_button.set("无效功能")
+        self.seg_button.set("功能切换")
-        # self.seg_button.configure(state="disabled")
         # create progress bar
         self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
         self.progressbar.grid(row=5, column=1, padx=5, pady=5, sticky="ew")
@@ -196,38 +195,27 @@ class App(customtkinter.CTk):
         self.myThread.start()
 
     def segmented_button_callback(self):
+        _btn_funcs = {'get_state': '机器状态', 'warning_info': '告警信息', '3': '4', '5': '6', '7': '8'}
         value = self.seg_button.get()
+
+        self.seg_button.configure(state='disabled')
         self.textbox.configure(state='normal')
+        # self.tabview.configure(state='disabled')
+        self.textbox.delete(index1='1.0', index2='end')
+        with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
+            connection_state = f_h.read().strip()
 
-        match value:
+        if connection_state == '0' and value != '功能切换':
-            case '触发急停':
+            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')
-                self.textbox.delete(index1='1.0', index2='end')
+        else:
-                self.write2textbox(f"segment button is triggered: {value}")
+            for _func in _btn_funcs:
-            case '停止运动':
+                if _btn_funcs[_func] == value:
-                self.textbox.delete(index1='1.0', index2='end')
+                    btn_functions.main(self.hr, _func, self.write2textbox)
-                self.write2textbox(f"segment button is triggered: {value}")
+                    break
-            case '继续运动':
-                self.textbox.delete(index1='1.0', index2='end')
-                self.write2textbox(f"segment button is triggered: {value}")
-            case '零点位姿':
-                self.textbox.delete(index1='1.0', index2='end')
-                self.write2textbox(f"segment button is triggered: {value}")
-            case '机器状态':
-                self.textbox.configure(state='normal')
-                self.textbox.delete(index1='1.0', index2='end')
-                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':
-                    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...")
-                else:
-                    do_brake.main(self.hr, 'get_state', self.write2textbox)
-
-            case '告警信息':
-                self.textbox.delete(index1='1.0', index2='end')
-                self.write2textbox(f"segment button is triggered: {value}")
 
+        self.seg_button.configure(state='normal')
         self.textbox.configure(state='disable')
+        # self.tabview.configure(state='normal')
 
     def detect_network(self):
         with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
@@ -236,7 +224,7 @@ class App(customtkinter.CTk):
             with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
                 pb_color = 'green' if f_h.read().strip() == '1' else 'red'
                 self.progressbar.configure(progress_color=pb_color)
-            sleep(3)
+            sleep(1)
 
     def tabview_click(self):
         self.initialization()
@@ -249,10 +237,21 @@ class App(customtkinter.CTk):
             self.menu_main_dp.set("Start Here!")
         elif tab_name == 'Automatic Test':
             self.menu_main_at.set("Start Here!")
-            with open(f"{current_path}/../assets/templates/heartbeat", "r", encoding='utf-8') as f_h:
+            self.seg_button.configure(state='normal')
-                connection_state = f_h.read().strip()
+            with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
-            if connection_state == '0' or self.hr is None:
+                f_h.write('0')
-                self.hr = openapi.HmiRequest()
+
+            self.textbox.configure(state='normal')
+            try:
+                self.hr.close_sock()
+                self.hr = openapi.HmiRequest(self.write2textbox)
+            except:
+                self.hr = openapi.HmiRequest(self.write2textbox)
+
+            # if connection_state == '0' or self.hr is None:
+            #     self.textbox.configure(state='normal')
+            #     self.hr = openapi.HmiRequest(self.write2textbox)
+                # self.textbox.configure(state='disabled')
 
     def initialization(self):
         tab_name = self.tabview.get()
@@ -283,7 +282,7 @@ class App(customtkinter.CTk):
                     widgits_at[widgit]['optionmenu'].configure(state='normal')
                     widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
                     widgits_at[widgit]['optionmenu'].configure(state='disabled')
-            self.seg_button.set("无效按钮")
+            self.seg_button.set("功能切换")
 
     def func_main_callback(self, func_name):
         self.initialization()

aio/code/automatic_test/__init__.py

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

aio/code/automatic_test/btn_functions.py

@@ -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')
+    _response = execution('state.get_state', hr, w2t)
-    _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)
-
     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')
+    # 获取设备伺服信息
-    _msg = hr.get_from_id(_id)
+    _response = execution('device.get_params', hr, w2t)
-    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)
     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__':

aio/code/automatic_test/openapi.py

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