# -*- coding: utf-8 -*- from threading import Thread import time from tkinter import * from tkinter import ttk, messagebox from tkinter.scrolledtext import ScrolledText from dobot_api import * import json from files.alarmController import alarm_controller_list from files.alarmServo import alarm_servo_list LABEL_JOINT = [["J1-", "J2-", "J3-", "J4-", "J5-", "J6-"], ["J1:", "J2:", "J3:", "J4:", "J5:", "J6:"], ["J1+", "J2+", "J3+", "J4+", "J5+", "J6+"]] LABEL_COORD = [["X-", "Y-", "Z-", "Rx-", "Ry-", "Rz-"], ["X:", "Y:", "Z:", "Rx:", "Ry:", "Rz:"], ["X+", "Y+", "Z+", "Rx+", "Ry+", "Rz+"]] LABEL_ROBOT_MODE = { 1: "ROBOT_MODE_INIT", 2: "ROBOT_MODE_BRAKE_OPEN", 3: "", 4: "ROBOT_MODE_DISABLED", 5: "ROBOT_MODE_ENABLE", 6: "ROBOT_MODE_BACKDRIVE", 7: "ROBOT_MODE_RUNNING", 8: "ROBOT_MODE_RECORDING", 9: "ROBOT_MODE_ERROR", 10: "ROBOT_MODE_PAUSE", 11: "ROBOT_MODE_JOG" } class RobotUI(object): def __init__(self): self.root = Tk() self.root.title("Python demo V4") # fixed window size self.root.geometry("900x850") # set window icon # self.root.iconbitmap("images/robot.ico") # global state dict self.global_state = {} # all button self.button_list = [] # all entry self.entry_dict = {} # Robot Connect self.frame_robot = LabelFrame(self.root, text="Robot Connect", labelanchor="nw", bg="#FFFFFF", width=870, height=120, border=2) self.label_ip = Label(self.frame_robot, text="IP Address:") self.label_ip.place(rely=0.2, x=10) ip_port = StringVar(self.root, value="8.209.98.146") self.entry_ip = Entry(self.frame_robot, width=12, textvariable=ip_port) self.entry_ip.place(rely=0.2, x=90) self.label_dash = Label(self.frame_robot, text="Dashboard Port:") self.label_dash.place(rely=0.2, x=210) dash_port = IntVar(self.root, value=29999) self.entry_dash = Entry( self.frame_robot, width=7, textvariable=dash_port) self.entry_dash.place(rely=0.2, x=320) self.label_feed = Label(self.frame_robot, text="Feedback Port:") self.label_feed.place(rely=0.2, x=420) feed_port = IntVar(self.root, value=30004) self.entry_feed = Entry( self.frame_robot, width=7, textvariable=feed_port) self.entry_feed.place(rely=0.2, x=520) # Connect/DisConnect self.button_connect = self.set_button(master=self.frame_robot, text="Connect", rely=0.6, x=630, command=self.connect_port) self.button_connect["width"] = 10 self.global_state["connect"] = False # Dashboard Function self.frame_dashboard = LabelFrame(self.root, text="Dashboard Function", labelanchor="nw", bg="#FFFFFF", pady=10, width=870, height=120, border=2) # Enable/Disable self.button_enable = self.set_button(master=self.frame_dashboard, text="Enable", rely=0.1, x=10, command=self.enable) self.button_enable["width"] = 7 self.global_state["enable"] = False self.set_button(master=self.frame_dashboard, text="ClearError", rely=0.1, x=200, command=self.clear_error) # Speed Ratio self.label_speed = Label(self.frame_dashboard, text="Speed Ratio:") self.label_speed.place(rely=0.1, x=430) s_value = StringVar(self.root, value="50") self.entry_speed = Entry(self.frame_dashboard, width=6, textvariable=s_value) self.entry_speed.place(rely=0.1, x=520) self.label_cent = Label(self.frame_dashboard, text="%") self.label_cent.place(rely=0.1, x=550) self.set_button(master=self.frame_dashboard, text="Confirm", rely=0.1, x=586, command=self.confirm_speed) # DO:Digital Outputs self.label_digitial = Label( self.frame_dashboard, text="Digital Outputs: