diff --git a/.gitignore b/.gitignore
index 0914769..b0393ad 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,5 +3,5 @@ venv/
**/__pycache__/
assets/files/examples/
assets/logs/*
-test.py
+codes/durable/curves_draw.py
package/*
\ No newline at end of file
diff --git a/aio.py b/aio.py
index eb40b36..171f630 100644
--- a/aio.py
+++ b/aio.py
@@ -7,10 +7,10 @@ import sys
import time
from urllib import request
import os.path
-import matplotlib
-import matplotlib.pyplot as plt
-import pandas
-from matplotlib.widgets import Slider
+# import matplotlib
+# import matplotlib.pyplot as plt
+# import pandas
+# from matplotlib.widgets import Slider
from PySide6.QtCore import Qt, QThread, Signal, QObject, QTimer
from PySide6.QtGui import QTextCursor, QFont, QPixmap, QColor, QBrush, QIcon
@@ -21,8 +21,8 @@ import codes.common.openapi as openapi
import codes.ui.main_window as main_window
from codes.analysis import brake, current, wavelogger, iso
from codes.autotest import do_current, do_brake
-from codes.durable import factory_test
-matplotlib.use('QtAgg')
+from codes.durable import factory_test, curves_draw
+# matplotlib.use('QtAgg')
class ContentDialog(QDialog):
@@ -30,36 +30,21 @@ class ContentDialog(QDialog):
super().__init__(parent)
self.setWindowTitle("日志详情")
self.setGeometry(100, 100, 700, 300)
-
- # 设置对话框在屏幕正中间
self.center_on_screen()
-
- # 创建布局
layout = QVBoxLayout(self)
-
- # 创建 QPlainTextEdit 并设置为只读
self.plain_text_edit = QPlainTextEdit()
self.plain_text_edit.setReadOnly(True)
self.plain_text_edit.setPlainText(content)
-
- # 添加到布局
layout.addWidget(self.plain_text_edit)
def center_on_screen(self):
- # 获取屏幕尺寸
screen_geometry = QApplication.primaryScreen().geometry()
screen_width = screen_geometry.width()
screen_height = screen_geometry.height()
-
- # 获取对话框尺寸
dialog_width = self.width()
dialog_height = self.height()
-
- # 计算位置
x = (screen_width - dialog_width) // 2
y = (screen_height - dialog_height) // 2
-
- # 设置位置
self.move(x, y)
@@ -227,81 +212,9 @@ class MainWindow(main_window.Ui_MainWindow):
idx_dict[tab_index].setText(dir_path)
def curve_draw(self):
- procs = self.get_checkbox_states()
- dir_path = self.le_durable_path.text()
- curve_map = {
- "周期内平均转矩": ["device_servo_trq_feedback", ],
- "周期内最大速度": ["hw_joint_vel_feedback", ],
- }
- ylabels = {"周期内最大速度": "速度(rad/s)", "周期内平均转矩": "转矩(Nm)"}
- plt.rcParams['font.sans-serif'] = ['SimHei']
- plt.rcParams['axes.unicode_minus'] = False
- plt.rcParams['figure.dpi'] = 100
- plt.rcParams['font.size'] = 14
- plt.rcParams['lines.marker'] = 'o'
- plt.rcParams["figure.autolayout"] = True
-
- if not os.path.exists(dir_path):
- self.w2t(f"数据文件夹{dir_path}不存在，请确认后重试......", "red")
- return
- for proc_name, is_enabled in procs.items():
- if is_enabled:
- break
- else:
- self.w2t(f"需要选择至少一个功能，才能继续绘图......", "red")
- return
-
- _, files = clibs.traversal_files(dir_path)
- csv_files = []
- for file in files:
- if file.endswith(".csv"):
- csv_files.append(file)
-
- if len(csv_files) == 0:
- self.w2t("程序未开始运行，暂无数据可以展示......", "red")
- return
-
- for proc_name, is_enabled in procs.items():
- if not is_enabled:
- continue
-
- title = proc_name
- ylabel = ylabels[proc_name]
- fig, axes = plt.subplots(figsize=(10, 4.5), dpi=100)
- for curve in curve_map[proc_name]:
- cols = [f"{curve}_{i}" for i in range(6)]
- cols.insert(0, "time")
-
- try:
- df = pandas.read_csv(f"{dir_path}/{proc_name}.csv")
- except Exception as err:
- self.w2t(f"获取{dir_path}/{proc_name}.csv文件数据失败，需确认是否存在该文件......", "red")
- self.w2t(f"报错信息：{err}", "red")
- return
-
- for i in range((len(cols) - 1) // 6):
- plt.plot(df[cols[1]], label=f"一轴{curve_map[proc_name][i]}")
- plt.plot(df[cols[2]], label=f"二轴{curve_map[proc_name][i]}")
- plt.plot(df[cols[3]], label=f"三轴{curve_map[proc_name][i]}")
- plt.plot(df[cols[4]], label=f"四轴{curve_map[proc_name][i]}")
- plt.plot(df[cols[5]], label=f"五轴{curve_map[proc_name][i]}")
- plt.plot(df[cols[6]], label=f"六轴{curve_map[proc_name][i]}")
- axes.set_title(title)
- axes.set_ylabel(ylabel)
- axes.legend(loc="upper right")
-
- slider_position = plt.axes((0.1, 0.01, 0.8, 0.05), facecolor="blue") # (left, bottom, width, height)
- scrollbar = Slider(slider_position, 'Time', 1, int(len(df)), valstep=1)
-
- def update(val):
- pos = scrollbar.val
- axes.set_xlim([pos, pos + 10])
- fig.canvas.draw_idle()
-
- scrollbar.on_changed(update)
- fig.tight_layout(rect=(0, 0.02, 0.96, 1)) # tuple (left, bottom, right, top)
-
- plt.show()
+ window = curves_draw.ChartWindow(self.le_durable_path.text(), self.get_checkbox_states())
+ window.setWindowModality(Qt.WindowModality.ApplicationModal)
+ window.show()
def durable_cb_change(self):
stat = True if self.cb_durable_total.isChecked() else False
@@ -982,17 +895,17 @@ class MainWindow(main_window.Ui_MainWindow):
info_text = "当前有程序正在停止中，确认退出？" if clibs.stop_flag else info_text
reply = QMessageBox.question(self, "退出", info_text)
if reply == QMessageBox.Yes:
- os.chdir(clibs.log_path)
- t = datetime.datetime.now().strftime("%Y%m%d%H%M%S")
- disk_conn = sqlite3.connect(f"log_{t}.db", isolation_level=None, check_same_thread=False, cached_statements=256)
-
- clibs.conn.backup(target=disk_conn, pages=1, progress=None)
-
- _, logs = clibs.traversal_files(".")
- logs.sort()
- while len(logs) > 10:
- _ = logs.pop(0)
- os.remove(_)
+ # os.chdir(clibs.log_path)
+ # t = datetime.datetime.now().strftime("%Y%m%d%H%M%S")
+ # disk_conn = sqlite3.connect(f"log_{t}.db", isolation_level=None, check_same_thread=False, cached_statements=256)
+ #
+ # clibs.conn.backup(target=disk_conn, pages=1, progress=None)
+ #
+ # _, logs = clibs.traversal_files(".")
+ # logs.sort()
+ # while len(logs) > 10:
+ # _ = logs.pop(0)
+ # os.remove(_)
if clibs.status["md"] == 1:
self.run_program_thread(clibs.c_md.close, -99, self.prog_done_disconn, "md")
diff --git a/assets/files/version/file_version_info.txt b/assets/files/version/file_version_info.txt
index fa00cda..99f4620 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, 1),
- prodvers=(0, 4, 0, 1),
+ filevers=(0, 4, 0, 2),
+ prodvers=(0, 4, 0, 2),
# 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', '0.4.0.1 (2025-03-30)'),
+ StringStruct('FileVersion', '0.4.0.2 (2025-04-07)'),
StringStruct('InternalName', 'AIO.exe'),
StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
StringStruct('OriginalFilename', 'AIO.exe'),
StringStruct('ProductName', 'AIO'),
- StringStruct('ProductVersion', '0.4.0.1 (2025-03-30)')])
+ StringStruct('ProductVersion', '0.4.0.2 (2025-04-07)')])
]),
VarFileInfo([VarStruct('Translation', [1033, 1200])])
]
diff --git a/assets/files/version/local_vers b/assets/files/version/local_vers
index 8ccd13b..33c76ce 100644
--- a/assets/files/version/local_vers
+++ b/assets/files/version/local_vers
@@ -1 +1 @@
-0.4.0.1@03/30/2025
\ No newline at end of file
+0.4.0.2@04/07/2025
\ No newline at end of file
diff --git a/assets/files/version/server_vers b/assets/files/version/server_vers
index 8ccd13b..33c76ce 100644
--- a/assets/files/version/server_vers
+++ b/assets/files/version/server_vers
@@ -1 +1 @@
-0.4.0.1@03/30/2025
\ No newline at end of file
+0.4.0.2@04/07/2025
\ No newline at end of file
diff --git a/assets/qss/style.qss b/assets/qss/style.qss
index e9d6d79..d94fd92 100644
--- a/assets/qss/style.qss
+++ b/assets/qss/style.qss
@@ -48,3 +48,42 @@ QPushButton[objectName^="btn"]:pressed {
/* ------------------------------------------- QStatusBar -------------------------------------------*/
QStatusBar::item { border: 0px; }
+
+
+/* ------------------------------------------- QSlider -------------------------------------------*/
+QSlider {
+ min-height: 40px; /* 控制滑块控件最小高度 */
+ background: transparent;
+}
+
+/* ===== 滑条轨道 ===== */
+QSlider::groove:horizontal {
+ background: #E0E0E0;
+ height: 8px; /* 轨道高度 */
+ border-radius: 4px;
+}
+
+/* ===== 已滑过的轨道部分 ===== */
+QSlider::sub-page:horizontal {
+ background: #2196F3; /* 进度颜色 */
+ border-radius: 4px;
+}
+
+/* ===== 滑块手柄 ===== */
+QSlider::handle:horizontal {
+ background: #FFFFFF;
+ border: 2px solid #2196F3;
+ width: 10px; /* 滑块宽度 */
+ height: 20px; /* 滑块高度 */
+ margin: -8px 0; /* 调整滑块在轨道上的位置 */
+ border-radius: 5px;
+}
+
+/* ===== 悬停/按下状态 ===== */
+QSlider::handle:horizontal:hover {
+ background: #E3F2FD;
+}
+
+QSlider::handle:horizontal:pressed {
+ background: #BBDEFB;
+}
\ No newline at end of file
diff --git a/codes/analysis/brake.py b/codes/analysis/brake.py
index 7457963..f3e6186 100644
--- a/codes/analysis/brake.py
+++ b/codes/analysis/brake.py
@@ -13,7 +13,6 @@ class BrakeDataProcess(QThread):
super().__init__()
self.dir_path = dir_path
self.idx = 0
- self.logger = clibs.logger
def check_files(self, rawdata_dirs, result_files):
msg_wrong = "需要有四个文件和若干个数据文件夹，可参考如下确认：
"
@@ -21,7 +20,7 @@ class BrakeDataProcess(QThread):
msg_wrong += "- reach33_load33_speed33
- reach33_load33_speed66
...
