完善耐久采集
This commit is contained in:
parent
671db5b1db
commit
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2
.gitignore
vendored
2
.gitignore
vendored
@ -3,5 +3,5 @@ venv/
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**/__pycache__/
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assets/files/examples/
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assets/logs/*
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test.py
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codes/durable/curves_draw.py
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package/*
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127
aio.py
127
aio.py
@ -7,10 +7,10 @@ import sys
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import time
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from urllib import request
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import os.path
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import matplotlib
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import matplotlib.pyplot as plt
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import pandas
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from matplotlib.widgets import Slider
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# import matplotlib
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# import matplotlib.pyplot as plt
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# import pandas
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# from matplotlib.widgets import Slider
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from PySide6.QtCore import Qt, QThread, Signal, QObject, QTimer
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from PySide6.QtGui import QTextCursor, QFont, QPixmap, QColor, QBrush, QIcon
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@ -21,8 +21,8 @@ import codes.common.openapi as openapi
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import codes.ui.main_window as main_window
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from codes.analysis import brake, current, wavelogger, iso
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from codes.autotest import do_current, do_brake
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from codes.durable import factory_test
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matplotlib.use('QtAgg')
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from codes.durable import factory_test, curves_draw
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# matplotlib.use('QtAgg')
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class ContentDialog(QDialog):
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@ -30,36 +30,21 @@ class ContentDialog(QDialog):
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super().__init__(parent)
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self.setWindowTitle("日志详情")
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self.setGeometry(100, 100, 700, 300)
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# 设置对话框在屏幕正中间
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self.center_on_screen()
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# 创建布局
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layout = QVBoxLayout(self)
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# 创建 QPlainTextEdit 并设置为只读
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self.plain_text_edit = QPlainTextEdit()
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self.plain_text_edit.setReadOnly(True)
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self.plain_text_edit.setPlainText(content)
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# 添加到布局
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layout.addWidget(self.plain_text_edit)
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def center_on_screen(self):
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# 获取屏幕尺寸
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screen_geometry = QApplication.primaryScreen().geometry()
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screen_width = screen_geometry.width()
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screen_height = screen_geometry.height()
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# 获取对话框尺寸
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dialog_width = self.width()
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dialog_height = self.height()
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# 计算位置
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x = (screen_width - dialog_width) // 2
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y = (screen_height - dialog_height) // 2
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# 设置位置
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self.move(x, y)
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@ -227,81 +212,9 @@ class MainWindow(main_window.Ui_MainWindow):
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idx_dict[tab_index].setText(dir_path)
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def curve_draw(self):
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procs = self.get_checkbox_states()
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dir_path = self.le_durable_path.text()
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curve_map = {
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"周期内平均转矩": ["device_servo_trq_feedback", ],
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"周期内最大速度": ["hw_joint_vel_feedback", ],
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}
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ylabels = {"周期内最大速度": "速度(rad/s)", "周期内平均转矩": "转矩(Nm)"}
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plt.rcParams['font.sans-serif'] = ['SimHei']
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plt.rcParams['axes.unicode_minus'] = False
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plt.rcParams['figure.dpi'] = 100
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plt.rcParams['font.size'] = 14
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plt.rcParams['lines.marker'] = 'o'
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plt.rcParams["figure.autolayout"] = True
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if not os.path.exists(dir_path):
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self.w2t(f"数据文件夹{dir_path}不存在，请确认后重试......", "red")
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return
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for proc_name, is_enabled in procs.items():
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if is_enabled:
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break
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else:
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self.w2t(f"需要选择至少一个功能，才能继续绘图......", "red")
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return
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_, files = clibs.traversal_files(dir_path)
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csv_files = []
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for file in files:
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if file.endswith(".csv"):
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csv_files.append(file)
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if len(csv_files) == 0:
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self.w2t("程序未开始运行，暂无数据可以展示......", "red")
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return
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for proc_name, is_enabled in procs.items():
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if not is_enabled:
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continue
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title = proc_name
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ylabel = ylabels[proc_name]
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fig, axes = plt.subplots(figsize=(10, 4.5), dpi=100)
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for curve in curve_map[proc_name]:
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cols = [f"{curve}_{i}" for i in range(6)]
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cols.insert(0, "time")
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try:
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df = pandas.read_csv(f"{dir_path}/{proc_name}.csv")
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except Exception as err:
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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")
