71 lines
2.5 KiB
Python
71 lines
2.5 KiB
Python
from json import loads
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from sys import argv
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from logging import getLogger, INFO
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from commons import clibs
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tab_name = clibs.tab_names['at']
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logger = getLogger(__file__)
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logger.setLevel(INFO)
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def trigger_estop(md, w2t):
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md.trigger_estop()
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w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
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def reset_estop(md, w2t):
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md.reset_estop()
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w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
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def get_state(hr, w2t):
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# 获取机器状态
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_response = clibs.execution('state.get_state', hr, w2t, tab_name)
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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'}
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for component, state in _response['data'].items():
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w2t(f"{stat_desc[component]}: {state}", tab_name=tab_name)
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# 获取设备伺服信息
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_response = clibs.execution('device.get_params', hr, w2t, tab_name)
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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'}
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dev_vers = {}
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for device in _response['data']['devices']:
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dev_vers[device['type']] = device['version']
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for i in sorted(dev_desc.keys()):
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w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name=tab_name)
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# 设置示教器模式
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_response = clibs.execution('state.set_tp_mode', hr, w2t, tab_name, tp_mode='without')
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def warning_info(hr, w2t):
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for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
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log_name = clibs.log_data + postfix
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try:
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with open(log_name, 'r', encoding='utf-8') as f_log:
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for line in f_log:
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if 'alarm' in line:
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w2t(line.strip(), tab_name=tab_name)
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except FileNotFoundError:
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pass
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def main(hr, md, func, w2t):
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if hr is None:
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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', tab_name)
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# func: get_state/
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match func:
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case 'trigger_estop':
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trigger_estop(md, w2t)
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case 'reset_estop':
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reset_estop(md, w2t)
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case 'get_state':
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get_state(hr, w2t)
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case 'warning_info':
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warning_info(hr, w2t)
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if __name__ == '__main__':
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main(*argv[1:])
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