diff --git a/aio.py b/aio.py
index 8b6b420..5c1da0a 100644
--- a/aio.py
+++ b/aio.py
@@ -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:
diff --git a/assets/files/projects/configs.xlsx b/assets/files/projects/configs.xlsx
index 675b2f6..bf413ce 100644
Binary files a/assets/files/projects/configs.xlsx and b/assets/files/projects/configs.xlsx differ
diff --git a/assets/files/version/file_version_info.txt b/assets/files/version/file_version_info.txt
index 6f9ecbf..e123059 100644
--- a/assets/files/version/file_version_info.txt
+++ b/assets/files/version/file_version_info.txt
@@ -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])])
]
diff --git a/assets/files/version/local_vers b/assets/files/version/local_vers
index e6e7760..3280021 100644
--- a/assets/files/version/local_vers
+++ b/assets/files/version/local_vers
@@ -1 +1 @@
-0.4.0.4@04/21/2025
\ No newline at end of file
+0.4.0.6@05/16/2025
\ No newline at end of file
diff --git a/assets/files/version/server_vers b/assets/files/version/server_vers
index e6e7760..3280021 100644
--- a/assets/files/version/server_vers
+++ b/assets/files/version/server_vers
@@ -1 +1 @@
-0.4.0.4@04/21/2025
\ No newline at end of file
+0.4.0.6@05/16/2025
\ No newline at end of file
diff --git a/codes/autotest/do_brake.py b/codes/autotest/do_brake.py
index 1d97aeb..370d56c 100644
--- a/codes/autotest/do_brake.py
+++ b/codes/autotest/do_brake.py
@@ -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":
diff --git a/codes/autotest/do_current.py b/codes/autotest/do_current.py
index 9137feb..7870f89 100644
--- a/codes/autotest/do_current.py
+++ b/codes/autotest/do_current.py
@@ -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！
"
- msg += "1. T_电机电流.xlsx
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！
"
+ msg += "1. T_电机电流.xlsx
2. configs.xlsx
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 + "
全部处理完毕
", "purple")
time_total = time.time() - time_start