def btn_alarm_check_clear_f(id_, btn):
print(dType.GetAlarmsState(api, id_))
#TODO 1st: check AlarmsState, mark color btn, 2nd press if marked red - clear
#btn.setStyleSheet("background-color: #00ff00")
dType.ClearAllAlarmsState(api, id_)
print("after clear", dType.GetAlarmsState(api, id_))
def btnHome_f(id_, btn=None):
#print (id_, id_nms_default[id_])
if (id_ == id_m1): #do not home m1, only clear err !!TODO and goto initial
dType.ClearAllAlarmsState(api, id_)
m1.movJ([-5, -5, None, None])
return
if (btn is not None):
tskStart_mark(btn, id_)
dType.ClearAllAlarmsState(api, id_)
dType.SetQueuedCmdClear(api, id_)
dType.SetHOMECmdEx_mon(api, id_, 1, 1)
dobotStates[id_].posHome = dType.GetPose(api, id_)
#dType.printPos(api, id_,0, 0, 0, 0, True)
if (btn is not None):
tskEnd_mark(btn)
def connectDobot(id_, id_nm, c, checkbox, label, bRail=False):
checkbox.setChecked(id_ != -1) # TODO mark red if fail connect COM
label.setText(str(id_)) # f'{10}'
onNow = False
if id_ > -1:
onNow = True
dType.SetQueuedCmdClear(api, id_)
dType.SetQueuedCmdStartExec(api, id_)
dType.ClearAllAlarmsState(api, id_)
dType.SetPTPCommonParams(
api, id_, 40, 30, 1) #??Ex #speed, acceleration max is 100, 1000
if (id_ == -1):
id_ = id_default(
id_nm) #initial id, for debug or create functions w.o robots
dobotStates[id_] = DobotState(id_nm, id_, c, onNow, bRail)
'''
dType.SetQueuedCmdClear(api) #Clean Command Queued
#Async Motion Params Setting
dType.SetHOMEParams(api, 200, 200, 200, 200, isQueued = 1)
dType.SetPTPJointParams(api, 200, 200, 200, 200, 200, 200, 200, 200, isQueued = 1)
dType.SetPTPCommonParams(api, 100, 100, isQueued = 1)
dType.SetHOMECmd(api, temp = 0, isQueued = 1)
dType.DisconnectDobot(api)
'''
#print(dType.GetDeviceName(api, id_))
return dobotStates[id_], id_
def btnStop_f(id_):
tskMarks_clear_all(True)
queue_clear(thread_m1_queue)
queue_clear(thread_magL_queue)
queue_clear(thread_magR_queue)
dType.SetQueuedCmdForceStopExec(api, id_)
dType.ClearAllAlarmsState(api, id_)
#Connect Dobot
state = dType.ConnectDobot(api, "", 115200)[0]
print("Connect status:", CON_STR[state])
if (state == dType.DobotConnect.DobotConnect_NoError):
#Clean Command Queued
dType.SetQueuedCmdClear(api)
dType.SetPTPJointParams(api, 100, 100, 100, 100, 100, 100, 100, 100)
dType.SetPTPCoordinateParams(api, 200, 200, 200, 200)
dType.SetPTPCommonParams(api, 100, 100)
dType.SetPTPJumpParams(api, 20, 200)
dType.SetHOMEParams(api, 180, -19, 42, -6, isQueued=1)
# dType.SetPTPJumpParams(api,40,30,isQueued=1)
dType.ClearAllAlarmsState(api)
dType.SetQueuedCmdStartExec(api)
x3 = homex
y3 = homey
z3 = homez
r3 = 0
#箱子上方
x4 = x3
y4 = y3
z4 = -28
r4 = 0
#箱子里
#移动到home处,将机械臂移除视野
dType.SetPTPCmd(api,