gitea
da5ddcea0a
1. [profile: aio.py]：完善durable text相关逻辑 2. [profile: do_brake/do_current/btn_functions.py]：删除validate_resp函数，修改execution函数 3. [profile: factory_test.py] - 新增耐久/老化测试程序 - 实现六轴折线图显示 4. [profile: openapi.py]：多次合并遗留问题处理 5. templates文件夹组织架构调整
74 lines
2.6 KiB
Python
74 lines
2.6 KiB
Python
from json import loads
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from sys import argv
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def execution(cmd, hr, w2t, **kwargs):
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_id = hr.execution(cmd, **kwargs)
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
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else:
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_response = loads(_msg)
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if not _response:
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w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
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return _response
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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', 'Automatic Test')
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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', 'Automatic Test')
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def get_state(hr, w2t):
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# 获取机器状态
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_response = execution('state.get_state', hr, w2t)
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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='Automatic Test')
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# 获取设备伺服信息
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_response = execution('device.get_params', hr, w2t)
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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='Automatic Test')
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# 设置示教器模式
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_response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
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def warning_info(hr, w2t):
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for msg in hr.c_msg:
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if 'alarm' in msg.lower():
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w2t(str(loads(msg)), tab_name='Automatic Test')
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for msg in hr.c_msg_xs:
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if 'alarm' in msg.lower():
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w2t(str(loads(msg)), tab_name='Automatic Test')
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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='Automatic Test')
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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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