Merge branch 'develop' of 192.168.1.19:vinman/xArm-Python-SDK into develop

Author: vimior

xarm/tools/blockly/_blockly_handler.py

@@ -24,6 +24,7 @@ def __init__(self, xml_path):
         self._main_run_code_list = []
         self._is_main_run_code = True
         self._is_exec = False
+        self._is_ide = False
 
         self._listen_tgpio_digital = False
         self._listen_tgpio_analog = False
@@ -363,7 +364,7 @@ def _handle_app_studio_traj(self, block, indent=0, arg_map=None):
     def _handle_tool_message(self, block, indent=0, arg_map=None):
         fields = self._get_nodes('field', block)
         color = json.dumps(fields[0].text, ensure_ascii=False) if len(fields) > 1 else 'white'
-        msg = json.dumps(fields[1].text if fields[-1].text is not None else '', ensure_ascii=False)
+        msg = json.dumps(fields[2].text if fields[-1].text is not None else '', ensure_ascii=False)
         if self._highlight_callback is not None:
             self._append_main_code('print({}, color={})'.format(msg, color), indent + 2)
         else:
@@ -1116,7 +1117,7 @@ def _handle_python_code(self, block, indent=0, arg_map=None, **kwargs):
                 prev_is_empty = True
             else:
                 prev_is_empty = False
-            if self._is_exec and code.strip():
+            if (self._is_exec or (not self._is_exec and not self._is_ide)) and code.strip():
                 code_indent = re.match('(\s*).*', code).group(1)
                 self._append_main_code(code_indent + 'if not self.is_alive:', indent + 2)
                 self._append_main_code(code_indent + 'return', indent + 3)

xarm/tools/blockly/_blockly_tool.py

@@ -23,6 +23,7 @@ def codes(self):
     def to_python(self, path=None, arm=None, init=True, wait_seconds=1, mode=0, state=0, error_exit=True, stop_exit=True, **kwargs):
         if not self._is_converted:
             self._is_exec = kwargs.get('is_exec', False)
+            self._is_ide = kwargs.get('is_ide', False)
             # highlight_callback: only use pack to run blockly in studio
             self._highlight_callback = kwargs.get('highlight_callback', None)
             # axis_type: Obtain the type of mechanical arm axis for end leveling use
@@ -451,9 +452,9 @@ def __define_check_code_func(self):
         self._append_main_init_code('        return self.is_alive\n')
 
     def _init_main_codes(self, arm=None):
-        # exec can not run main function, if run in exec(), the parameter is_exec must set True
+        # exec can not run main function, if run in exec(), the parameter is_ide must set False
         self._append_main_code('\n', indent=-1)
-        if not self._is_exec:
+        if self._is_ide:
             self._append_main_code('if __name__ == \'__main__\':', indent=-1)
             indent = 0
         else:

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.14.2'
+__version__ = '1.14.3'

xarm/x3/xarm.py

@@ -8,6 +8,7 @@
 
 import os
 import math
+import sys
 import time
 import uuid
 import warnings
@@ -1454,13 +1455,13 @@ def run_blockly_app(self, path, **kwargs):
         try:
             if not os.path.exists(path):
                 dir_name = 'lite6' if self.axis == 6 and self.device_type == 9 else '850' if self.axis == 6 and self.device_type == 12 else 'xarm7T' if self.axis == 7 and self.device_type == 13 else 'xarm{}'.format(self.axis)
-                path = os.path.join(os.path.expanduser('~'), '.UFACTORY', 'projects', 'test', dir_name, 'app', 'myapp', path) # home/uf
+                path = os.path.join('/home/uf' if sys.platform.startswith('linux') else os.path.expanduser('~'), '.UFACTORY', 'projects', 'test', dir_name, 'app', 'myapp', path)
             if os.path.isdir(path):
                 path = os.path.join(path, 'app.xml')
             if not os.path.exists(path):
                 raise FileNotFoundError('{} is not found'.format(path))
             blockly_tool = BlocklyTool(path)
-            succeed = blockly_tool.to_python(arm=self._api_instance, is_exec=True, **kwargs)
+            succeed = blockly_tool.to_python(arm=self._api_instance, **kwargs)
             if succeed:
                 times = kwargs.get('times', 1)
                 highlight_callback = kwargs.get('highlight_callback', None)