Index:") self.label_digitial.place(rely=0.55, x=10) i_value = IntVar(self.root, value="1") self.entry_index = Entry( self.frame_dashboard, width=5, textvariable=i_value) self.entry_index.place(rely=0.55, x=160) self.label_status = Label(self.frame_dashboard, text="Status:") self.label_status.place(rely=0.55, x=220) self.combo_status = ttk.Combobox(self.frame_dashboard, width=5) self.combo_status["value"] = ("On", "Off") self.combo_status.current(0) self.combo_status["state"] = "readonly" self.combo_status.place(rely=0.55, x=275) self.set_button(self.frame_dashboard, "Confirm", rely=0.55, x=350, command=self.confirm_do) # Move Function self.frame_move = LabelFrame(self.root, text="Move Function", labelanchor="nw", bg="#FFFFFF", width=870, pady=10, height=130, border=2) self.set_move(text="X:", label_value=10, default_value="600", entry_value=40, rely=0.1, master=self.frame_move) self.set_move(text="Y:", label_value=110, default_value="-260", entry_value=140, rely=0.1, master=self.frame_move) self.set_move(text="Z:", label_value=210, default_value="380", entry_value=240, rely=0.1, master=self.frame_move) self.set_move(text="Rx:", label_value=310, default_value="170", entry_value=340, rely=0.1, master=self.frame_move) self.set_move(text="Ry:", label_value=410, default_value="12", entry_value=440, rely=0.1, master=self.frame_move) self.set_move(text="Rz:", label_value=510, default_value="140", entry_value=540, rely=0.1, master=self.frame_move) self.set_button(master=self.frame_move, text="MovJ", rely=0.05, x=610, command=self.movj) self.set_button(master=self.frame_move, text="MovL", rely=0.05, x=700, command=self.movl) self.set_move(text="J1:", label_value=10, default_value="0", entry_value=40, rely=0.5, master=self.frame_move) self.set_move(text="J2:", label_value=110, default_value="-20", entry_value=140, rely=0.5, master=self.frame_move) self.set_move(text="J3:", label_value=210, default_value="-80", entry_value=240, rely=0.5, master=self.frame_move) self.set_move(text="J4:", label_value=310, default_value="30", entry_value=340, rely=0.5, master=self.frame_move) self.set_move(text="J5:", label_value=410, default_value="90", entry_value=440, rely=0.5, master=self.frame_move) self.set_move(text="J6:", label_value=510, default_value="120", entry_value=540, rely=0.5, master=self.frame_move) self.set_button(master=self.frame_move, text="MovJ", rely=0.45, x=610, command=self.joint_movj) self.frame_feed_log = Frame( self.root, bg="#FFFFFF", width=870, pady=10, height=400, border=2) # Feedback self.frame_feed = LabelFrame(self.frame_feed_log, text="Feedback", labelanchor="nw", bg="#FFFFFF", width=550, height=150) self.frame_feed.place(relx=0, rely=0, relheight=1) # Current Speed Ratio self.set_label(self.frame_feed, text="Current Speed Ratio:", rely=0.05, x=10) self.label_feed_speed = self.set_label( self.frame_feed, "", rely=0.05, x=145) self.set_label(self.frame_feed, text="%", rely=0.05, x=175) # Robot Mode self.set_label(self.frame_feed, text="Robot Mode:", rely=0.1, x=10) self.label_robot_mode = self.set_label( self.frame_feed, "", rely=0.1, x=95) # 点动及获取坐标 self.label_feed_dict = {} self.set_feed(LABEL_JOINT, 9, 52, 74, 117) self.set_feed(LABEL_COORD, 165, 209, 231, 272) # Digitial I/O self.set_label(self.frame_feed, "Digital Inputs:", rely=0.8, x=11) self.label_di_input = self.set_label( self.frame_feed, "", rely=0.8, x=100) self.set_label(self.frame_feed, "Digital