电机电流单独测试逻辑优化

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":

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！<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