129 lines
5.4 KiB
Python
129 lines
5.4 KiB
Python
"""
|
||
包括一个点位需要的状态:
|
||
1、点位名称
|
||
2、速度
|
||
3、工具id
|
||
4、工件id
|
||
5、关节坐标 J1-J6
|
||
6、运动类型
|
||
7、平滑时间
|
||
"""
|
||
class PointState:
|
||
VALID_SPEED_RANGE = (0, 100)
|
||
VALID_TOOL_WORK_ID_RANGE = (0, 14)
|
||
VALID_JOINT_COUNT = 6
|
||
VALID_JOINT_RANGE = (-180, 180)
|
||
VALID_MOTION_TYPES = ["直线", "曲线中间点", "曲线终点", "自由路径"]
|
||
VALID_BLEND_TIME_RANGE = (0, 500)
|
||
|
||
def __init__(self, pos_name, speed, tool_id, work_id, joint_values, motion_type, blend_time):
|
||
# 数据合法性判断
|
||
self.pos_name = self._validate_pos_name(pos_name)
|
||
self.speed = self._validate_speed(speed)
|
||
self.tool_id = self._validate_tool_work_id(tool_id, "工具ID")
|
||
self.work_id = self._validate_tool_work_id(work_id, "工件ID")
|
||
self.joint_values = self._validate_joint_values(joint_values)
|
||
self.motion_type = self._validate_motion_type(motion_type)
|
||
self.blend_time = self._validate_blend_time(blend_time)
|
||
|
||
def _validate_pos_name(self, pos_name):
|
||
"""校验点位名称（非空）"""
|
||
if not isinstance(pos_name, str):
|
||
raise TypeError("点位名称必须是字符串类型")
|
||
stripped_name = pos_name.strip()
|
||
if not stripped_name:
|
||
raise ValueError("点位名称不能为空或仅包含空格")
|
||
return stripped_name
|
||
|
||
def _validate_speed(self, speed):
|
||
"""校验速度（0-100范围）"""
|
||
if not isinstance(speed, (int, float)):
|
||
raise TypeError(f"速度必须是数字类型，当前类型：{type(speed).__name__}")
|
||
min_val, max_val = self.VALID_SPEED_RANGE
|
||
if not (min_val <= speed <= max_val):
|
||
raise ValueError(f"速度必须在 {min_val}-{max_val} 之间，当前值：{speed}")
|
||
return speed
|
||
|
||
def _validate_tool_work_id(self, value, field_name):
|
||
"""校验工具ID/工件ID（0-14范围，整数）"""
|
||
if not isinstance(value, int):
|
||
raise TypeError(f"{field_name}必须是整数类型，当前类型：{type(value).__name__}")
|
||
min_val, max_val = self.VALID_TOOL_WORK_ID_RANGE
|
||
if not (min_val <= value <= max_val):
|
||
raise ValueError(f"{field_name}必须在 {min_val}-{max_val} 之间，当前值：{value}")
|
||
return value
|
||
|
||
def _validate_joint_values(self, joint_values):
|
||
"""校验关节值（6个元素，每个在-180~180范围）"""
|
||
if not isinstance(joint_values, list):
|
||
raise TypeError(f"关节值必须是列表类型，当前类型：{type(joint_values).__name__}")
|
||
if len(joint_values) != self.VALID_JOINT_COUNT:
|
||
raise ValueError(
|
||
f"关节值必须包含 {self.VALID_JOINT_COUNT} 个元素（J1-J6），"
|
||
f"当前数量：{len(joint_values)}"
|
||
)
|
||
|
||
# 逐个校验关节值
|
||
validated_joints = []
|
||
for i, val in enumerate(joint_values, 1):
|
||
if not isinstance(val, (int, float)):
|
||
raise TypeError(f"J{i}关节值必须是数字类型，当前类型：{type(val).__name__}")
|
||
|
||
min_val, max_val = self.VALID_JOINT_RANGE
|
||
if not (min_val <= val <= max_val):
|
||
raise ValueError(
|
||
f"J{i}关节值必须在 {min_val}~{max_val} 之间，当前值：{val}"
|
||
)
|
||
validated_joints.append(val)
|
||
|
||
return validated_joints
|
||
|
||
def _validate_motion_type(self, motion_type):
|
||
"""校验运动类型（必须是预定义的选项）"""
|
||
if not isinstance(motion_type, str):
|
||
raise TypeError(f"运动类型必须是字符串类型，当前类型：{type(motion_type).__name__}")
|
||
if motion_type not in self.VALID_MOTION_TYPES:
|
||
raise ValueError(
|
||
f"运动类型必须是以下之一：{self.VALID_MOTION_TYPES}，"
|
||
f"当前值：{motion_type}"
|
||
)
|
||
return motion_type
|
||
|
||
def _validate_blend_time(self, blend_time):
|
||
"""校验平滑时间（-1表示停止，否则0-500范围）"""
|
||
if not isinstance(blend_time, (int, float)):
|
||
raise TypeError(f"平滑时间必须是数字类型，当前类型：{type(blend_time).__name__}")
|
||
|
||
# 停止模式（-1）或正常平滑时间（0-500）
|
||
if blend_time == -1:
|
||
return -1
|
||
|
||
min_val, max_val = self.VALID_BLEND_TIME_RANGE
|
||
if not (min_val <= blend_time <= max_val):
|
||
raise ValueError(
|
||
f"平滑时间必须是-1（停止）或 {min_val}-{max_val} 之间（毫秒），"
|
||
f"当前值：{blend_time}"
|
||
)
|
||
return blend_time
|
||
|
||
def to_dict(self):
|
||
"""转换为字典，方便序列化或存储"""
|
||
return {
|
||
"pos_name": self.pos_name,
|
||
"speed": self.speed,
|
||
"tool_id": self.tool_id,
|
||
"work_id": self.work_id,
|
||
"joint_values": self.joint_values,
|
||
"motion_type": self.motion_type,
|
||
"blend_time": self.blend_time
|
||
}
|
||
|
||
def __str__(self):
|
||
"""打印调试"""
|
||
return (
|
||
f"点位名：{self.pos_name}，速度：{self.speed}%\n"
|
||
f"工具ID: {self.tool_id},工件ID: {self.work_id}\n"
|
||
f"关节值：{self.joint_values}\n"
|
||
f"运动类型：{self.motion_type}，平滑时间：{self.blend_time}"
|
||
)
|