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self.w2t(f"报错信息：{err}", "red")
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return
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for i in range((len(cols) - 1) // 6):
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plt.plot(df[cols[1]], label=f"一轴{curve_map[proc_name][i]}")
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plt.plot(df[cols[2]], label=f"二轴{curve_map[proc_name][i]}")
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plt.plot(df[cols[3]], label=f"三轴{curve_map[proc_name][i]}")
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plt.plot(df[cols[4]], label=f"四轴{curve_map[proc_name][i]}")
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plt.plot(df[cols[5]], label=f"五轴{curve_map[proc_name][i]}")
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plt.plot(df[cols[6]], label=f"六轴{curve_map[proc_name][i]}")
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axes.set_title(title)
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axes.set_ylabel(ylabel)
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axes.legend(loc="upper right")
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slider_position = plt.axes((0.1, 0.01, 0.8, 0.05), facecolor="blue") # (left, bottom, width, height)
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scrollbar = Slider(slider_position, 'Time', 1, int(len(df)), valstep=1)
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def update(val):
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pos = scrollbar.val
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axes.set_xlim([pos, pos + 10])
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fig.canvas.draw_idle()
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scrollbar.on_changed(update)
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fig.tight_layout(rect=(0, 0.02, 0.96, 1)) # tuple (left, bottom, right, top)
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plt.show()
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window = curves_draw.ChartWindow(self.le_durable_path.text(), self.get_checkbox_states())
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window.setWindowModality(Qt.WindowModality.ApplicationModal)
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window.show()
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def durable_cb_change(self):
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stat = True if self.cb_durable_total.isChecked() else False
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@ -982,17 +895,17 @@ class MainWindow(main_window.Ui_MainWindow):
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info_text = "当前有程序正在停止中，确认退出？" if clibs.stop_flag else info_text
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reply = QMessageBox.question(self, "退出", info_text)
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if reply == QMessageBox.Yes:
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os.chdir(clibs.log_path)
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t = datetime.datetime.now().strftime("%Y%m%d%H%M%S")
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disk_conn = sqlite3.connect(f"log_{t}.db", isolation_level=None, check_same_thread=False, cached_statements=256)
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clibs.conn.backup(target=disk_conn, pages=1, progress=None)
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_, logs = clibs.traversal_files(".")
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logs.sort()
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while len(logs) > 10:
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_ = logs.pop(0)
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os.remove(_)
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# os.chdir(clibs.log_path)
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# t = datetime.datetime.now().strftime("%Y%m%d%H%M%S")
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# disk_conn = sqlite3.connect(f"log_{t}.db", isolation_level=None, check_same_thread=False, cached_statements=256)
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#
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# clibs.conn.backup(target=disk_conn, pages=1, progress=None)
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#
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# _, logs = clibs.traversal_files(".")
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# logs.sort()
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# while len(logs) > 10:
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# _ = logs.pop(0)
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# os.remove(_)
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if clibs.status["md"] == 1:
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self.run_program_thread(clibs.c_md.close, -99, self.prog_done_disconn, "md")
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@ -6,8 +6,8 @@ VSVersionInfo(
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ffi=FixedFileInfo(
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# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
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# Set not needed items to zero 0.
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filevers=(0, 4, 0, 1),
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prodvers=(0, 4, 0, 1),
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filevers=(0, 4, 0, 2),
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prodvers=(0, 4, 0, 2),
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# Contains a bitmask that specifies the valid bits 'flags'r
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mask=0x3f,
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# Contains a bitmask that specifies the Boolean attributes of the file.
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@ -31,12 +31,12 @@ VSVersionInfo(
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'040904b0',
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[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
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StringStruct('FileDescription', 'All in one automatic toolbox'),
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StringStruct('FileVersion', '0.4.0.1 (2025-03-30)'),
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StringStruct('FileVersion', '0.4.0.2 (2025-04-07)'),
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StringStruct('InternalName', 'AIO.exe'),
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StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
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StringStruct('OriginalFilename', 'AIO.exe'),
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StringStruct('ProductName', 'AIO'),
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StringStruct('ProductVersion', '0.4.0.1 (2025-03-30)')])
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StringStruct('ProductVersion', '0.4.0.2 (2025-04-07)')])
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]),
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VarFileInfo([VarStruct('Translation', [1033, 1200])])
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]
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@ -1 +1 @@
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0.4.0.1@03/30/2025
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0.4.0.2@04/07/2025
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@ -1 +1 @@
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0.4.0.1@03/30/2025
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0.4.0.2@04/07/2025
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@ -48,3 +48,42 @@ QPushButton[objectName^="btn"]:pressed {
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/* ------------------------------------------- QStatusBar -------------------------------------------*/
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QStatusBar::item { border: 0px; }
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/* ------------------------------------------- QSlider -------------------------------------------*/
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QSlider {
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min-height: 40px; /* 控制滑块控件最小高度 */
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background: transparent;
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}
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/* ===== 滑条轨道 ===== */
