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电机电流单独测试逻辑优化

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gitea
2025-05-16 13:55:33 +08:00
parent b758733b59
commit 66df4edbed
7 changed files with 44 additions and 22 deletions
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1
aio.py
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@ -807,7 +807,6 @@ class MainWindow(main_window.Ui_MainWindow):
def prog_done_ec_send(self, results):
flag, result, ret, error, idx, cmd = results
print(f"res = {results}")
if ret[1] == "error":
clibs.logger("ERROR", "openapi", f"{ret[0]}", "red")
else:

BIN
assets/files/projects/configs.xlsx
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Binary file not shown.

8
assets/files/version/file_version_info.txt
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@ -6,8 +6,8 @@ VSVersionInfo(
ffi=FixedFileInfo(
# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
# Set not needed items to zero 0.
filevers=(0, 4, 0, 4),
prodvers=(0, 4, 0, 4),
filevers=(0, 4, 0, 6),
prodvers=(0, 4, 0, 6),
# Contains a bitmask that specifies the valid bits 'flags'r
mask=0x3f,
# Contains a bitmask that specifies the Boolean attributes of the file.
@ -31,12 +31,12 @@ VSVersionInfo(
'040904b0',
[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
StringStruct('FileDescription', 'All in one automatic toolbox'),
StringStruct('FileVersion', '0.4.0.4 (2025-04-21)'),
StringStruct('FileVersion', '0.4.0.6 (2025-05-16)'),
StringStruct('InternalName', 'AIO.exe'),
StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
StringStruct('OriginalFilename', 'AIO.exe'),
StringStruct('ProductName', 'AIO'),
StringStruct('ProductVersion', '0.4.0.4 (2025-04-21)')])
StringStruct('ProductVersion', '0.4.0.6 (2025-05-16)')])
]),
VarFileInfo([VarStruct('Translation', [1033, 1200])])
]

2
assets/files/version/local_vers
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@ -1 +1 @@
0.4.0.4@04/21/2025
0.4.0.6@05/16/2025

2
assets/files/version/server_vers
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@ -1 +1 @@
0.4.0.4@04/21/2025
0.4.0.6@05/16/2025

20
codes/autotest/do_brake.py
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@ -1,3 +1,4 @@
import random
import threading
import time
import os
@ -124,6 +125,7 @@ class DoBrakeTest(QThread):
else:
clibs.count = 0
clibs.logger("WARNING", "do_brake", f"尝试三次后仍无法获取正确数据，本次数据无效，继续执行...", "red")
return None
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
@ -314,9 +316,11 @@ class DoBrakeTest(QThread):
def exec_brake():
flag, start, data, record = True, time.time(), None, None
while flag:
time.sleep(0.05)
time.sleep(0.01*random.randint(1, 10))
# time.sleep(0.05)
if time.time() - start > 20:
clibs.logger("ERROR", "do_brake", "20s 内未触发急停，需排查......", "red")
clibs.logger("INFO", "do_brake", "20s 内未触发急停，需排查，当前先继续执行......", "red")
break
try:
clibs.lock.acquire(True)
@ -337,10 +341,18 @@ class DoBrakeTest(QThread):
time.sleep(clibs.INTERVAL*2) # wait speed goes down to 0
flag = False
break
return time.time()
return time.time(), flag
time.sleep(11) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
end_time = exec_brake()
end_time, flag = exec_brake()
if flag is True: # 没有触发急停
if clibs.count < 3:
clibs.count += 1
continue
else:
clibs.count = 0
break
# 6. 保留数据并处理输出
ret = self.gen_result_file(axis, end_time, reach, load, speed, speed_max, rounds)
if ret != "retry":

33
codes/autotest/do_current.py
View File

@ -3,6 +3,7 @@ import threading
import time
import paramiko
import pandas
import openpyxl
from PySide6.QtCore import Signal, QThread
from codes.common import clibs
@ -16,9 +17,9 @@ class DoCurrentTest(QThread):
def initialization(self, data_dirs, data_files):
def check_files():
msg = "初始路径下不允许有文件夹，初始路径下只能存在如下两个文件，且文件为关闭状态，确认后重新运行！<br>"
msg += "1. T_电机电流.xlsx<br>2. xxxx.zip"
if len(data_dirs) != 0 or len(data_files) != 2:
msg = "初始路径下不允许有文件夹，初始路径下只能存在如下三个文件，且文件为关闭状态，确认后重新运行！<br>"
msg += "1. T_电机电流.xlsx<br>2. configs.xlsx<br>3. xxxx.zip"
if len(data_dirs) != 0 or len(data_files) != 3:
clibs.logger("ERROR", "do_current", msg, "red")
prj_file, count = None, 0
@ -26,13 +27,16 @@ class DoCurrentTest(QThread):
filename = data_file.split("/")[-1]
if filename == "T_电机电流.xlsx":
count += 1
elif filename == "configs.xlsx":
count += 1
config_file = data_file
elif filename.endswith(".zip"):
count += 1
prj_file = data_file
else:
clibs.logger("ERROR", "do_current", msg, "red")
if count != 2:
if count != 3:
clibs.logger("ERROR", "do_current", msg, "red")
if self.tool == "tool100":
@ -45,7 +49,7 @@ class DoCurrentTest(QThread):
else:
clibs.logger("ERROR", "do_current", "负载选择错误，电机电流测试只能选择 tool100/inertia 规格！", "red")
return prj_file
return prj_file, config_file
def get_configs():
robot_type = None
@ -157,7 +161,14 @@ class DoCurrentTest(QThread):
clibs.c_hr.execution("diagnosis.open", open=stat, display_open=stat)
clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params)
def run_rl(self, prj_file):
def run_rl(self, prj_file, config_file):
wb = openpyxl.load_workbook(config_file, read_only=True)
ws = wb["Target"]
try:
single_current = int(str(ws.cell(row=6, column=2).value).strip())
except:
single_current = -1
wb.close()
prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
c_regular = [
"scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
@ -199,9 +210,9 @@ class DoCurrentTest(QThread):
clibs.logger("ERROR", "do_current", "后台数据清零完成，现在可以重新运行其他程序。", "green")
number = conditions.index(condition)
# for testing
# if number < 12:
# continue
if single_current in range(0, 15) and single_current != number:
continue
clibs.logger("INFO", "do_current", f"正在执行{disc[number]}测试......")
# 1. 将act重置为False，并修改将要执行的场景
@ -278,9 +289,9 @@ class DoCurrentTest(QThread):
clibs.logger("ERROR", "do_current", "processing: 需要在网络设置中连接HMI以及Modbus通信！", "red")
data_dirs, data_files = clibs.traversal_files(self.dir_path)
prj_file = self.initialization(data_dirs, data_files)
prj_file, config_file = self.initialization(data_dirs, data_files)
clibs.c_pd.push_prj_to_server(prj_file)
self.run_rl(prj_file)
self.run_rl(prj_file, config_file)
clibs.logger("INFO", "do_current", "-" * 60 + "<br>全部处理完毕<br>", "purple")
time_total = time.time() - time_start