- reach100_load100_speed66
- reach100_load100_speed100
"
if len(result_files) != 4 or len(rawdata_dirs) == 0:
- self.logger("ERROR", "brake", msg_wrong, "red")
+ clibs.logger("ERROR", "brake", msg_wrong, "red")
config_file, reach33_file, reach66_file, reach100_file = None, None, None, None
for result_file in result_files:
@@ -36,7 +35,7 @@ class BrakeDataProcess(QThread):
reach100_file = result_file
else:
if not (config_file and reach33_file and reach66_file and reach100_file):
- self.logger("ERROR", "brake", msg_wrong, "red")
+ clibs.logger("ERROR", "brake", msg_wrong, "red")
reach_s = ['reach33', 'reach66', 'reach100']
load_s = ['load33', 'load66', 'load100']
@@ -49,24 +48,24 @@ class BrakeDataProcess(QThread):
msg = f"报错信息：数据目录 {rawdata_dir} 命名不合规，请参考如下形式
"
msg += "命名规则：reachAA_loadBB_speedCC，AA/BB/CC 指的是臂展/负载/速度的比例
"
msg += "规则解释：reach66_load100_speed33，表示 66% 臂展，100% 负载以及 33% 速度情况下的测试结果文件夹
"
- self.logger("ERROR", "brake", msg, "red")
+ clibs.logger("ERROR", "brake", msg, "red")
_, rawdata_files = clibs.traversal_files(rawdata_dir)
if len(rawdata_files) != 3:
msg = f"数据目录 {rawdata_dir} 下数据文件个数错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
- self.logger("ERROR", "brake", msg, "red")
+ clibs.logger("ERROR", "brake", msg, "red")
for rawdata_file in rawdata_files:
if not rawdata_file.endswith(".data"):
msg = f"数据文件 {rawdata_file} 后缀错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
- self.logger("ERROR", "brake", msg, "red")
+ clibs.logger("ERROR", "brake", msg, "red")
result_files = []
for _ in [reach33_file, reach66_file, reach100_file]:
if _.split("/")[-1].split("_")[0] in set(prefix):
result_files.append(_)
- self.logger("INFO", "brake", "数据目录合规性检查结束，未发现问题......", "green")
+ clibs.logger("INFO", "brake", "数据目录合规性检查结束，未发现问题......", "green")
return config_file, result_files
def get_configs(self, config_file):
@@ -76,7 +75,7 @@ class BrakeDataProcess(QThread):
p_dir = config_file.split('/')[-2]
if not re.match("^[jJ][123]$", p_dir):
- self.logger("ERROR", "brake", "被处理的根文件夹命名必须是 [Jj][123] 的格式", "red")
+ clibs.logger("ERROR", "brake", "被处理的根文件夹命名必须是 [Jj][123] 的格式", "red")
axis = int(p_dir[-1]) # 要处理的轴
rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio
@@ -85,19 +84,19 @@ class BrakeDataProcess(QThread):
av = avs[axis-1]
return av, rr
except Exception as Err:
- self.logger("ERROR", "brake", f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查
{Err}", "red")
+ clibs.logger("ERROR", "brake", f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查
{Err}", "red")
def now_doing_msg(self, docs, flag):
now = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()))
file_type = 'file' if os.path.isfile(docs) else 'dir'
if flag == 'start' and file_type == 'dir':
- self.logger("INFO", "brake", f"[{now}] 正在处理目录 {docs} 中的数据......")
+ clibs.logger("INFO", "brake", f"[{now}] 正在处理目录 {docs} 中的数据......")
elif flag == 'start' and file_type == 'file':
- self.logger("INFO", "brake", f"[{now}] 正在处理文件 {docs} 中的数据......")
+ clibs.logger("INFO", "brake", f"[{now}] 正在处理文件 {docs} 中的数据......")
elif flag == 'done' and file_type == 'dir':
- self.logger("INFO", "brake", f"[{now}] 目录 {docs} 数据文件已处理完毕")
+ clibs.logger("INFO", "brake", f"[{now}] 目录 {docs} 数据文件已处理完毕")
elif flag == 'done' and file_type == 'file':
- self.logger("INFO", "brake", f"[{now}] 文件 {docs} 数据已处理完毕")
+ clibs.logger("INFO", "brake", f"[{now}] 文件 {docs} 数据已处理完毕")
@staticmethod
def data2result(df, ws_result, row_start, row_end):
@@ -131,7 +130,7 @@ class BrakeDataProcess(QThread):
row_start = row - 20 if row - 20 > 0 else 0 # 急停前找 20 个点
break
else:
- self.logger("ERROR", "brake", f"数据文件 {data_file} 采集的数据中没有 ESTOP 为非 0 的情况，需要确认", "red")
+ clibs.logger("ERROR", "brake", f"数据文件 {data_file} 采集的数据中没有 ESTOP 为非 0 的情况，需要确认", "red")
for row in range(row_start, df.index[-1] - 1, 10):
speed_row = df.iloc[row, 0] * clibs.RADIAN * rr * 60 / 360
@@ -139,13 +138,13 @@ class BrakeDataProcess(QThread):
row_end = row + 100 if row + 100 <= df.index[-1] - 1 else df.index[-1] - 1
break
else:
- self.logger("ERROR", "brake", f"数据文件 {data_file} 最后的速度未降为零", "red")
+ clibs.logger("ERROR", "brake", f"数据文件 {data_file} 最后的速度未降为零", "red")
av_estop = abs(df.iloc[row_start - 20:row_start, 0].abs().mean() * clibs.RADIAN)
if abs(av_estop / av_max) < threshold:
filename = data_file.split("/")[-1]
msg = f"[av_estop: {av_estop:.2f} | shouldbe: {av_max:.2f}] 数据文件 {filename} 触发 ESTOP 时未采集到指定百分比的最大速度，需要检查"
- self.logger("WARNING", "brake", msg, "#8A2BE2")
+ clibs.logger("WARNING", "brake", msg, "#8A2BE2")
return row_start, row_end
@@ -169,11 +168,11 @@ class BrakeDataProcess(QThread):
def data_process(self, result_file, rawdata_dirs, av, rr):
filename = result_file.split("/")[-1]
- self.logger("INFO", "brake", f"正在打开文件 {filename}，这可能需要一些时间......", "blue")
+ clibs.logger("INFO", "brake", f"正在打开文件 {filename}，这可能需要一些时间......", "blue")
try:
wb = openpyxl.load_workbook(result_file)
except Exception as Err:
- self.logger("ERROR", "brake", f"{filename}文件打开失败，可能是文件已损坏，确认后重新执行！
{Err}", "red")
+ clibs.logger("ERROR", "brake", f"{filename}文件打开失败，可能是文件已损坏，确认后重新执行！
{Err}", "red")
prefix = filename.split('_')[0]
for rawdata_dir in rawdata_dirs:
@@ -191,7 +190,7 @@ class BrakeDataProcess(QThread):
# [t.join() for t in threads]
self.now_doing_msg(rawdata_dir, 'done')
- self.logger("INFO", "brake", f"正在保存文件 {filename}，这可能需要一些时间......
", "blue")
+ clibs.logger("INFO", "brake", f"正在保存文件 {filename}，这可能需要一些时间......
", "blue")
wb.save(result_file)
wb.close()
@@ -206,7 +205,7 @@ class BrakeDataProcess(QThread):
for result_file in result_files:
self.data_process(result_file, rawdata_dirs, av, rr)
- self.logger("INFO", "brake", "-"*60 + "
全部处理完毕
", "purple")
+ clibs.logger("INFO", "brake", "-"*60 + "
全部处理完毕
", "purple")
time_total = time.time() - time_start
msg = f"处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
- self.logger("INFO", "brake", msg)
+ clibs.logger("INFO", "brake", msg)
diff --git a/codes/analysis/current.py b/codes/analysis/current.py
index bb8aebc..c53de25 100644
--- a/codes/analysis/current.py
+++ b/codes/analysis/current.py
@@ -14,7 +14,6 @@ class CurrentDataProcess(QThread):
self.dir_path = dir_path
self.proc = proc
self.idx = 1
- self.logger = clibs.logger
def initialization(self):
_, data_files = clibs.traversal_files(self.dir_path)
@@ -30,16 +29,16 @@ class CurrentDataProcess(QThread):
if not re.match("^j[1-7].*\\.data$", filename):
msg = f"不合规 {data_file}
"
msg += "所有数据文件必须以 j[1-7]_ 开头，以 .data 结尾，比如j1_abcdef.data，请检查整改后重新运行"
- self.logger("ERROR", "current", msg, "red")
+ clibs.logger("ERROR", "current", msg, "red")
if count != 2:
msg = "需要有一个机型配置文件\"*.cfg\"，以及一个数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行"
- self.logger("ERROR", "current", msg, "red")
+ clibs.logger("ERROR", "current", msg, "red")
return data_files, config_file
def current_max(self, data_files, rts):
- self.logger("INFO", "current", f"正在处理最大转矩值逻辑......")
+ clibs.logger("INFO", "current", f"正在处理最大转矩值逻辑......")
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
for data_file in data_files:
if data_file.endswith(".data"):
@@ -47,11 +46,11 @@ class CurrentDataProcess(QThread):
else:
continue
- self.logger("DEBUG", "current", f"正在处理 {data_file} ...")
+ clibs.logger("DEBUG", "current", f"正在处理 {data_file} ...")
cols = len(df.columns)
axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
rt = rts[axis-1]
- self.logger("DEBUG", "current", f"最大列数为 {cols}，{axis} 轴的额定转矩为 {rt}")
+ clibs.logger("DEBUG", "current", f"最大列数为 {cols}，{axis} 轴的额定转矩为 {rt}")
col = df.columns.values[clibs.c_servo_trq-1] # 获取 "device_servo_trq_feedback"
c_max = df[col].abs().max()
@@ -59,8 +58,8 @@ class CurrentDataProcess(QThread):
scale = 1000
_ = abs(c_max/scale*rt)
current[axis].append(_)
- self.logger("DEBUG", "current", f"{data_file}: {_:.2f}")
- self.logger("DEBUG", "current", f"获取到的列名为 {col}，最大转矩为 {_}")
+ clibs.logger("DEBUG", "current", f"{data_file}: {_:.2f}")
+ clibs.logger("DEBUG", "current", f"获取到的列名为 {col}，最大转矩为 {_}")
with open(data_file, "a+") as f_data:
csv_writer = csv.writer(f_data, delimiter="\t")
@@ -73,14 +72,14 @@ class CurrentDataProcess(QThread):
_ = ""
for value in cur:
_ += f"{value:.4f} "
- self.logger("INFO", "current", f"{axis}轴最大转矩数据：{_}")
+ clibs.logger("INFO", "current", f"{axis}轴最大转矩数据：{_}")
- self.logger("DEBUG", "current", f"获取最大转矩值结束 current_max = {current}")
- self.logger("INFO", "current", f"最大转矩数据处理完毕......")
+ clibs.logger("DEBUG", "current", f"获取最大转矩值结束 current_max = {current}")
+ clibs.logger("INFO", "current", f"最大转矩数据处理完毕......")
return current
def current_avg(self, data_files, rts):
- self.logger("INFO", "current", f"正在处理平均转矩值逻辑......")
+ clibs.logger("INFO", "current", f"正在处理平均转矩值逻辑......")
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
for data_file in data_files:
if data_file.endswith(".data"):
@@ -88,11 +87,11 @@ class CurrentDataProcess(QThread):
else:
continue
- self.logger("DEBUG", "current", f"正在处理 {data_file} ...")
+ clibs.logger("DEBUG", "current", f"正在处理 {data_file} ...")
cols = len(df.columns)
axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
rt = rts[axis-1]
- self.logger("DEBUG", "current", f"最大列数为 {cols}，{axis} 轴的额定转矩为 {rt}")
+ clibs.logger("DEBUG", "current", f"最大列数为 {cols}，{axis} 轴的额定转矩为 {rt}")
col = df.columns.values[clibs.c_servo_trq-1]
c_std = df[col].std()
@@ -101,8 +100,8 @@ class CurrentDataProcess(QThread):
scale = 1000
_ = (abs(c_avg)+c_std*3)/scale*rt
current[axis].append(_)
- self.logger("DEBUG", "current", f"{data_file}: {_:.2f}")
- self.logger("DEBUG", "current", f"获取到的列名为 {col}，平均转矩为 {_}")
+ clibs.logger("DEBUG", "current", f"{data_file}: {_:.2f}")
+ clibs.logger("DEBUG", "current", f"获取到的列名为 {col}，平均转矩为 {_}")
with open(data_file, "a+") as f_data:
csv_writer = csv.writer(f_data, delimiter="\t")
@@ -115,10 +114,10 @@ class CurrentDataProcess(QThread):
_ = ""
for value in cur:
_ += f"{value:.4f} "
- self.logger("INFO", "current", f"{axis}轴平均转矩数据：{_}")
+ clibs.logger("INFO", "current", f"{axis}轴平均转矩数据：{_}")
- self.logger("DEBUG", "current", f"获取平均转矩值结束 current_avg = {current}")
- self.logger("INFO", "current", f"平均转矩数据处理完毕......")