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QSlider::groove:horizontal {
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background: #E0E0E0;
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height: 8px; /* 轨道高度 */
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border-radius: 4px;
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}
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/* ===== 已滑过的轨道部分 ===== */
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QSlider::sub-page:horizontal {
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background: #2196F3; /* 进度颜色 */
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border-radius: 4px;
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}
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/* ===== 滑块手柄 ===== */
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QSlider::handle:horizontal {
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background: #FFFFFF;
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border: 2px solid #2196F3;
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width: 10px; /* 滑块宽度 */
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height: 20px; /* 滑块高度 */
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margin: -8px 0; /* 调整滑块在轨道上的位置 */
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border-radius: 5px;
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}
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/* ===== 悬停/按下状态 ===== */
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QSlider::handle:horizontal:hover {
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background: #E3F2FD;
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}
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QSlider::handle:horizontal:pressed {
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background: #BBDEFB;
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}
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@ -13,7 +13,6 @@ class BrakeDataProcess(QThread):
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super().__init__()
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self.dir_path = dir_path
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self.idx = 0
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self.logger = clibs.logger
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def check_files(self, rawdata_dirs, result_files):
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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：<br>"
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@ -21,7 +20,7 @@ class BrakeDataProcess(QThread):
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msg_wrong += "- reach33_load33_speed33<br>- reach33_load33_speed66<br>...<br>- reach100_load100_speed66<br>- reach100_load100_speed100<br>"
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if len(result_files) != 4 or len(rawdata_dirs) == 0:
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self.logger("ERROR", "brake", msg_wrong, "red")
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clibs.logger("ERROR", "brake", msg_wrong, "red")
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config_file, reach33_file, reach66_file, reach100_file = None, None, None, None
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for result_file in result_files:
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@ -36,7 +35,7 @@ class BrakeDataProcess(QThread):
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reach100_file = result_file
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else:
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if not (config_file and reach33_file and reach66_file and reach100_file):
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self.logger("ERROR", "brake", msg_wrong, "red")
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clibs.logger("ERROR", "brake", msg_wrong, "red")
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reach_s = ['reach33', 'reach66', 'reach100']
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load_s = ['load33', 'load66', 'load100']
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@ -49,24 +48,24 @@ class BrakeDataProcess(QThread):
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msg = f"报错信息：数据目录 {rawdata_dir} 命名不合规，请参考如下形式<br>"
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msg += "命名规则：reachAA_loadBB_speedCC，AA/BB/CC 指的是臂展/负载/速度的比例<br>"
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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<br>"
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self.logger("ERROR", "brake", msg, "red")
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clibs.logger("ERROR", "brake", msg, "red")
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_, rawdata_files = clibs.traversal_files(rawdata_dir)
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if len(rawdata_files) != 3:
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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"
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self.logger("ERROR", "brake", msg, "red")
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clibs.logger("ERROR", "brake", msg, "red")
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for rawdata_file in rawdata_files:
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if not rawdata_file.endswith(".data"):
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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"
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self.logger("ERROR", "brake", msg, "red")
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clibs.logger("ERROR", "brake", msg, "red")
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result_files = []
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for _ in [reach33_file, reach66_file, reach100_file]:
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if _.split("/")[-1].split("_")[0] in set(prefix):
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result_files.append(_)
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self.logger("INFO", "brake", "数据目录合规性检查结束，未发现问题......", "green")
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clibs.logger("INFO", "brake", "数据目录合规性检查结束，未发现问题......", "green")
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return config_file, result_files
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def get_configs(self, config_file):
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@ -76,7 +75,7 @@ class BrakeDataProcess(QThread):
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p_dir = config_file.split('/')[-2]
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if not re.match("^[jJ][123]$", p_dir):
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self.logger("ERROR", "brake", "被处理的根文件夹命名必须是 [Jj][123] 的格式", "red")
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clibs.logger("ERROR", "brake", "被处理的根文件夹命名必须是 [Jj][123] 的格式", "red")
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axis = int(p_dir[-1]) # 要处理的轴
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rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio
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@ -85,19 +84,19 @@ class BrakeDataProcess(QThread):
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av = avs[axis-1]
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return av, rr
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except Exception as Err:
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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<br>{Err}", "red")
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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<br>{Err}", "red")
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def now_doing_msg(self, docs, flag):
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now = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()))
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file_type = 'file' if os.path.isfile(docs) else 'dir'
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if flag == 'start' and file_type == 'dir':
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self.logger("INFO", "brake", f"[{now}] 正在处理目录 {docs} 中的数据......")
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clibs.logger("INFO", "brake", f"[{now}] 正在处理目录 {docs} 中的数据......")
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elif flag == 'start' and file_type == 'file':
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self.logger("INFO", "brake", f"[{now}] 正在处理文件 {docs} 中的数据......")
