20240623

8. [openapi.py] 增加心跳检测函数，并开启线程执行；取消在该文件中生成实例
9. [aio.py] 完成detect_network，并在main函数开启线程
10. 将templates文件夹移动到assets内

aio/code/automatic_test/do_brake.py

@@ -1,16 +1,19 @@
 import openapi
 
-hr = openapi.hr
+hr = openapi.HmiRequest()
 
 # 一、设置/检测机器人状态：
 #   1. 上电
 #   2. 软限位打开
 #   3. 示教器断开
-#   4. 操作模式
+#   4. 操作模式/机器人类型
 #   5. 控制器状态/工作任务控件/机器人动态
 
 # 二、加载RL程序开始运行
-
+#   1. 怎么触发急停
+#   2. 怎么恢复急停
+#   3. 怎么采集曲线
+#   4.
 
 # 三、运行过程中，收集数据，并处理出结果
 

aio/code/automatic_test/openapi.py

@@ -10,25 +10,26 @@ MAX_FRAME_SIZE = 1024
 class HmiRequest(object):
 
     def __init__(self):
+        super().__init__()
         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.connect(('192.168.0.160', 5050))
+        self.c.connect(('192.168.84.129', 5050))
         self.c.setblocking(False)
         self.c_msg = []
         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.connect(('192.168.0.160', 6666))
+        self.c_xs.connect(('192.168.84.129', 6666))
         self.c_xs.setblocking(False)
         self.c_msg_xs = []
+        self.t_heartbeat = threading.Thread(target=self.__heartbeat)
+        self.t_heartbeat.daemon = True
+        self.t_heartbeat.start()
         self.t_unpackage = threading.Thread(target=self.__unpackage, args=(self.c, ))
         self.t_unpackage.daemon = True
         self.t_unpackage.start()
         self.t_unpackage_xs = threading.Thread(target=self.__unpackage_xs, args=(self.c_xs, ))
         self.t_unpackage_xs.daemon = True
         self.t_unpackage_xs.start()
-        # self.t = threading.Thread(target=self.__heartbeat)
-        # self.t.daemon = True
-        # self.t.start()
         self.flag = 0
         self.response = ''
         self.leftover = 0
@@ -52,6 +53,14 @@ class HmiRequest(object):
             print("无法读取数据，需要确认")
             exit(10)
 
+    def __heartbeat(self):
+        while True:
+            _id = self.excution('controller.heart')
+            _flag = 1 if self.get_from_id(_id) else 0
+            with open("./templates/heartbeat", "w", encoding='utf-8') as f_h:
+                f_h.write(str(_flag))
+            time.sleep(10)
+
     def __msg_storage(self, response, flag=0):
         messages = self.c_msg if flag == 0 else self.c_msg_xs
         if len(messages) < 1000:
@@ -154,7 +163,8 @@ class HmiRequest(object):
                     return msg
             time.sleep(1)
         else:
-            print(f'无法查询到{msg_id}对应的响应')
+            # print(f'无法查询到{msg_id}对应的响应')
+            return None
 
     def __package(self, cmd):
         _frame_head = (len(cmd)+6).to_bytes(length=2, byteorder='big')
@@ -234,11 +244,3 @@ class HmiRequest(object):
             return req['id']
         else:  # for xService
             pass
-
-
-hr = HmiRequest()
-
-
-
-
-

aio/code/automatic_test/templates/device.get_params.json

@@ -1,5 +0,0 @@
-{
-  "id": "xxxxxxxxxxx",
-  "module": "system",
-  "command": "device.get_params"
-}

aio/code/automatic_test/templates/state.get_state.json

@@ -1,5 +0,0 @@
-{
-  "id": "xxxxxxxxxxx",
-  "module": "system",
-  "command": "state.get_state"
-}

aio/code/automatic_test/templates/state.get_tp_mode.json

@@ -1,5 +0,0 @@
-{
-  "id": "xxxxxxxxxxx",
-  "module": "system",
-  "command": "state.get_tp_mode"
-}

aio/code/automatic_test/templates/state.set_tp_mode.json

@@ -1,8 +0,0 @@
-{
-  "id": "xxxxxxxxxxx",
-  "module": "system",
-  "command": "state.set_tp_mode",
-  "data": {
-	  "tp_mode": "with"
-  }
-}

aio/code/automatic_test/templates/state.switch_auto.json

@@ -1,5 +0,0 @@
-{
-  "id": "xxxxxxxxxxx",
-  "module": "system",
-  "command": "state.switch_auto"
-}

aio/code/automatic_test/templates/state.switch_manual.json

@@ -1,5 +0,0 @@
-{
-  "id": "xxxxxxxxxxx",
-  "module": "system",
-  "command": "state.switch_manual"
-}

aio/code/automatic_test/templates/state.switch_motor_off.json

@@ -1,5 +0,0 @@
-{
-  "id": "xxxxxxxxxxx",
-  "module": "system",
-  "command": "state.switch_motor_off"
-}

aio/code/automatic_test/templates/state.switch_motor_on.json

@@ -1,5 +0,0 @@
-{
-  "id": "xxxxxxxxxxx",
-  "module": "system",
-  "command": "state.switch_motor_on"
-}