+ clibs.logger("DEBUG", "current", f"获取平均转矩值结束 current_avg = {current}")
+ clibs.logger("INFO", "current", f"平均转矩数据处理完毕......")
return current
def current_cycle(self, data_files, rrs, rts, params):
@@ -136,11 +135,11 @@ class CurrentDataProcess(QThread):
single.append(data_file)
clibs.stop, filename = True, result.split("/")[-1]
- self.logger("INFO", "current", f"正在打开文件 {filename}，这可能需要一些时间......", "blue")
+ clibs.logger("INFO", "current", f"正在打开文件 {filename}，这可能需要一些时间......", "blue")
try:
wb = openpyxl.load_workbook(result)
except Exception as err:
- self.logger("ERROR", "current", f"{filename}文件打开失败，可能是文件已损坏，确认后重新执行！
{err}", "red")
+ clibs.logger("ERROR", "current", f"{filename}文件打开失败，可能是文件已损坏，确认后重新执行！
{err}", "red")
ws = wb["统计"]
for idx in range(len(params)-1):
@@ -160,7 +159,7 @@ class CurrentDataProcess(QThread):
else:
self.p_scenario(wb, scenario, rrs, dur_time)
- self.logger("INFO", "current", f"正在保存文件 {filename}，这可能需要一些时间......", "blue")
+ clibs.logger("INFO", "current", f"正在保存文件 {filename}，这可能需要一些时间......", "blue")
wb.save(result)
wb.close()
@@ -177,10 +176,10 @@ class CurrentDataProcess(QThread):
# 从实际数据看，这开逻辑很小概率能触发到
speed_avg = df.iloc[row_s-end_point*skip_scale:row_e-end_point*skip_scale].abs().mean()
if speed_avg < threshold:
- self.logger("WARNING", "current", f"【lt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！", "purple")
+ clibs.logger("WARNING", "current", f"【lt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！", "purple")
return row_s, row_e
else:
- self.logger("ERROR", "current", f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点......", "red")
+ clibs.logger("ERROR", "current", f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点......", "red")
elif flag == "gt":
while row_e > end_point:
speed_avg = df.iloc[row_s:row_e].abs().mean()
@@ -193,10 +192,10 @@ class CurrentDataProcess(QThread):
# 从实际数据看，这开逻辑很小概率能触发到
speed_avg = df.iloc[row_s-end_point*skip_scale:row_e-end_point*skip_scale].abs().mean()
if speed_avg > threshold:
- self.logger("WARNING", "current", f"【gt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！", "purple")
+ clibs.logger("WARNING", "current", f"【gt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！", "purple")
return row_s, row_e
else:
- self.logger("ERROR", "current", f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点......", "red")
+ clibs.logger("ERROR", "current", f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点......", "red")
def get_row_number(self, threshold, flag, df, row_s, row_e, axis):
count_1, count_2 = 0, 0
@@ -220,7 +219,7 @@ class CurrentDataProcess(QThread):
count_1 = 0
places = {"start": "起点", "middle": "中间点", "end": "终点"} # 因为是终点数据，所以可能有异常
- self.logger("DEBUG", "current", f"{axis} 轴获取{places[flag]}数据 {row_e} 可能有异常，需关注！", "purple")
+ clibs.logger("DEBUG", "current", f"{axis} 轴获取{places[flag]}数据 {row_e} 可能有异常，需关注！", "purple")
return row_e
def p_single(self, wb, single, rrs):
@@ -296,13 +295,13 @@ class CurrentDataProcess(QThread):
row_s, row_e = self.find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 3)
row_start = self.get_row_number(threshold, "start", df, row_s, row_e, axis)
- self.logger("DEBUG", "current", f"{axis} 轴起点：{row_start}")
- self.logger("DEBUG", "current", f"{axis} 轴中间点：{row_middle}")
- self.logger("DEBUG", "current", f"{axis} 轴终点：{row_end}")
- self.logger("DEBUG", "current", f"{axis} 轴数据非零段点数：{row_middle-row_start+1}")
- self.logger("DEBUG", "current", f"{axis} 轴数据为零段点数：{row_end-row_middle+1}")
+ clibs.logger("DEBUG", "current", f"{axis} 轴起点：{row_start}")
+ clibs.logger("DEBUG", "current", f"{axis} 轴中间点：{row_middle}")
+ clibs.logger("DEBUG", "current", f"{axis} 轴终点：{row_end}")
+ clibs.logger("DEBUG", "current", f"{axis} 轴数据非零段点数：{row_middle-row_start+1}")
+ clibs.logger("DEBUG", "current", f"{axis} 轴数据为零段点数：{row_end-row_middle+1}")
if abs(row_end+row_start-2*row_middle) > 1000:
- self.logger("WARNING", "current", f"{axis} 轴数据占空比异常，处理数据可能有误，需检查！", "purple")
+ clibs.logger("WARNING", "current", f"{axis} 轴数据占空比异常，处理数据可能有误，需检查！", "purple")
data, first_c, second_c, third_c, fourth_c = [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1
for row in range(row_start, row_end+1):
@@ -327,7 +326,7 @@ class CurrentDataProcess(QThread):
i += 1
def p_scenario(self, wb, scenario, rrs, dur_time):
- self.logger("INFO", "current", f"本次处理的是电机电流场景数据，场景运动周期为 {dur_time}s", "blue")
+ clibs.logger("INFO", "current", f"本次处理的是电机电流场景数据，场景运动周期为 {dur_time}s", "blue")
for data_file in scenario:
cycle = 0.001
axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
@@ -344,7 +343,7 @@ class CurrentDataProcess(QThread):
row_start = 3000
row_end = row_start + int(dur_time/cycle)
if row_end > df.index[-1]:
- self.logger("ERROR", "current", f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "red")
+ clibs.logger("ERROR", "current", f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "red")
data, first_c, second_c, third_c, fourth_c = [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1
for row in range(row_start, row_end+1):
@@ -391,13 +390,13 @@ class CurrentDataProcess(QThread):
r_max_t = configs["TRANSMISSION"]["MAX_PEAK_TORQUE"] # 减速器瞬时最大转矩
r_avg_t = configs["TRANSMISSION"]["MAX_AVERAGE_TORQUE"] # 减速器平均负载转矩允许最大值
- self.logger("INFO", "current", f"get_configs: 机型文件版本 {config_file}_{version}")
- self.logger("INFO", "current", f"get_configs: 减速比 {r_rrs}")
- self.logger("INFO", "current", f"get_configs: 额定转矩 {m_rts}")
- self.logger("INFO", "current", f"get_configs: 最大角速度 {m_avs}")
+ clibs.logger("INFO", "current", f"get_configs: 机型文件版本 {config_file}_{version}")
+ clibs.logger("INFO", "current", f"get_configs: 减速比 {r_rrs}")
+ clibs.logger("INFO", "current", f"get_configs: 额定转矩 {m_rts}")
+ clibs.logger("INFO", "current", f"get_configs: 最大角速度 {m_avs}")
return sc, r_rrs, m_avs, m_stall_ts, m_rts, m_max_ts, m_r_rpms, m_max_rpms, r_max_sst, r_max_t, r_avg_t, robot_type
except Exception as err:
- self.logger("ERROR", "current", f"get_config: 无法打开 {config_file}，或获取配置文件参数错误 {err}", "red")
+ clibs.logger("ERROR", "current", f"get_config: 无法打开 {config_file}，或获取配置文件参数错误 {err}", "red")
def processing(self):
time_start = time.time()
@@ -413,7 +412,7 @@ class CurrentDataProcess(QThread):
elif self.proc == "周期":
self.current_cycle(data_files, rrs, rts, params)
- self.logger("INFO", "current", "-"*60 + "
全部处理完毕
", "purple")
+ clibs.logger("INFO", "current", "-"*60 + "
全部处理完毕
", "purple")
time_total = time.time() - time_start
msg = f"数据处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
- self.logger("INFO", "current", msg)
+ clibs.logger("INFO", "current", msg)
diff --git a/codes/analysis/iso.py b/codes/analysis/iso.py
index 258a3fc..37b3e44 100644
--- a/codes/analysis/iso.py
+++ b/codes/analysis/iso.py
@@ -11,7 +11,6 @@ class IsoDataProcess(QThread):
super().__init__()
self.dir_path = dir_path
self.idx = 2
- self.logger = clibs.logger
@staticmethod
def p_iso(file, p_files, ws, tmpfile):
@@ -144,7 +143,7 @@ class IsoDataProcess(QThread):
def initialization(self):
dirs, files = clibs.traversal_files(self.dir_path)
if len(dirs) != 0:
- self.logger("ERROR", "iso", f"init: 工作目录下不可以有文件夹！", "red")
+ clibs.logger("ERROR", "iso", f"init: 工作目录下不可以有文件夹！", "red")
for file in files:
file = file.lower()
@@ -157,7 +156,7 @@ class IsoDataProcess(QThread):
elif file.endswith("iso.pdf"):
pass
else:
- self.logger("ERROR", "iso", f"init: 工作目录下只允许有如下四个文件，不区分大小写，pdf文件最少有一个！
1. iso-results.xlsx
2. ISO.pdf
3. ISO-V100.pdf
4. ISO-V1000.pdf", "red")
+ clibs.logger("ERROR", "iso", f"init: 工作目录下只允许有如下四个文件，不区分大小写，pdf文件最少有一个！
1. iso-results.xlsx
2. ISO.pdf
3. ISO-V100.pdf
4. ISO-V1000.pdf", "red")
return files
@@ -175,24 +174,24 @@ class IsoDataProcess(QThread):
for i in range(3, 50):
ws.cell(row=i, column=7).value = None
except Exception as err:
- self.logger("ERROR", "iso", f"main: 无法打开文件 {filename}
{err}", "red")
+ clibs.logger("ERROR", "iso", f"main: 无法打开文件 {filename}
{err}", "red")
p_files = []
for file in files:
if file.split("/")[-1].lower() == "iso.pdf":
- self.logger("INFO", "iso", f"正在处理{file}......")
+ clibs.logger("INFO", "iso", f"正在处理{file}......")
self.p_iso(file, p_files, ws, tmpfile)
- self.logger("INFO", "iso", f"文件{file}已处理完毕。")
+ clibs.logger("INFO", "iso", f"文件{file}已处理完毕。")
elif file.split("/")[-1].lower() == "iso-v100.pdf":
- self.logger("INFO", "iso", f"正在处理{file}......")
+ clibs.logger("INFO", "iso", f"正在处理{file}......")
self.p_iso_100(file, p_files, ws, tmpfile)
- self.logger("INFO", "iso", f"文件{file}已处理完毕。")
+ clibs.logger("INFO", "iso", f"文件{file}已处理完毕。")
elif file.split("/")[-1].lower() == "iso-v1000.pdf":
- self.logger("INFO", "iso", f"正在处理{file}......")
+ clibs.logger("INFO", "iso", f"正在处理{file}......")