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clibs.logger("INFO", "brake", f"[{now}] 正在处理文件 {docs} 中的数据......")
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elif flag == 'done' and file_type == 'dir':
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self.logger("INFO", "brake", f"[{now}] 目录 {docs} 数据文件已处理完毕")
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clibs.logger("INFO", "brake", f"[{now}] 目录 {docs} 数据文件已处理完毕")
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elif flag == 'done' and file_type == 'file':
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self.logger("INFO", "brake", f"[{now}] 文件 {docs} 数据已处理完毕")
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clibs.logger("INFO", "brake", f"[{now}] 文件 {docs} 数据已处理完毕")
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@staticmethod
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def data2result(df, ws_result, row_start, row_end):
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@ -131,7 +130,7 @@ class BrakeDataProcess(QThread):
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row_start = row - 20 if row - 20 > 0 else 0 # 急停前找 20 个点
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break
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else:
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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")
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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")
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for row in range(row_start, df.index[-1] - 1, 10):
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speed_row = df.iloc[row, 0] * clibs.RADIAN * rr * 60 / 360
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@ -139,13 +138,13 @@ class BrakeDataProcess(QThread):
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row_end = row + 100 if row + 100 <= df.index[-1] - 1 else df.index[-1] - 1
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break
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else:
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self.logger("ERROR", "brake", f"数据文件 {data_file} 最后的速度未降为零", "red")
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clibs.logger("ERROR", "brake", f"数据文件 {data_file} 最后的速度未降为零", "red")
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||||
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！<br>{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！<br>{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......<br>", "blue")
|
||||
clibs.logger("INFO", "brake", f"正在保存文件 {filename}，这可能需要一些时间......<br>", "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 + "<br>全部处理完毕<br>", "purple")
|
||||
clibs.logger("INFO", "brake", "-"*60 + "<br>全部处理完毕<br>", "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)
|
||||
|
||||
@ -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}<br>"
|
||||
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！<br>{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！<br>{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 + "<br>全部处理完毕<br>", "purple")
|
||||
clibs.logger("INFO", "current", "-"*60 + "<br>全部处理完毕<br>", "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)
|
||||
|
||||
@ -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！<br>1. iso-results.xlsx<br>2. ISO.pdf<br>3. ISO-V100.pdf<br>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！<br>1. iso-results.xlsx<br>2. ISO.pdf<br>3. ISO-V100.pdf<br>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}<br>{err}", "red")
|
||||
clibs.logger("ERROR", "iso", f"main: 无法打开文件 {filename}<br>{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 + "<br>全部处理完毕<br>", "purple")
|
||||
clibs.logger("INFO", "current-processing", "-" * 60 + "<br>全部处理完毕<br>", "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)
|
||||
|
||||
@ -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 + "<br>全部处理完毕<br>", "purple")
|
||||
clibs.logger("INFO", "wavelogger", "-" * 60 + "<br>全部处理完毕<br>", "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)
|
||||
|
||||
@ -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！<br>"
|
||||
msg += "1. configs.xlsx<br>2. reach33/reach66/reach100_xxxx.xlsx<br>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}<br>{Err}", "red")
|
||||
clibs.logger("ERROR", "do_brake", f"无法打开 {local_file}<br>{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"<br>{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 + "<br>全部处理完毕<br>", "purple")
|
||||
clibs.logger("INFO", "do_brake", "-"*60 + "<br>全部处理完毕<br>", "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)
|
||||
|
||||
@ -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！<br>"
|
||||
msg += "1. T_电机电流.xlsx<br>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 + "<br>全部处理完毕<br>", "purple")
|
||||
clibs.logger("INFO", "do_current", "-" * 60 + "<br>全部处理完毕<br>", "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)
|
||||
|
||||
@ -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()
|
||||
|
||||
@ -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...<br>err = {err}", "red")
|
||||
clibs.logger("ERROR", "openapi", f"hmi: 暂不支持 {command} 功能，或确认该功能存在...<br>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
|
||||
|
||||
@ -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}<br>{Err}", "red")
|
||||
except Exception as err:
|
||||
clibs.logger("ERROR", "factory", f"无法打开 {local_file}<br>{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.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 + "<br>全部处理完毕<br>", "purple")
|
||||
clibs.logger("INFO", "factory", "-"*60 + "<br>全部处理完毕<br>", "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)
|
||||
|
||||
@ -225,7 +225,7 @@
|
||||
</font>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="elideMode">
|
||||
<enum>Qt::TextElideMode::ElideNone</enum>
|
||||
@ -559,7 +559,7 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>213</width>
|
||||
<width>212</width>
|
||||
<height>78</height>
|
||||
</rect>
|
||||
</property>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user