v0.1.9.1(2024/07/12)

1. [APIs: do_brake.py]
   - 修改正负方向拍急停的逻辑，基本原理为：运行之前发送正负方向信号pon给RL，RL根据信号以及速度正负号运作
   - 由于上述修改，正负方向急停准确率可达100%
2. [APIs: aio.py]
   - 修改write2textbox的输出逻辑，实现更加灵活的自定义输出，同时修改相关部分
3. [APIs: openapi.py]
   - modbus类新增指示政府方向急停的信号pon，将modbus类入参中的tab_name删除，并修改tab_name的值为'openapi'
   - socket类种修改tab_name的值为'openapi'

aio/code/automatic_test/openapi.py

@@ -1,4 +1,4 @@
-from json import load, dumps, loads
+from json import load, dumps
 from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
 from threading import Thread
 import selectors
@@ -14,10 +14,10 @@ current_path = dirname(__file__)
 
 
 class ModbusRequest(object):
-    def __init__(self, w2t, tab_name):
+    def __init__(self, w2t):
         super().__init__()
         self.w2t = w2t
-        self.tab_name = tab_name
+        self.tab_name = 'openapi'
         self.host = '192.168.0.160'
         self.port = 502
         self.c = ModbusTcpClient(self.host, self.port)
@@ -167,6 +167,13 @@ class ModbusRequest(object):
             self.w2t(f"{Err}")
             self.w2t("无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
+    def write_pon(self, pon):  # positive or negative
+        try:
+            self.c.write_register(41011, pon)
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            self.w2t("无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
 
 class HmiRequest(object):
     def __init__(self, w2t):
@@ -182,7 +189,7 @@ class HmiRequest(object):
         self.flag_xs = 0
         self.response_xs = ''
         self.t_bool = True
-        self.tab_name = 'Automatic Test'
+        self.tab_name = 'openapi'
         self.pkg_size = 0
         self.broke = 0
         self.half = 0
@@ -219,7 +226,7 @@ class HmiRequest(object):
                 self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
                 with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
                     f_hb.write('1')
-                md = ModbusRequest(self.w2t, self.tab_name)
+                md = ModbusRequest(self.w2t)
                 md.reset_estop()
                 md.clear_alarm()
                 md.write_act(False)