self.p_iso_1000(file, p_files, ws, tmpfile)
- self.logger("INFO", "iso", f"文件{file}已处理完毕。")
+ clibs.logger("INFO", "iso", f"文件{file}已处理完毕。")
else:
pass
@@ -200,11 +199,11 @@ class IsoDataProcess(QThread):
wb.close()
if len(p_files) == 0:
- self.logger("ERROR", "iso", f"目录 {self.dir_path} 下没有需要处理的文件，需要确认......", "red")
+ clibs.logger("ERROR", "iso", f"目录 {self.dir_path} 下没有需要处理的文件，需要确认......", "red")
else:
os.remove(tmpfile)
- self.logger("INFO", "current-processing", "-" * 60 + "
全部处理完毕
", "purple")
+ clibs.logger("INFO", "current-processing", "-" * 60 + "
全部处理完毕
", "purple")
time_total = time.time() - time_start
msg = f"数据处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
- self.logger("INFO", "current-processing", msg)
+ clibs.logger("INFO", "current-processing", msg)
diff --git a/codes/analysis/wavelogger.py b/codes/analysis/wavelogger.py
index ef3465d..e172cf3 100644
--- a/codes/analysis/wavelogger.py
+++ b/codes/analysis/wavelogger.py
@@ -12,7 +12,6 @@ class WaveloggerDataProcess(QThread):
super().__init__()
self.dir_path = dir_path
self.idx = 3
- self.logger = clibs.logger
def find_point(self, bof, step, margin, threshold, pos, data_file, flag, df, row):
# bof: backward or forward
@@ -31,7 +30,7 @@ class WaveloggerDataProcess(QThread):
break
else:
if bof == "backward":
- self.logger("ERROR", "wavelogger", f"find_point-gt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red")
+ clibs.logger("ERROR", "wavelogger", f"find_point-gt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red")
elif bof == "forward":
row_target = row + margin # to end while loop in function `single_file_proc`
elif flag == "lt":
@@ -45,7 +44,7 @@ class WaveloggerDataProcess(QThread):
break
else:
if bof == "backward":
- self.logger("ERROR", "wavelogger", f"find_point-lt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red")
+ clibs.logger("ERROR", "wavelogger", f"find_point-lt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red")
elif bof == "forward":
row_target = row + margin # to end while loop in function `single_file_proc`
return row_target
@@ -82,7 +81,7 @@ class WaveloggerDataProcess(QThread):
for data_file in data_files:
if not data_file.lower().endswith(".csv"):
- self.logger("ERROR", "wavelogger", f"init: {data_file} 文件后缀错误，只允许 .csv 文件，需要确认！", "red")
+ clibs.logger("ERROR", "wavelogger", f"init: {data_file} 文件后缀错误，只允许 .csv 文件，需要确认！", "red")
return data_files
@@ -108,7 +107,7 @@ class WaveloggerDataProcess(QThread):
value = df.iloc[start:end, 2].astype(float).mean() + 3 * df.iloc[start:end, 2].astype(float).std()
if value > 1:
msg = f"\n"
- self.logger("WARNING", "wavelogger", f"{data_file} 文件第 {count} 轮 第 {count_i} 个数据可能有问题，需人工手动确认，确认有问题可删除，无问题则保留")
+ clibs.logger("WARNING", "wavelogger", f"{data_file} 文件第 {count} 轮 第 {count_i} 个数据可能有问题，需人工手动确认，确认有问题可删除，无问题则保留")
data[count].append(value)
count_i += 1
@@ -129,7 +128,7 @@ class WaveloggerDataProcess(QThread):
row += 1
def execution(self, data_files):
- self.logger("INFO", "wavelogger", "正在处理中......", "blue")
+ clibs.logger("INFO", "wavelogger", "正在处理中......", "blue")
wb = openpyxl.Workbook()
step, margin, data_length, threshold = 5, 50, 50, 5
for data_file in data_files:
@@ -148,7 +147,7 @@ class WaveloggerDataProcess(QThread):
data_files = self.initialization()
self.execution(data_files)
- self.logger("INFO", "wavelogger", "-" * 60 + "
全部处理完毕
", "purple")
+ clibs.logger("INFO", "wavelogger", "-" * 60 + "
全部处理完毕
", "purple")
time_total = time.time() - time_start
msg = f"数据处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
- self.logger("INFO", "wavelogger", msg)
+ clibs.logger("INFO", "wavelogger", msg)
diff --git a/codes/autotest/do_brake.py b/codes/autotest/do_brake.py
index 404e58e..1d97aeb 100644
--- a/codes/autotest/do_brake.py
+++ b/codes/autotest/do_brake.py
@@ -15,14 +15,13 @@ class DoBrakeTest(QThread):
self.dir_path = dir_path
self.tool = tool
self.idx = 4
- self.logger = clibs.logger
def initialization(self, data_dirs, data_files):
def check_files():
msg = "初始路径下不允许有文件夹，只能存在如下五个文件，且文件为关闭状态，确认后重新运行！
"
msg += "1. configs.xlsx
2. reach33/reach66/reach100_xxxx.xlsx
3. xxxx.zip"
if len(data_dirs) != 0 or len(data_files) != 5:
- self.logger("ERROR", "do_brake", msg, "red")
+ clibs.logger("ERROR", "do_brake", msg, "red")
config_file, reach33_file, reach66_file, reach100_file, prj_file, result_dirs = None, None, None, None, None, []
for data_file in data_files:
@@ -38,7 +37,7 @@ class DoBrakeTest(QThread):
elif filename.endswith(".zip"):
prj_file = data_file
else:
- self.logger("ERROR", "do_brake", msg, "red")
+ clibs.logger("ERROR", "do_brake", msg, "red")
if config_file and reach33_file and reach66_file and reach100_file and prj_file:
os.mkdir(f"{self.dir_path}/j1")
@@ -57,7 +56,7 @@ class DoBrakeTest(QThread):
return config_file, prj_file, result_dirs
else:
- self.logger("ERROR", "do_brake", msg, "red")
+ clibs.logger("ERROR", "do_brake", msg, "red")
def get_configs():
robot_type = None
@@ -74,19 +73,19 @@ class DoBrakeTest(QThread):
with open(local_file, mode="r", encoding="utf-8") as f_config:
configs = json.load(f_config)
except Exception as Err:
- self.logger("ERROR", "do_brake", f"无法打开 {local_file}
{Err}", "red")
+ clibs.logger("ERROR", "do_brake", f"无法打开 {local_file}
{Err}", "red")
# 最大角速度，额定电流，减速比，额定转速
version = configs["VERSION"]
avs = configs["MOTION"]["JOINT_MAX_SPEED"]
- self.logger("INFO", "do_brake", f"get_configs: 机型文件版本 {robot_type}_{version}")
- self.logger("INFO", "do_brake", f"get_configs: 各关节角速度 {avs}")
+ clibs.logger("INFO", "do_brake", f"get_configs: 机型文件版本 {robot_type}_{version}")
+ clibs.logger("INFO", "do_brake", f"get_configs: 各关节角速度 {avs}")
return avs
- self.logger("INFO", "do_brake", "正在做初始化校验和配置，这可能需要一点时间......", "green")
+ clibs.logger("INFO", "do_brake", "正在做初始化校验和配置，这可能需要一点时间......", "green")
_config_file, _prj_file, _result_dirs = check_files()
_avs = get_configs()
- self.logger("INFO", "do_brake", "数据目录合规性检查结束，未发现问题......", "green")
+ clibs.logger("INFO", "do_brake", "数据目录合规性检查结束，未发现问题......", "green")
return _config_file, _prj_file, _result_dirs, _avs
def gen_result_file(self, axis, end_time, reach, load, speed, speed_max, rounds):
@@ -118,13 +117,13 @@ class DoBrakeTest(QThread):
av_estop = abs(sum(d_vel[idx - 20:idx])/20 * clibs.RADIAN)
if av_estop / speed_max < threshold:
- self.logger("WARNING", "do_brake", f"[av_estop: {av_estop:.2f} | shouldbe: {speed_max:.2f}] 处理数据时，本次触发 ESTOP 时未采集到指定百分比的最大速度，即将重试！", "#8A2BE2")
+ clibs.logger("WARNING", "do_brake", f"[av_estop: {av_estop:.2f} | shouldbe: {speed_max:.2f}] 处理数据时，本次触发 ESTOP 时未采集到指定百分比的最大速度，即将重试！", "#8A2BE2")
clibs.count += 1
if clibs.count < 3:
return "retry"
else:
clibs.count = 0
- self.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")
+ 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")
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
@@ -154,14 +153,14 @@ class DoBrakeTest(QThread):
io_name = ws.cell(row=5, column=2).value.upper().strip()
wb.close()
msg = f"基本参数配置：get_init_speed = {get_init_speed}, single_brake = {single_brake}, pon = {pon}, IO = {io_name}"
- self.logger("INFO", "do_brake", msg)
+ clibs.logger("INFO", "do_brake", msg)
if pon == "positive":
clibs.c_md.write_pon(1)
elif pon == "negative":
clibs.c_md.write_pon(0)
else:
- self.logger("ERROR", "do_brake", "configs.xlsx 中 Target 页面 B5 单元格填写不正确，检查后重新运行...", "red")
+ clibs.logger("ERROR", "do_brake", "configs.xlsx 中 Target 页面 B5 单元格填写不正确，检查后重新运行...", "red")
self.change_curve_state(True)
for condition in result_dirs:
@@ -183,18 +182,18 @@ class DoBrakeTest(QThread):
continue
clibs.c_md.write_axis(axis)
- self.logger("INFO", "brake", "-" * 90, "purple")
+ clibs.logger("INFO", "brake", "-" * 90, "purple")
speed_max = 0
for rounds in range(1, 4):
if clibs.stop_flag:
- self.logger("ERROR", "do_brake", "后台数据清零完成，现在可以重新运行其他程序。", "green")
+ clibs.logger("ERROR", "do_brake", "后台数据清零完成，现在可以重新运行其他程序。", "green")
count += 1
_ = 3 if count % 3 == 0 else count % 3
this_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
prj_path = f"{prj_name}/_build/{prj_name}.prj"
msg = f"[{this_time} | {count}/{total}] 正在执行 {axis} 轴 {condition} 的第 {_} 次制动测试..."
- self.logger("INFO", "do_brake", msg)
+ clibs.logger("INFO", "do_brake", msg)
# 1. 触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
clibs.c_md.r_soft_estop(0)
@@ -243,7 +242,7 @@ class DoBrakeTest(QThread):
else:
time.sleep(1)
if (time.time() - t_start) > 15:
- self.logger("ERROR", "do_brake", "15s 内未收到机器人的运行信号，需要确认 RL 程序编写正确并正常执行...", "red")
+ clibs.logger("ERROR", "do_brake", "15s 内未收到机器人的运行信号，需要确认 RL 程序编写正确并正常执行...", "red")
# 4. 找出最大速度，传递给RL程序，最后清除相关记录
time.sleep(5) # 消除前 5s 的不稳定数据
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
@@ -270,14 +269,14 @@ class DoBrakeTest(QThread):
speed_max = abs(get_speed_max())
speed_target = avs[axis-1] * float(speed) / 100
- self.logger("INFO", "do_brake", f"axis = {axis}, direction = {pon}, max speed = {speed_max}")
+ clibs.logger("INFO", "do_brake", f"axis = {axis}, direction = {pon}, max speed = {speed_max}")
if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
- self.logger("WARNING", "do_brake", f"Axis: {axis}-{count} | 采集获取最大 Speed: {speed_max} | Shouldbe: {speed_target}", "indigo")
+ clibs.logger("WARNING", "do_brake", f"Axis: {axis}-{count} | 采集获取最大 Speed: {speed_max} | Shouldbe: {speed_target}", "indigo")
clibs.c_md.write_speed_max(speed_max)
if speed_max < 10:
clibs.c_md.r_clear_alarm()
- self.logger("WARNING", "do_brake", f"未获取到正确的速度，即将重新获取...", "red")
+ clibs.logger("WARNING", "do_brake", f"未获取到正确的速度，即将重新获取...", "red")
continue
else:
break
@@ -301,7 +300,7 @@ class DoBrakeTest(QThread):
else:
time.sleep(2)
if time.time() - t_start > 60:
- self.logger("ERROR", "do_brake", "60s 内程序未能正常执行，需检查...", "red")
+ clibs.logger("ERROR", "do_brake", "60s 内程序未能正常执行，需检查...", "red")
for i in range(16):
if clibs.c_md.read_ready_to_go() == 1:
@@ -310,14 +309,14 @@ class DoBrakeTest(QThread):
else:
time.sleep(1)
else:
- self.logger("ERROR", "do_brake", "16s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...", "red")
+ clibs.logger("ERROR", "do_brake", "16s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...", "red")
def exec_brake():
flag, start, data, record = True, time.time(), None, None
while flag:
time.sleep(0.05)
if time.time() - start > 20:
- self.logger("ERROR", "do_brake", "20s 内未触发急停，需排查......", "red")
+ clibs.logger("ERROR", "do_brake", "20s 内未触发急停，需排查......", "red")
try:
clibs.lock.acquire(True)
@@ -352,20 +351,20 @@ class DoBrakeTest(QThread):
time.sleep(clibs.INTERVAL*2)
self.change_curve_state(False)
msg = f"
{self.tool.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行"
- self.logger("INFO", "do_brake", msg, "green")
+ clibs.logger("INFO", "do_brake", msg, "green")
def processing(self):
time_start = time.time()
clibs.running[self.idx] = 1
if clibs.status["hmi"] != 1 or clibs.status["md"] != 1 or clibs.status["ec"] != 1:
- self.logger("ERROR", "do_brake", "processing: 需要在网络设置中连接HMI，Modbus通信以及外部通信！", "red")
+ clibs.logger("ERROR", "do_brake", "processing: 需要在网络设置中连接HMI，Modbus通信以及外部通信！", "red")
data_dirs, data_files = clibs.traversal_files(self.dir_path)
config_file, prj_file, result_dirs, avs = self.initialization(data_dirs, data_files)
clibs.c_pd.push_prj_to_server(prj_file)
self.run_rl(config_file, prj_file, result_dirs, avs)
- self.logger("INFO", "do_brake", "-"*60 + "
全部处理完毕
", "purple")
+ clibs.logger("INFO", "do_brake", "-"*60 + "
全部处理完毕
", "purple")
time_total = time.time() - time_start
msg = f"处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
- self.logger("INFO", "do_brake", msg)
+ clibs.logger("INFO", "do_brake", msg)
diff --git a/codes/autotest/do_current.py b/codes/autotest/do_current.py
index fe2bcb1..8efbcad 100644
--- a/codes/autotest/do_current.py
+++ b/codes/autotest/do_current.py
@@ -13,14 +13,13 @@ class DoCurrentTest(QThread):
self.dir_path = dir_path
self.tool = tool
self.idx = 5
- self.logger = clibs.logger
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:
- self.logger("ERROR", "do_current", msg, "red")
+ clibs.logger("ERROR", "do_current", msg, "red")
prj_file, count = None, 0
for data_file in data_files:
@@ -31,10 +30,10 @@ class DoCurrentTest(QThread):
count += 1
prj_file = data_file
else:
- self.logger("ERROR", "do_current", msg, "red")
+ clibs.logger("ERROR", "do_current", msg, "red")
if count != 2:
- self.logger("ERROR", "do_current", msg, "red")
+ clibs.logger("ERROR", "do_current", msg, "red")
if self.tool == "tool100":
os.mkdir(f"{self.dir_path}/single")
@@ -44,7 +43,7 @@ class DoCurrentTest(QThread):
elif self.tool == "inertia":
os.mkdir(f"{self.dir_path}/inertia")
else:
- self.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")
+ 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
@@ -59,10 +58,10 @@ class DoCurrentTest(QThread):
local_file = self.dir_path + f"/{robot_type}.cfg"
clibs.c_pd.pull_file_from_server(server_file, local_file)
- self.logger("INFO", "do_current", "正在做初始化校验和配置，这可能需要一点时间......", "green")
+ clibs.logger("INFO", "do_current", "正在做初始化校验和配置，这可能需要一点时间......", "green")
_prj_file = check_files()
get_configs()
- self.logger("INFO", "do_current", "数据目录合规性检查结束，未发现问题......", "green")
+ clibs.logger("INFO", "do_current", "数据目录合规性检查结束，未发现问题......", "green")
return _prj_file
def single_axis_proc(self, records, number):
@@ -184,13 +183,13 @@ class DoCurrentTest(QThread):
for condition in conditions:
if clibs.stop_flag:
- self.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")
+ 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
- self.logger("INFO", "do_current", f"正在执行{disc[number]}测试......")
