转向从机型配置文件获取参数

code/automatic_test/btn_functions.py

@@ -0,0 +1,67 @@
+from sys import argv
+from commons import clibs
+
+tab_name = clibs.tab_names['at']
+logger = clibs.log_prod
+
+
+def trigger_estop(md, w2t):
+    md.trigger_estop()
+    w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
+
+
+def reset_estop(md, w2t):
+    md.reset_estop()
+    w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
+
+
+def get_state(hr, w2t):
+    # 获取机器状态
+    _response = clibs.execution('state.get_state', hr, w2t, tab_name)
+    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['data'].items():
+        w2t(f"{stat_desc[component]}: {state}", tab_name=tab_name)
+
+    # 获取设备伺服信息
+    _response = clibs.execution('device.get_params', hr, w2t, tab_name)
+    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['data']['devices']:
+        dev_vers[device['type']] = device['version']
+    for i in sorted(dev_desc.keys()):
+        w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name=tab_name)
+
+    # 设置示教器模式
+    _response = clibs.execution('state.set_tp_mode', hr, w2t, tab_name, tp_mode='without')
+
+
+def warning_info(hr, w2t):
+    for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
+        log_name = clibs.log_data_hmi + postfix
+        try:
+            with open(log_name, 'r', encoding='utf-8') as f_log:
+                for line in f_log:
+                    if 'alarm' in line:
+                        w2t(line.strip(), tab_name=tab_name)
+        except FileNotFoundError:
+            pass
+
+
+def main(hr, md, 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', tab_name)
+    # func: get_state/
+    match func:
+        case 'trigger_estop':
+            trigger_estop(md, w2t)
+        case 'reset_estop':
+            reset_estop(md, w2t)
+        case 'get_state':
+            get_state(hr, w2t)
+        case 'warning_info':
+            warning_info(hr, w2t)
+
+
+if __name__ == '__main__':
+    main(*argv[1:])
+