Outputs:", rely=0.85, x=10) self.label_di_output = self.set_label( self.frame_feed, "", rely=0.85, x=100) # Error Info self.frame_err = LabelFrame(self.frame_feed, text="Error Info", labelanchor="nw", bg="#FFFFFF", width=180, height=50) self.frame_err.place(relx=0.65, rely=0, relheight=0.7) self.text_err = ScrolledText( self.frame_err, width=170, height=50, relief="flat") self.text_err.place(rely=0, relx=0, relheight=0.7, relwidth=1) self.set_button(self.frame_feed, "Clear", rely=0.71, x=487, command=self.clear_error_info) # Log self.frame_log = LabelFrame(self.frame_feed_log, text="Log", labelanchor="nw", bg="#FFFFFF", width=300, height=150) self.frame_log.place(relx=0.65, rely=0, relheight=1) self.text_log = ScrolledText( self.frame_log, width=270, height=140, relief="flat") self.text_log.place(rely=0, relx=0, relheight=1, relwidth=1) # initial client self.client_dash = None self.client_feed = None self.alarm_controller_dict = self.convert_dict(alarm_controller_list) self.alarm_servo_dict = self.convert_dict(alarm_servo_list) def convert_dict(self, alarm_list): alarm_dict = {} for i in alarm_list: alarm_dict[i["id"]] = i return alarm_dict def read_file(self, path): # 读json文件耗时大，选择维护两个变量alarm_controller_list alarm_servo_list # self.read_file("files/alarm_controller.json") with open(path, "r", encoding="utf8") as fp: json_data = json.load(fp) return json_data def mainloop(self): self.root.mainloop() def pack(self): self.frame_robot.pack() self.frame_dashboard.pack() self.frame_move.pack() self.frame_feed_log.pack() def set_move(self, text, label_value, default_value, entry_value, rely, master): self.label = Label(master, text=text) self.label.place(rely=rely, x=label_value) value = StringVar(self.root, value=default_value) self.entry_temp = Entry(master, width=6, textvariable=value) self.entry_temp.place(rely=rely, x=entry_value) self.entry_dict[text] = self.entry_temp def move_jog(self, text): if self.global_state["connect"]: if text[0] == "J": self.client_dash.MoveJog(text) else: self.client_dash.MoveJog(text,coordtype=1,user=0,tool=0) def move_stop(self, event): if self.global_state["connect"]: self.client_dash.MoveJog("") def set_button(self, master, text, rely, x, **kargs): self.button = Button(master, text=text, padx=5, command=kargs["command"]) self.button.place(rely=rely, x=x) if text != "Connect": self.button["state"] = "disable" self.button_list.append(self.button) return self.button def set_button_bind(self, master, text, rely, x, **kargs): self.button = Button(master, text=text, padx=5) self.button.bind("", lambda event: self.move_jog(text=text)) self.button.bind("", self.move_stop) self.button.place(rely=rely, x=x) if text != "Connect": self.button["state"] = "disable" self.button_list.append(self.button) return self.button def set_label(self, master, text, rely, x): self.label = Label(master, text=text) self.label.place(rely=rely, x=x) return self.label def connect_port(self): if self.global_state["connect"]: print("断开成功") self.client_dash.close() self.client_feed.close() self.client_dash = None self.client_feed = None for i in self.button_list: i["state"] = "disable" self.button_connect["text"] = "Connect" else: try: print("连接成功") self.client_dash = DobotApiDashboard( self.entry_ip.get(), int(self.entry_dash.get()), self.text_log) self.client_feed = DobotApiFeedBack( self.entry_ip.get(), int(self.entry_feed.get()), self.text_log) except