+ 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
clibs.c_md.write_act(False)
@@ -223,7 +222,7 @@ class DoCurrentTest(QThread):
else:
time.sleep(1)
if (time.time() - t_start) > 15:
- self.logger("ERROR", "do_current", "15s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...", "red")
+ clibs.logger("ERROR", "do_current", "15s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...", "red")
# 4. 执行采集
time.sleep(10) # 消除前 10s 的不稳定数据
@@ -239,12 +238,12 @@ class DoCurrentTest(QThread):
while True:
scenario_time = float(f"{float(clibs.c_md.read_scenario_time()):.2f}")
if float(scenario_time) != 0:
- self.logger("INFO", "do_current", f"场景{number - 11}的周期时间：{scenario_time}")
+ clibs.logger("INFO", "do_current", f"场景{number - 11}的周期时间：{scenario_time}")
break
else:
time.sleep(1)
if (time.time()-t_start) > 180:
- self.logger("ERROR", "do_current", f"180s 内未收到场景{number - 11}的周期时间，需要确认RL程序和工具通信交互是否正常执行...", "red")
+ clibs.logger("ERROR", "do_current", f"180s 内未收到场景{number - 11}的周期时间，需要确认RL程序和工具通信交互是否正常执行...", "red")
time.sleep(20)
# 5.停止程序运行，保留数据并处理输出
@@ -255,22 +254,22 @@ class DoCurrentTest(QThread):
self.gen_result_file(number, start_time, end_time, scenario_time)
else:
if self.tool == "tool100":
- self.logger("INFO", "do_current", "单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行", "green")
+ clibs.logger("INFO", "do_current", "单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行", "green")
elif self.tool == "inertia":
- self.logger("INFO", "do_current", "惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行", "green")
+ clibs.logger("INFO", "do_current", "惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行", "green")
def processing(self):
time_start = time.time()
clibs.running[self.idx] = 1
if clibs.status["hmi"] != 1 or clibs.status["md"] != 1:
- self.logger("ERROR", "do_current", "processing: 需要在网络设置中连接HMI以及Modbus通信！", "red")
+ 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)
clibs.c_pd.push_prj_to_server(prj_file)
self.run_rl(prj_file)
- self.logger("INFO", "do_current", "-" * 60 + "
全部处理完毕
", "purple")
+ clibs.logger("INFO", "do_current", "-" * 60 + "
全部处理完毕
", "purple")
time_total = time.time() - time_start
msg = f"处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
- self.logger("INFO", "do_current", msg)
+ clibs.logger("INFO", "do_current", msg)
diff --git a/codes/common/clibs.py b/codes/common/clibs.py
index 2c61bef..8bc32c4 100644
--- a/codes/common/clibs.py
+++ b/codes/common/clibs.py
@@ -1,5 +1,6 @@
import os
import os.path
+import time
import threading
import sqlite3
from PySide6.QtCore import Signal, QThread
@@ -82,19 +83,41 @@ class LoggerHandler(QThread):
raise Exception()
+def detect_db_size():
+ @db_lock
+ def release_memory():
+ line_number = 20000
+ leftover = 4000 # 200s
+ cursor.execute("SELECT COUNT(id) FROM logs")
+ len_records = cursor.fetchone()[0]
+ if len_records > line_number:
+ del_num = len_records - leftover + 1
+ cursor.execute(f"DELETE FROM logs WHERE id < {del_num}")
+ cursor.execute(f"UPDATE logs SET id=(id-{del_num - 1}) WHERE id > {del_num - 1}")
+ cursor.execute(f"UPDATE sqlite_sequence SET seq = {leftover + 1} WHERE name = 'logs' ")
+ cursor.execute("VACUUM")
+
+ while True:
+ release_memory()
+ time.sleep(INTERVAL*10)
+
+
PREFIX = "resources/assets" # for pyinstaller
# PREFIX = "assets" # for local testing
-log_path = f"{PREFIX}/logs"
+# log_path = f"{PREFIX}/logs"
lock = threading.Lock()
running = [0, 0, 0, 0, 0, 0, 0] # 制动数据/转矩数据/激光数据/精度数据/制动自动化/转矩自动化/耐久数据采集
stop_flag = False
functions = ["制动数据处理", "转矩数据处理", "激光数据处理", "精度数据处理", "制动自动化测试", "转矩自动化测试", "耐久数据采集"]
levels = ["DEBUG", "INFO", "WARNING", "ERROR"]
ip_addr, ssh_port, socket_port, xService_port, external_port, modbus_port, upgrade_port = "", 22, 5050, 6666, 8080, 502, 4567
-username, password = "luoshi", "luoshi2019"
-INTERVAL, RADIAN, MAX_FRAME_SIZE, MAX_LOG_NUMBER, CYCLE = 1, 57.3, 1024, 10, 300
+username, password = "luoshi", "123456"
+INTERVAL, RADIAN, MAX_FRAME_SIZE, MAX_LOG_NUMBER, CYCLE = 1, 57.3, 1024, 10, 30
c_md, c_hr, c_ec, c_pd, conn, cursor, search_records, logger, count = None, None, None, None, None, None, None, None, 0
status = {"mysql": 0, "hmi": 0, "md": 0, "ec": 0}
c_joint_vel, c_servo_trq, c_sensor_trq, c_estimate_trans_trq, c_safety_estop = 1, 2, 3, 4, 3 # 各个指标所在列
init_logdb()
+t = threading.Thread(target=detect_db_size)
+t.daemon = True
+t.start()
diff --git a/codes/common/openapi.py b/codes/common/openapi.py
index bd81a9f..9390e25 100644
--- a/codes/common/openapi.py
+++ b/codes/common/openapi.py
@@ -21,20 +21,19 @@ class ModbusRequest(QThread):
self.ip = ip
self.port = port
self.c = None
- self.logger = clibs.logger
def net_conn(self):
- self.logger("INFO", "openapi", f"Modbus 正在连接中，需要配置设备，这可能需要一点时间......", "blue")
+ clibs.logger("INFO", "openapi", f"Modbus 正在连接中，需要配置设备，这可能需要一点时间......", "blue")
RobotInit.modbus_init()
self.c = ModbusTcpClient(host=self.ip, port=self.port)
if self.c.connect():
- self.logger("INFO", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) success!", "green")
+ clibs.logger("INFO", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) success!", "green")
else:
- self.logger("ERROR", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed!", "red")
+ clibs.logger("ERROR", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed!", "red")
def close(self):
self.c.close()
- self.logger("INFO", "openapi", f"modbus: 关闭 Modbus 连接成功", "green")
+ clibs.logger("INFO", "openapi", f"modbus: 关闭 Modbus 连接成功", "green")
def __reg_high_pulse(self, addr: int) -> None:
self.c.write_register(addr, 0)
@@ -45,71 +44,71 @@ class ModbusRequest(QThread):
def r_clear_alarm(self): # OK
self.__reg_high_pulse(40000)
- self.logger("DEBUG", "openapi", "modbus: 40000-010 执行清除告警信息")
+ clibs.logger("DEBUG", "openapi", "modbus: 40000-010 执行清除告警信息")
def r_reset_estop(self): # OK
self.__reg_high_pulse(40001)
- self.logger("DEBUG", "openapi", "modbus: 40001-010 执行复位急停状态(非软急停)")
+ clibs.logger("DEBUG", "openapi", "modbus: 40001-010 执行复位急停状态(非软急停)")
def r_reset_estop_clear_alarm(self): # OK
self.__reg_high_pulse(40002)
- self.logger("DEBUG", "openapi", "modbus: 40002-010 执行复位急停状态(非软急停)，并清除告警信息")
+ clibs.logger("DEBUG", "openapi", "modbus: 40002-010 执行复位急停状态(非软急停)，并清除告警信息")
def r_motor_off(self): # OK
self.__reg_high_pulse(40003)
- self.logger("DEBUG", "openapi", "modbus: 40003-010 执行机器人下电")
+ clibs.logger("DEBUG", "openapi", "modbus: 40003-010 执行机器人下电")
def r_motor_on(self): # OK
self.__reg_high_pulse(40004)
- self.logger("DEBUG", "openapi", "modbus: 40004-010 执行机器人上电")
+ clibs.logger("DEBUG", "openapi", "modbus: 40004-010 执行机器人上电")
def r_motoron_pp2main_start(self): # OK
self.__reg_high_pulse(40005)
- self.logger("DEBUG", "openapi", "modbus: 40005-010 执行机器人上电/pp2main/开始运行程序，需自动模式执行，若运行失败，可清除告警后再次尝试")
+ clibs.logger("DEBUG", "openapi", "modbus: 40005-010 执行机器人上电/pp2main/开始运行程序，需自动模式执行，若运行失败，可清除告警后再次尝试")
def r_motoron_start(self): # OK
self.__reg_high_pulse(40006)
- self.logger("DEBUG", "openapi", "modbus: 40006-010 执行机器人上电/开始运行程序，需自动模式执行，若运行失败，可清除告警、执行pp2main后再次尝试")
+ clibs.logger("DEBUG", "openapi", "modbus: 40006-010 执行机器人上电/开始运行程序，需自动模式执行，若运行失败，可清除告警、执行pp2main后再次尝试")
def r_pulse_motoroff(self): # OK
self.__reg_high_pulse(40007)
- self.logger("DEBUG", "openapi", "modbus: 40007-010 执行机器人停止，并下电，手动模式下可停止程序运行，但不能下电，若运行失败，可清除告警后再次尝试")
+ clibs.logger("DEBUG", "openapi", "modbus: 40007-010 执行机器人停止，并下电，手动模式下可停止程序运行，但不能下电，若运行失败，可清除告警后再次尝试")
def r_pp2main(self): # OK
self.__reg_high_pulse(40008)
- self.logger("DEBUG", "openapi", "modbus: 40008-010 执行机器人 pp2main，需自动模式执行，若运行失败，可清除告警后再次尝试")
+ clibs.logger("DEBUG", "openapi", "modbus: 40008-010 执行机器人 pp2main，需自动模式执行，若运行失败，可清除告警后再次尝试")
def r_program_start(self): # OK
self.__reg_high_pulse(40009)
- self.logger("DEBUG", "openapi", "modbus: 40009-010 执行机器人默认程序运行，需有 pp2main 前置操作，若运行失败，可清除告警后再次尝试")
+ clibs.logger("DEBUG", "openapi", "modbus: 40009-010 执行机器人默认程序运行，需有 pp2main 前置操作，若运行失败，可清除告警后再次尝试")
def r_program_stop(self): # OK
self.__reg_high_pulse(40010)
- self.logger("DEBUG", "openapi", "modbus: 40010-010 执行机器人默认程序停止，需有 pp2main 前置操作，若运行失败，可清除告警后再次尝试")
+ clibs.logger("DEBUG", "openapi", "modbus: 40010-010 执行机器人默认程序停止，需有 pp2main 前置操作，若运行失败，可清除告警后再次尝试")
def r_reduced_mode(self, action: int): # OK
self.c.write_register(40011, action)
actions = "进入" if action == 1 else "退出"
- self.logger("DEBUG", "openapi", f"modbus: 40011-{action} 执行机器人{actions}缩减模式")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40011-{action} 执行机器人{actions}缩减模式")
time.sleep(clibs.INTERVAL)
def r_soft_estop(self, action: int): # OK
self.c.write_register(40012, action)
actions = "解除" if action == 1 else "触发"
- self.logger("DEBUG", "openapi", f"modbus: 40012-{action} 执行{actions}急停动作")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40012-{action} 执行{actions}急停动作")
time.sleep(clibs.INTERVAL)
def r_switch_auto_motoron(self): # OK
self.__reg_high_pulse(40013)
- self.logger("DEBUG", "openapi", "modbus: 40013-010 执行切换为自动模式，并上电，初始状态 !!不能是!! 手动上电模式")
