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