Exception as e: messagebox.showerror("Attention!", f"Connection Error:{e}") return for i in self.button_list: i["state"] = "normal" self.button_connect["text"] = "Disconnect" self.global_state["connect"] = not self.global_state["connect"] self.set_feed_back() def set_feed_back(self): if self.global_state["connect"]: thread = Thread(target=self.feed_back) thread.setDaemon(True) thread.start() def enable(self): if self.global_state["enable"]: self.client_dash.DisableRobot() self.button_enable["text"] = "Enable" else: self.client_dash.EnableRobot() # if need time sleep # time.sleep(0.5) self.button_enable["text"] = "Disable" self.global_state["enable"] = not self.global_state["enable"] def clear_error(self): self.client_dash.ClearError() def confirm_speed(self): self.client_dash.SpeedFactor(int(self.entry_speed.get())) def movj(self): self.client_dash.MovJ(float(self.entry_dict["X:"].get()), float(self.entry_dict["Y:"].get()), float(self.entry_dict["Z:"].get()), float(self.entry_dict["Rx:"].get()), float(self.entry_dict["Ry:"].get()), float(self.entry_dict["Rz:"].get()),0) def movl(self): self.client_dash.MovL(float(self.entry_dict["X:"].get()), float(self.entry_dict["Y:"].get()), float(self.entry_dict["Z:"].get()), float(self.entry_dict["Rx:"].get()), float(self.entry_dict["Ry:"].get()), float(self.entry_dict["Rz:"].get()),0) def joint_movj(self): self.client_dash.MovJ(float(self.entry_dict["J1:"].get()), float(self.entry_dict["J2:"].get()), float(self.entry_dict["J3:"].get()), float(self.entry_dict["J4:"].get()), float(self.entry_dict["J5:"].get()), float(self.entry_dict["J6:"].get()),1) def confirm_do(self): if self.combo_status.get() == "On": print("高电平") self.client_dash.DO(int(self.entry_index.get()), 1) else: print("低电平") self.client_dash.DO(int(self.entry_index.get()), 0) def set_feed(self, text_list, x1, x2, x3, x4): self.set_button_bind( self.frame_feed, text_list[0][0], rely=0.2, x=x1, command=lambda: self.move_jog(text_list[0][0])) self.set_button_bind( self.frame_feed, text_list[0][1], rely=0.3, x=x1, command=lambda: self.move_jog(text_list[0][1])) self.set_button_bind( self.frame_feed, text_list[0][2], rely=0.4, x=x1, command=lambda: self.move_jog(text_list[0][2])) self.set_button_bind( self.frame_feed, text_list[0][3], rely=0.5, x=x1, command=lambda: self.move_jog(text_list[0][3])) self.set_button_bind( self.frame_feed, text_list[0][4], rely=0.6, x=x1, command=lambda: self.move_jog(text_list[0][4])) self.set_button_bind( self.frame_feed, text_list[0][5], rely=0.7, x=x1, command=lambda: self.move_jog(text_list[0][5])) self.set_label(self.frame_feed, text_list[1][0], rely=0.21, x=x2) self.set_label(self.frame_feed, text_list[1][1], rely=0.31, x=x2) self.set_label(self.frame_feed, text_list[1][2], rely=0.41, x=x2) self.set_label(self.frame_feed, text_list[1][3], rely=0.51, x=x2) self.set_label(self.frame_feed, text_list[1][4], rely=0.61, x=x2) self.set_label(self.frame_feed, text_list[1][5], rely=0.71, x=x2) self.label_feed_dict[text_list[1][0]] = self.set_label( self.frame_feed, " ", rely=0.21, x=x3) self.label_feed_dict[text_list[1][1]] = self.set_label( self.frame_feed, " ", rely=0.31, x=x3) self.label_feed_dict[text_list[1][2]] = self.set_label( self.frame_feed, " ", rely=0.41, x=x3) self.label_feed_dict[text_list[1][3]] = self.set_label( self.frame_feed, " ", rely=0.51, x=x3) self.label_feed_dict[text_list[1][4]] = self.set_label( self.frame_feed, " ", rely=0.61, x=x3) self.label_feed_dict[text_list[1][5]] = self.set_label( self.frame_feed, " ", rely=0.71, x=x3) self.set_button_bind( self.frame_feed, text_list[2][0], rely=0.2, x=x4, command=lambda: self.move_jog(text_list[2][0])) self.set_button_bind( self.frame_feed, text_list[2][1], rely=0.3, x=x4, command=lambda: self.move_jog(text_list[2][0])) self.set_button_bind( self.frame_feed, text_list[2][2], rely=0.4, x=x4, command=lambda: self.move_jog(text_list[2][0])) self.set_button_bind( self.frame_feed, text_list[2][3], rely=0.5, x=x4, command=lambda: self.move_jog(text_list[2][0])) self.set_button_bind( self.frame_feed, text_list[2][4], rely=0.6, x=x4, command=lambda: self.move_jog(text_list[2][0])) self.set_button_bind( self.frame_feed, text_list[2][5], rely=0.7, x=x4, command=lambda: self.move_jog(text_list[2][0])) def feed_back(self): while True: print("self.global_state(connect)", self.global_state["connect"]) if not self.global_state["connect"]: break self.client_feed.socket_dobot.setblocking(True) # 设置为阻塞模式 data = bytes() temp = self.client_feed.socket_dobot.recv(144000) if len(temp) > 1440: temp = self.client_feed.socket_dobot.recv(144000) data = temp[0:1440] a = np.frombuffer(data, dtype=MyType) print("robot_mode:", a["RobotMode"][0]) print("TestValue:", hex((a['TestValue'][0]))) if hex((a['TestValue'][0])) == '0x123456789abcdef': # print('tool_vector_actual', # np.around(a['tool_vector_actual'], decimals=4)) # print('QActual', np.around(a['q_aQActualctual'], decimals=4)) # Refresh Properties self.label_feed_speed["text"] = a["SpeedScaling"][0] self.label_robot_mode["text"] = LABEL_ROBOT_MODE[a["RobotMode"][0]] self.label_di_input["text"] = bin(a["DigitalInputs"][0])[ 2:].rjust(64, '0') self.label_di_output["text"] = bin(a["DigitalOutputs"][0])[ 2:].rjust(64, '0') # Refresh coordinate points self.set_feed_joint(LABEL_JOINT, a["QActual"]) self.set_feed_joint(LABEL_COORD, a["ToolVectorActual"]) # check alarms if a["RobotMode"] == 9: self.display_error_info() def display_error_info(self): error_list = self.client_dash.GetErrorID().split("{")[1].split("}")[0] error_list = json.loads(error_list) print("error_list:", error_list) if error_list[0]: for i in error_list[0]: self.form_error(i, self.alarm_controller_dict, "Controller Error") for m in range(1, len(error_list)): if error_list[m]: for n in range(len(error_list[m])): self.form_error(n, self.alarm_servo_dict, "Servo Error") def form_error(self, index, alarm_dict: dict, type_text): if index in alarm_dict.keys(): date = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime()) error_info = f"Time Stamp:{date}\n" error_info = error_info + f"ID:{index}\n" error_info = error_info + \ f"Type:{type_text}\nLevel:{alarm_dict[index]['level']}\n" + \ f"Solution:{alarm_dict[index]['en']['solution']}\n" self.text_err.insert(END, error_info) def clear_error_info(self): self.text_err.delete("1.0", "end") def set_feed_joint(self, label, value): array_value = np.around(value, decimals=4) self.label_feed_dict[label[1][0]]["text"] = array_value[0][0] self.label_feed_dict[label[1][1]]["text"] = array_value[0][1] self.label_feed_dict[label[1][2]]["text"] = array_value[0][2] self.label_feed_dict[label[1][3]]["text"] = array_value[0][3] self.label_feed_dict[label[1][4]]["text"] = array_value[0][4] self.label_feed_dict[label[1][5]]["text"] = array_value[0][5]