+ clibs.logger("DEBUG", "openapi", "modbus: 40013-010 执行切换为自动模式，并上电，初始状态 !!不能是!! 手动上电模式")
def r_switch_auto(self): # OK
self.__reg_high_pulse(40014)
- self.logger("DEBUG", "openapi", "modbus: 40014-010 执行切换为自动模式")
+ clibs.logger("DEBUG", "openapi", "modbus: 40014-010 执行切换为自动模式")
def r_switch_manual(self): # OK
self.__reg_high_pulse(40015)
- self.logger("DEBUG", "openapi", "modbus: 40015-010 执行切换为手动模式")
+ clibs.logger("DEBUG", "openapi", "modbus: 40015-010 执行切换为手动模式")
def r_switch_safe_region01(self, action: bool): # OK | 上升沿打开，下降沿关闭
if action:
@@ -121,7 +120,7 @@ class ModbusRequest(QThread):
time.sleep(clibs.INTERVAL)
self.c.write_register(40016, False)
actions = "打开" if action else "关闭"
- self.logger("DEBUG", "openapi", f"modbus: 40016-{action} 执行{actions}安全区 safe region 01")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40016-{action} 执行{actions}安全区 safe region 01")
time.sleep(clibs.INTERVAL)
def r_switch_safe_region02(self, action: bool): # OK | 上升沿打开，下降沿关闭
@@ -134,7 +133,7 @@ class ModbusRequest(QThread):
time.sleep(clibs.INTERVAL)
self.c.write_register(40017, False)
actions = "打开" if action else "关闭"
- self.logger("DEBUG", "openapi", f"modbus: 40017-{action} 执行{actions}安全区 safe region 02")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40017-{action} 执行{actions}安全区 safe region 02")
time.sleep(clibs.INTERVAL)
def r_switch_safe_region03(self, action: bool): # OK | 上升沿打开，下降沿关闭
@@ -147,150 +146,150 @@ class ModbusRequest(QThread):
time.sleep(clibs.INTERVAL)
self.c.write_register(40018, False)
actions = "打开" if action else "关闭"
- self.logger("DEBUG", "openapi", f"modbus: 40018-{action} 执行{actions}安全区 safe region 03")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40018-{action} 执行{actions}安全区 safe region 03")
time.sleep(clibs.INTERVAL)
def write_act(self, number):
self.c.write_register(40100, number)
- self.logger("DEBUG", "openapi", f"modbus: 40100 将 {number} 写入")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40100 将 {number} 写入")
def write_probe(self, probe):
self.c.write_register(40101, probe)
- self.logger("DEBUG", "openapi", f"modbus: 40101 将 {probe} 写入")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40101 将 {probe} 写入")
def write_pon(self, pon):
self.c.write_register(40102, pon)
- self.logger("DEBUG", "openapi", f"modbus: 40102 将 {pon} 写入")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40102 将 {pon} 写入")
def write_axis(self, axis):
result = self.c.convert_to_registers(int(axis), self.c.DATATYPE.INT32, "little")
self.c.write_registers(40103, result)
- self.logger("DEBUG", "openapi", f"modbus: 40103 将 {axis} 写入")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40103 将 {axis} 写入")
def write_speed_max(self, speed):
result = self.c.convert_to_registers(float(speed), self.c.DATATYPE.FLOAT32, "little")
self.c.write_registers(40105, result)
- self.logger("DEBUG", "openapi", f"modbus: 40105 将 {speed} 写入")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40105 将 {speed} 写入")
def r_write_signals(self, addr: int, value): # OK | 40100 - 40109: signal_0 ~ signal_9
if -1 < addr < 10 and addr.is_integer():
self.c.write_register(40100+addr, value)
- self.logger("DEBUG", "openapi", f"modbus: {40100+addr}-{value} 将寄存器 signal_{addr} 赋值为 {value}")
+ clibs.logger("DEBUG", "openapi", f"modbus: {40100+addr}-{value} 将寄存器 signal_{addr} 赋值为 {value}")
else:
- self.logger("INFO", "openapi", f"modbus: {40100+addr}-{value} 地址错误，无法赋值！", "red")
+ clibs.logger("INFO", "openapi", f"modbus: {40100+addr}-{value} 地址错误，无法赋值！", "red")
@property
def w_alarm_state(self): # OK
res = self.c.read_holding_registers(40500, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40500 获取告警状态，结果为 {res} :--: 0 表示无告警,，1 表示有告警")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40500 获取告警状态，结果为 {res} :--: 0 表示无告警,，1 表示有告警")
return res
@property
def w_collision_alarm_state(self): # OK
res = self.c.read_holding_registers(40501, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40501 获取碰撞告警状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40501 获取碰撞告警状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
return res
@property
def w_collision_open_state(self): # OK
res = self.c.read_holding_registers(40502, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40502 获取碰撞检测开启状态，结果为 {res} :--: 0 表示关闭，1 表示开启")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40502 获取碰撞检测开启状态，结果为 {res} :--: 0 表示关闭，1 表示开启")
return res
@property
def w_controller_is_running(self): # OK
res = self.c.read_holding_registers(40503, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40503 获取控制器运行状态，结果为 {res} :--: 0 表示运行异常，1 表示运行正常")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40503 获取控制器运行状态，结果为 {res} :--: 0 表示运行异常，1 表示运行正常")
return res
@property
def w_encoder_low_battery(self): # OK
res = self.c.read_holding_registers(40504, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40504 获取编码器低电压状态，结果为 {res} :--: 0 表示非低电压，1 表示低电压 需关注")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40504 获取编码器低电压状态，结果为 {res} :--: 0 表示非低电压，1 表示低电压 需关注")
return res
@property
def w_estop_state(self): # OK
res = self.c.read_holding_registers(40505, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40505 获取机器人急停状态(非软急停)，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40505 获取机器人急停状态(非软急停)，结果为 {res} :--: 0 表示未触发，1 表示已触发")
return res
@property
def w_motor_state(self): # OK
res = self.c.read_holding_registers(40506, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40506 获取机器人上电状态，结果为 {res} :--: 0 表示未上电，1 表示已上电")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40506 获取机器人上电状态，结果为 {res} :--: 0 表示未上电，1 表示已上电")
return res
@property
def w_operation_mode(self): # OK
res = self.c.read_holding_registers(40507, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40507 获取机器人操作模式，结果为 {res} :--: 0 表示手动模式，1 表示自动模式")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40507 获取机器人操作模式，结果为 {res} :--: 0 表示手动模式，1 表示自动模式")
return res
@property
def w_program_state(self): # OK
res = self.c.read_holding_registers(40508, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40508 获取程序的运行状态，结果为 {res} :--: 0 表示未运行，1 表示正在运行")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40508 获取程序的运行状态，结果为 {res} :--: 0 表示未运行，1 表示正在运行")
return res
@property
def w_program_not_run(self): # OK
res = self.c.read_holding_registers(40509, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40509 判定程序为未运行状态，结果为 {res} :--: 0 表示正在运行，1 表示未运行")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40509 判定程序为未运行状态，结果为 {res} :--: 0 表示正在运行，1 表示未运行")
return res
@property
def w_program_reset(self): # OK
res = self.c.read_holding_registers(40510, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40510 判定程序指针为 pp2main 状态，结果为 {res} :--: 0 表示指针不在 main 函数，1 表示指针在 main 函数")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40510 判定程序指针为 pp2main 状态，结果为 {res} :--: 0 表示指针不在 main 函数，1 表示指针在 main 函数")
return res
@property
def w_reduce_mode_state(self): # OK
res = self.c.read_holding_registers(40511, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40511 获取机器人缩减模式状态，结果为 {res} :--: 0 表示非缩减模式，1 表示缩减模式")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40511 获取机器人缩减模式状态，结果为 {res} :--: 0 表示非缩减模式，1 表示缩减模式")
return res
@property
def w_robot_is_busy(self): # OK
res = self.c.read_holding_registers(40512, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40512 获取机器人是否处于 busy 状态，结果为 {res} :--: 0 表示未处于 busy 状态，1 表示处于 busy 状态")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40512 获取机器人是否处于 busy 状态，结果为 {res} :--: 0 表示未处于 busy 状态，1 表示处于 busy 状态")
return res
@property
def w_robot_is_moving(self): # OK
res = self.c.read_holding_registers(40513, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40513 获取机器人是否处于运动状态，结果为 {res} :--: 0 表示未运动，1 表示正在运动")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40513 获取机器人是否处于运动状态，结果为 {res} :--: 0 表示未运动，1 表示正在运动")
return res
@property
def w_safe_door_state(self): # OK
res = self.c.read_holding_registers(40514, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40514 获取机器人是否处于安全门打开状态，需自动模式下执行，结果为 {res} :--: 0 表示未触发安全门，1 表示已触发安全门")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40514 获取机器人是否处于安全门打开状态，需自动模式下执行，结果为 {res} :--: 0 表示未触发安全门，1 表示已触发安全门")
return res
@property
def w_safe_region01_trig_state(self): # OK
res = self.c.read_holding_registers(40515, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40515 获取安全区域 safe region01 的触发状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40515 获取安全区域 safe region01 的触发状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
return res
@property
def w_safe_region02_trig_state(self): # OK
res = self.c.read_holding_registers(40516, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40516 获取安全区域 safe region02 的触发状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40516 获取安全区域 safe region02 的触发状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
return res
@property
def w_safe_region03_trig_state(self): # OK
res = self.c.read_holding_registers(40517, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40517 获取安全区域 safe region03 的触发状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40517 获取安全区域 safe region03 的触发状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
return res
@property
def w_soft_estop_state(self): # OK
res = self.c.read_holding_registers(40518, count=1).registers[0]
- self.logger("DEBUG", "openapi", f"modbus: 40518 获取机器人软急停状态，结果为 {res} :--: 0 表示未触发软急停，1 表示已触发软急停")
+ clibs.logger("DEBUG", "openapi", f"modbus: 40518 获取机器人软急停状态，结果为 {res} :--: 0 表示未触发软急停，1 表示已触发软急停")
return res
def io_write_coils(self, addr, action): # OK | 名字叫写线圈，其实是写 modbus 的 discrete inputs(DI)
@@ -298,17 +297,17 @@ class ModbusRequest(QThread):
# e.g. io_write_coils(1, 1)
# e.g. io_write_coils(0, [1, 1, 1])
self.c.write_coils(addr, action)
- self.logger("DEBUG", "openapi", f"modbus: 执行给 DI 地址 {addr} 赋值为 {action}，可根据情况传递列表，实现一次性赋值多个")
+ clibs.logger("DEBUG", "openapi", f"modbus: 执行给 DI 地址 {addr} 赋值为 {action}，可根据情况传递列表，实现一次性赋值多个")
time.sleep(clibs.INTERVAL)
def io_read_coils(self): # OK | 读 modbus 的 16 个 discrete inputs(DI)
res = self.c.read_coils(0, count=16).bits
- self.logger("DEBUG", "openapi", f"modbus: 执行读取所有 DI 的结果为 {res}")
+ clibs.logger("DEBUG", "openapi", f"modbus: 执行读取所有 DI 的结果为 {res}")
return res
def io_read_discretes(self): # OK | 读 modbus 的 coil outputs(DO)
res = self.c.read_discrete_inputs(0, count=16).bits
- self.logger("DEBUG", "openapi", f"modbus: 执行读取所有 DO 的结果为 {res}")
+ clibs.logger("DEBUG", "openapi", f"modbus: 执行读取所有 DO 的结果为 {res}")
return res
def read_ready_to_go(self):
@@ -346,7 +345,6 @@ class HmiRequest(QThread):
self.__half_pkg_flag = False
self.__is_first_frame = True
self.__is_debug = True
- self.logger = clibs.logger
def net_conn(self):
self.__socket_conn()
@@ -360,7 +358,7 @@ class HmiRequest(QThread):
def close(self):
self.c.close()
self.c_xs.close()
- self.logger("INFO", "openapi", f"hmi: 关闭 Socket 连接成功", "green")
+ clibs.logger("INFO", "openapi", f"hmi: 关闭 Socket 连接成功", "green")
def __socket_conn(self):
# self.close()
@@ -377,9 +375,9 @@ class HmiRequest(QThread):
_ = self.execution("controller.heart")
time.sleep(clibs.INTERVAL/4)
clibs.status["hmi"] = 1
- self.logger("INFO", "openapi", "hmi: HMI connection success...", "green")
+ clibs.logger("INFO", "openapi", "hmi: HMI connection success...", "green")
except Exception:
- self.logger("ERROR", "openapi", f"hmi: HMI connection failed...", "red")
+ clibs.logger("ERROR", "openapi", f"hmi: HMI connection failed...", "red")
@staticmethod
def package(cmd):
@@ -410,7 +408,7 @@ class HmiRequest(QThread):
callback = key.data
callback(key.fileobj, mask)
except Exception as err:
- self.logger("DEBUG", "openapi", f"hmi: 老协议解包报错 err = {err}")
+ clibs.logger("DEBUG", "openapi", f"hmi: 老协议解包报错 err = {err}")
def __get_headers(self, index, data):
if index + 8 < len(data):
@@ -423,7 +421,7 @@ class HmiRequest(QThread):
else:
# print("hr-get_headers: 解包数据有误，需要确认！")
# print(data)
- self.logger("ERROR", "openapi", f"hmi: 解包数据有误，需要确认，最后一个数据包如下 {data}", "red")
+ clibs.logger("ERROR", "openapi", f"hmi: 解包数据有误，需要确认，最后一个数据包如下 {data}", "red")
else:
self.__half_pkg = data[index:]
self.__half_pkg_flag = True
@@ -451,7 +449,7 @@ class HmiRequest(QThread):
if len(data[self.__index:]) >= pkg_value:
self.__response = data[self.__index:self.__index + pkg_value]
self.__index += pkg_value
- self.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
+ clibs.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
self.__response = b""
self.__leftovers = 0
self.__is_first_frame = True
@@ -499,7 +497,7 @@ class HmiRequest(QThread):
if self.__valid_data_length == 0:
# with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
# f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
- self.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
+ clibs.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
self.__response = b""
self.__is_first_frame = True
continue # 此时应该重新 get_headers
@@ -529,7 +527,7 @@ class HmiRequest(QThread):
self.__response += data[:self.__leftovers]
self.__index = self.__leftovers
self.__leftovers = 0
- self.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
+ clibs.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
self.__response = b""
self.__is_first_frame = True
elif len(data) < self.__leftovers:
@@ -584,7 +582,7 @@ class HmiRequest(QThread):
self.__half_frm_flag = -1
if self.__valid_data_length == 0:
- self.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
+ clibs.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
self.__response = b""
self.__is_first_frame = True
continue
@@ -612,7 +610,7 @@ class HmiRequest(QThread):
self.__index += frm_value
self.__valid_data_length -= frm_value
if self.__valid_data_length == 0:
- self.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
+ clibs.logger("DEBUG", "openapi", str(json.loads(self.__response.decode())))
self.__response = b""
self.__is_first_frame = True
continue
@@ -646,7 +644,7 @@ class HmiRequest(QThread):
# if self.__valid_data_length < 0 or self.__leftovers > 1024:
# print(f"data = {data}")
# raise Exception("DataError")
- self.logger("ERROR", "openapi", "hmi: will never be here", "red")
+ clibs.logger("ERROR", "openapi", "hmi: will never be here", "red")
@staticmethod
def package_xs(cmd):
@@ -672,7 +670,7 @@ class HmiRequest(QThread):
callback = key.data
callback(key.fileobj, mask)
except Exception as err:
- self.logger("DEBUG", "openapi", f"hmi: xService解包报错 err = {err}")
+ clibs.logger("DEBUG", "openapi", f"hmi: xService解包报错 err = {err}")
def get_response_xs(self, data):
char, response = "", self.__response_xs
@@ -680,7 +678,7 @@ class HmiRequest(QThread):
if char != "\r":
response = "".join([response, char])
else:
- self.logger("DEBUG", "openapi", response)
+ clibs.logger("DEBUG", "openapi", response)
self.response_xs = response
response = ""
else:
@@ -704,7 +702,7 @@ class HmiRequest(QThread):
if flag is True:
return records
else:
- self.logger("ERROR", "openapi", f"hmi: {time_delay}s内无法找到请求 {msg_id} 的响应！", "red")
+ clibs.logger("ERROR", "openapi", f"hmi: {time_delay}s内无法找到请求 {msg_id} 的响应！", "red")
def execution(self, command, **kwargs):
req = None
@@ -716,7 +714,7 @@ class HmiRequest(QThread):
flag = req["p_type"]
del req["p_type"]
except Exception as err:
- self.logger("ERROR", "openapi", f"hmi: 暂不支持 {command} 功能，或确认该功能存在...
err = {err}", "red")
+ clibs.logger("ERROR", "openapi", f"hmi: 暂不支持 {command} 功能，或确认该功能存在...
err = {err}", "red")
match command:
case "state.set_tp_mode" | "overview.set_autoload" | "overview.reload" | "rl_task.pp_to_main" | "rl_task.run" | "rl_task.stop" | "rl_task.set_run_params" | "diagnosis.set_params" | "diagnosis.open" | "drag.set_params" | "controller.set_params" | "collision.set_state" | "collision.set_params" | "move.set_quickstop_distance" | "move.set_params" | "move.set_monitor_cfg" | "modbus.get_values" | "modbus.set_params" | "system_io.update_configuration" | "diagnosis.get_params" | "jog.set_params" | "jog.start" | "move.stop" | "move.quick_turn" | "move.set_quickturn_pos" | "soft_limit.set_params" | "fieldbus_device.set_params" | "socket.set_params" | "diagnosis.save" | "register.set_value":
@@ -733,18 +731,18 @@ class HmiRequest(QThread):
try:
self.c.send(self.package(cmd))
time.sleep(clibs.INTERVAL/4) # 这里一定是要等几百毫秒的，避免多指令同一时间发送，导致xCore不响应
- self.logger("DEBUG", "openapi", f"hmi: 老协议请求发送成功 {cmd}")
+ clibs.logger("DEBUG", "openapi", f"hmi: 老协议请求发送成功 {cmd}")
except Exception as err:
if "controller.heart" in cmd:
raise Exception()
- self.logger("ERROR", "openapi", f"hmi: 老协议请求发送失败 {cmd}，报错信息 {err}", "red")
+ clibs.logger("ERROR", "openapi", f"hmi: 老协议请求发送失败 {cmd}，报错信息 {err}", "red")
elif flag == 1:
try:
self.c_xs.send(self.package_xs(req))
time.sleep(clibs.INTERVAL/4)
- self.logger("DEBUG", "openapi", f"hmi: xService请求发送成功 {req}")
+ clibs.logger("DEBUG", "openapi", f"hmi: xService请求发送成功 {req}")
except Exception as err:
- self.logger("ERROR", "openapi", f"hr: xService请求发送失败 {req} 报错信息 {err}", "red")
+ clibs.logger("ERROR", "openapi", f"hr: xService请求发送失败 {req} 报错信息 {err}", "red")
return req["id"]
@@ -762,7 +760,7 @@ class HmiRequest(QThread):
case "off":
self.execution("state.switch_motor_off")
case _:
- self.logger("ERROR", "openapi", f"hmi: switch_motor_state 参数错误 {state}， 非法参数，只接受 on/off", "red")
+ clibs.logger("ERROR", "openapi", f"hmi: switch_motor_state 参数错误 {state}， 非法参数，只接受 on/off", "red")
def switch_operation_mode(self, mode: str): # OK
"""
@@ -776,7 +774,7 @@ class HmiRequest(QThread):
case "manual":
self.execution("state.switch_manual")
case _:
- self.logger("ERROR", "openapi", f"hmi: switch_operation_mode 参数错误 {mode}，非法参数，只接受 auto/manual", "red")
+ clibs.logger("ERROR", "openapi", f"hmi: switch_operation_mode 参数错误 {mode}，非法参数，只接受 auto/manual", "red")
def reload_project(self, prj_name: str, tasks: list): # OK
"""
@@ -842,7 +840,7 @@ class HmiRequest(QThread):
:return: None
"""
self.execution("controller.reboot")
- self.logger("INFO", "openapi", f"hmi: 控制器重启中，重连预计需要等待 100s 左右...")
+ clibs.logger("INFO", "openapi", f"hmi: 控制器重启中，重连预计需要等待 100s 左右...")
ts = time.time()
time.sleep(30)
while True:
@@ -857,7 +855,7 @@ class HmiRequest(QThread):
break
time.sleep(2)
else:
- self.logger("INFO", "openapi", "hr: HMI 重新连接成功...", "green")
+ clibs.logger("INFO", "openapi", "hr: HMI 重新连接成功...", "green")
break
def reload_io(self):
@@ -1483,7 +1481,7 @@ class HmiRequest(QThread):
case "without":
self.execution("state.set_tp_mode", tp_mode="without")
case _:
- self.logger("ERROR", "openapi", f"hmi: switch_tp_mode 参数错误{mode}， 非法参数，只接受 with/without", "red")
+ clibs.logger("ERROR", "openapi", f"hmi: switch_tp_mode 参数错误{mode}， 非法参数，只接受 with/without", "red")
@property
def get_tp_mode(self): # OK
@@ -1745,7 +1743,6 @@ class ExternalCommunication(QThread):
self.port = int(port)
self.suffix = "\r"
self.exec_desc = " :--: 返回 true 表示执行成功，false 失败"
- self.logger = clibs.logger
def net_conn(self):
clibs.c_hr.execution("socket.set_params", enable=False, ip="0.0.0.0", port=str(self.port), suffix="\r", type=1)
@@ -1756,14 +1753,14 @@ class ExternalCommunication(QThread):
self.c.settimeout(clibs.INTERVAL*3)
try:
self.c.connect((self.ip, self.port))
- self.logger("INFO", "openapi", f"ec: 外部通信连接成功...", "green")
+ clibs.logger("INFO", "openapi", f"ec: 外部通信连接成功...", "green")
# return self.c
except Exception as err:
- self.logger("ERROR", "openapi", f"ec: 外部通信连接失败... {err}", "red")
+ clibs.logger("ERROR", "openapi", f"ec: 外部通信连接失败... {err}", "red")
def close(self):
self.c.close()
- self.logger("INFO", "openapi", f"ec: 关闭外部通信连接成功", "green")
+ clibs.logger("INFO", "openapi", f"ec: 关闭外部通信连接成功", "green")
@clibs.db_lock
def sr_string(self, directive, interval=clibs.INTERVAL/2):
@@ -2022,7 +2019,7 @@ class ExternalCommunication(QThread):
self.s_string(directive)
time.sleep(clibs.INTERVAL/2)
result = self.r_string(directive).strip()
- self.logger("DEBUG", "openapi", f"ec: 执行{description}指令是 {directive}，返回值为 {result}{more_desc}")
+ clibs.logger("DEBUG", "openapi", f"ec: 执行{description}指令是 {directive}，返回值为 {result}{more_desc}")
return result
@@ -2034,7 +2031,6 @@ class PreDos(object):
self.ssh_port = ssh_port
self.username = username
self.password = password
- self.logger = clibs.logger
def __ssh2server(self):
try:
@@ -2043,7 +2039,7 @@ class PreDos(object):
self.__ssh.connect(hostname=self.ip, port=self.ssh_port, username=self.username, password=self.password)
self.__sftp = self.__ssh.open_sftp()
except Exception as err:
- self.logger("ERROR", "openapi", f"predos: SSH 无法连接到 {self.ip}:{self.ssh_port}，需检查网络连通性或者登录信息是否正确 {err}", "red")
+ clibs.logger("ERROR", "openapi", f"predos: SSH 无法连接到 {self.ip}:{self.ssh_port}，需检查网络连通性或者登录信息是否正确 {err}", "red")
def push_prj_to_server(self, prj_file):
# prj_file：本地工程完整路径
diff --git a/codes/durable/factory_test.py b/codes/durable/factory_test.py
index 0fdb12a..2f94c5e 100644
--- a/codes/durable/factory_test.py
+++ b/codes/durable/factory_test.py
@@ -1,4 +1,5 @@
import json
+import os.path
import threading
import time
import pandas
@@ -22,7 +23,6 @@ class DoFactoryTest(QThread):
self.procs = procs
self.idx = 6
self.curves = []
- self.logger = clibs.logger
def initialization(self, data_dirs, data_files):
def check_files():
@@ -31,13 +31,13 @@ class DoFactoryTest(QThread):
self.curves.extend(self.curve_map[proc_name])
if len(self.curves) == 0:
- self.logger("ERROR", "factory", "未查询到需要记录数据的曲线，至少选择一个！", "red")
+ clibs.logger("ERROR", "factory", "未查询到需要记录数据的曲线，至少选择一个！", "red")
if len(data_dirs) != 0 or len(data_files) != 1:
- self.logger("ERROR", "factory", "初始路径下不允许有文件夹，且初始路径下只能存在一个工程文件 —— *.zip，确认后重新运行！", "red")
+ clibs.logger("ERROR", "factory", "初始路径下不允许有文件夹，且初始路径下只能存在一个工程文件 —— *.zip，确认后重新运行！", "red")
if not data_files[0].endswith(".zip"):
- self.logger("ERROR", "factory", f"{data_files[0]} 不是一个有效的工程文件，需确认！", "red")
+ clibs.logger("ERROR", "factory", f"{data_files[0]} 不是一个有效的工程文件，需确认！", "red")
return data_files[0]
@@ -55,17 +55,17 @@ class DoFactoryTest(QThread):
try:
with open(local_file, mode="r", encoding="utf-8") as f_config:
configs = json.load(f_config)
- except Exception as Err:
- self.logger("ERROR", "factory", f"无法打开 {local_file}
{Err}", "red")
+ except Exception as err:
+ clibs.logger("ERROR", "factory", f"无法打开 {local_file}
{err}", "red")
# 最大角速度，额定电流，减速比，额定转速
version = configs["VERSION"]
m_avs = configs["MOTION"]["JOINT_MAX_SPEED"]
- self.logger("INFO", "factory", f"get_configs: 机型文件版本 {robot_type}_{version}")
- self.logger("INFO", "factory", f"get_configs: 各关节角速度 {m_avs}")
+ clibs.logger("INFO", "factory", f"get_configs: 机型文件版本 {robot_type}_{version}")
+ clibs.logger("INFO", "factory", f"get_configs: 各关节角速度 {m_avs}")
return m_avs
- self.logger("INFO", "factory", "正在做初始化校验和配置，这可能需要一点时间......", "green")
+ clibs.logger("INFO", "factory", "正在做初始化校验和配置，这可能需要一点时间......", "green")
prj_file = check_files()
if prj_file is None:
return
@@ -75,7 +75,7 @@ class DoFactoryTest(QThread):
"interval": self.interval,
"avs": avs,
}
- self.logger("INFO", "factory", "数据目录合规性检查结束，未发现问题......", "green")
+ clibs.logger("INFO", "factory", "数据目录合规性检查结束，未发现问题......", "green")
return params
def change_curve_state(self, stat):
@@ -103,7 +103,7 @@ class DoFactoryTest(QThread):
clibs.c_hr.execution("state.switch_motor_on")
# 3. 开始运行程序
- self.logger("INFO", "factory", f"正在采集场景工程的周期，大概1min左右......", "blue")
+ clibs.logger("INFO", "factory", f"正在采集场景工程的周期，根据周期长短，大约需要2~5分钟左右......", "blue")
clibs.c_hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
clibs.c_hr.execution("rl_task.run", tasks=["factory"])
t_start = time.time()
@@ -113,7 +113,7 @@ class DoFactoryTest(QThread):
break
else:
if (time.time() - t_start) > 15:
- self.logger("ERROR", "factory", "15s 内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", "red")
+ clibs.logger("ERROR", "factory", "15s 内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", "red")
else:
time.sleep(clibs.INTERVAL)
@@ -123,12 +123,12 @@ class DoFactoryTest(QThread):
while True:
scenario_time = float(f"{float(clibs.c_md.read_scenario_time()):.2f}")
if scenario_time != 0:
- self.logger("INFO", "factory", f"耐久工程的周期时间：{scenario_time}s | 单轮次执行时间：{scenario_time+interval}~{scenario_time*2+interval}")
+ clibs.logger("INFO", "factory", f"耐久工程的周期时间：{scenario_time}s | 单轮次执行时间：{scenario_time+interval}~{scenario_time*2+interval}")
break
else:
time.sleep(clibs.INTERVAL)
if (time.time() - t_start) > 900:
- self.logger("ERROR", "factory", f"900s内未收到耐久工程的周期时间，需要确认RL程序和工具通信交互是否正常执行（支持最长工程周期时间为300s）......", "red")
+ clibs.logger("ERROR", "factory", f"900s内未收到耐久工程的周期时间，需要确认RL程序和工具通信交互是否正常执行（支持最长工程周期时间为300s）......", "red")
# 6. 准备数据保存文件
for proc_name, is_enabled in self.procs.items():
@@ -148,7 +148,7 @@ class DoFactoryTest(QThread):
this_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
next_time_1 = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()+scenario_time+interval+1))
next_time_2 = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()+scenario_time+interval+1+scenario_time))
- self.logger("INFO", "factory", f"[{this_time}] 当前次数：{count:09d} | 预计下次数据更新时间：{next_time_1}~{next_time_2}", "#008B8B")
+ clibs.logger("INFO", "factory", f"[{this_time}] 当前次数：{count:09d} | 预计下次数据更新时间：{next_time_1}~{next_time_2}", "#008B8B")
count += 1
# 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线
time.sleep(interval)
@@ -166,9 +166,9 @@ class DoFactoryTest(QThread):
self.change_curve_state(False)
# 保留数据并处理输出
self.gen_results(params, start_time, end_time)
- else:
- clibs.stop_flag = False
- self.logger("INFO", "factory", "后台数据清零完成，现在可以重新运行其他程序。", "green")
+
+ clibs.stop_flag = False
+ clibs.logger("INFO", "factory", "后台数据清零完成，现在可以重新运行其他程序。", "green")
def gen_results(self, params, start_time, end_time):
s_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(start_time))
@@ -199,80 +199,69 @@ class DoFactoryTest(QThread):
t.start()
def get_avg_trq(self, records, params, proc_name):
- d_trq, results = [[], [], [], [], [], []], [time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))]
+ t = time.strftime("%Y%m%d%H%M%S", time.localtime(time.time()))
+ d_trq = {f"device_servo_trq_feedback_{axis}": [] for axis in range(6)}
+ result_data, result_file = [t, ], f"device_servo_trq_feedback_{t}"
for record in records:
data = eval(record[0])["data"]
for item in data:
- d_item = reversed(item["value"])
for axis in range(6):
if item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
- d_trq[axis].extend(d_item)
+ d_trq[f"device_servo_trq_feedback_{axis}"].extend(reversed(item["value"]))
for axis in range(6):
- df = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
+ df = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[f"device_servo_trq_feedback_{axis}"]})
_ = math.sqrt(numpy.square(df[df.columns[0]].values * 1.27 / 1000).sum() / len(df))
- results.append(_)
+ result_data.append(_)
path = "/".join(params["prj_file"].split("/")[:-1])
with open(f"{path}/{proc_name}.csv", mode="a+", newline="") as f_csv:
csv_writer = csv.writer(f_csv)
- csv_writer.writerow(results)
+ csv_writer.writerow(result_data)
+
+ if not os.path.exists(f"{path}/{proc_name}/"):
+ os.mkdir(f"{path}/{proc_name}/")
+ df = pandas.DataFrame.from_dict(d_trq)
+ df.to_csv(f"{path}/{proc_name}/{result_file}.csv", index=False)
def get_joint_max_vel(self, records, params, proc_name):
- d_trq, results = [[], [], [], [], [], []], [time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))]
+ t = time.strftime("%Y%m%d%H%M%S", time.localtime(time.time()))
+ d_vel = {f"hw_joint_vel_feedback_{axis}": [] for axis in range(6)}
+ result_data, result_file = [t, ], f"hw_joint_vel_feedback_{t}"
for record in records:
data = eval(record[0])["data"]
for item in data:
- d_item = reversed(item["value"])
for axis in range(6):
if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
- d_trq[axis].extend(d_item)
+ d_vel[f"hw_joint_vel_feedback_{axis}"].extend(reversed(item["value"]))
for axis in range(6):
- df = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_trq[axis]})
+ df = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel[f"hw_joint_vel_feedback_{axis}"]})
_ = df.max().iloc[0]
- results.append(_)
+ result_data.append(_)
path = "/".join(params["prj_file"].split("/")[:-1])
with open(f"{path}/{proc_name}.csv", mode="a+", newline="") as f_csv:
csv_writer = csv.writer(f_csv)
- csv_writer.writerow(results)
+ csv_writer.writerow(result_data)
- @staticmethod
- def detect_db_size():
- @clibs.db_lock
- def release_memory():
- line_number = 20000
- leftover = 4000 # 200s
- clibs.cursor.execute("SELECT COUNT(id) FROM logs")
- len_records = clibs.cursor.fetchone()[0]
- if len_records > line_number:
- del_num = len_records - leftover + 1
- clibs.cursor.execute(f"DELETE FROM logs WHERE id < {del_num}")
- clibs.cursor.execute(f"UPDATE logs SET id=(id-{del_num - 1}) WHERE id > {del_num - 1}")
- clibs.cursor.execute(f"UPDATE sqlite_sequence SET seq = {leftover + 1} WHERE name = 'logs' ")
- clibs.cursor.execute("VACUUM")
-
- while True:
- release_memory()
- time.sleep(clibs.INTERVAL*10)
+ if not os.path.exists(f"{path}/{proc_name}/"):
+ os.mkdir(f"{path}/{proc_name}/")
+ df = pandas.DataFrame.from_dict(d_vel)
+ df.to_csv(f"{path}/{proc_name}/{result_file}.csv", index=False)
def processing(self):
time_start = time.time()
clibs.running[self.idx] = 1
if clibs.status["hmi"] != 1 or clibs.status["md"] != 1:
- self.logger("ERROR", "factory", "processing: 需要在网络设置中连接HMI以及Modbus通信！", "red")
-
- t = threading.Thread(target=self.detect_db_size)
- t.daemon = True
- t.start()
+ clibs.logger("ERROR", "factory", "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)
params = self.initialization(data_dirs, data_files)
clibs.c_pd.push_prj_to_server(params["prj_file"])
self.run_rl(params)
- self.logger("INFO", "factory", "-"*60 + "
全部处理完毕
", "purple")
+ clibs.logger("INFO", "factory", "-"*60 + "
全部处理完毕
", "purple")
time_total = time.time() - time_start
msg = f"处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
- self.logger("INFO", "factory", msg)
+ clibs.logger("INFO", "factory", msg)
diff --git a/ui/main.ui b/ui/main.ui
index 28872b5..9d503fb 100644
--- a/ui/main.ui
+++ b/ui/main.ui
@@ -225,7 +225,7 @@
- 0
+ 1
Qt::TextElideMode::ElideNone
@@ -559,7 +559,7 @@
0
0
- 213
+ 212
78