界面优化，监控逻辑优化
This commit is contained in:
parent
c325875dbb
commit
a9a6db23fd
244
aio.py
244
aio.py
@ -4,6 +4,7 @@ import os
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import re
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import sqlite3
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import sys
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import threading
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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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@ -92,46 +93,43 @@ class MainWindow(main_window.Ui_MainWindow):
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def __init__(self):
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super(MainWindow, self).__init__()
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self.close_on_net_error = None
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self.is_searching = False
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self.setupUi(self)
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self.predoes()
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self.pre_does()
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def predoes(self):
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def pre_does(self):
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# ========================= treeview init =========================
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self.cb_data_current.setDisabled(True)
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self.setup_statusbar()
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self.setWindowIcon(QIcon(f"{clibs.PREFIX}/media/icon.ico"))
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self.treew_log.header().setFont(QFont("Arial", 12, QFont.Weight.Bold))
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header = self.treew_log.header()
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for i in range(self.treew_log.columnCount()):
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header.setSectionResizeMode(i, QHeaderView.ResizeMode.ResizeToContents)
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self.md_btn.setStyleSheet("background-color: DarkGrey; color: white;")
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self.ec_btn.setStyleSheet("background-color: DarkGrey; color: white;")
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# ========================= stylesheet =========================
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with open(f"{clibs.PREFIX}/qss/style.qss", mode="r", encoding="utf-8") as f_qss:
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style_sheet = f_qss.read()
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self.setStyleSheet(style_sheet)
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# ========================= clibs =========================
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self.setup_statusbar()
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self.setWindowIcon(QIcon(f"{clibs.PREFIX}/media/icon.ico"))
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# ========================= styleSheet =========================
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tws = [self.tw_funcs, self.tw_docs]
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for tw in tws:
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tw.setStyleSheet("""
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QTabBar::tab:selected {
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background: #0078D4;
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color: white;
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border-radius: 4px;
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}
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QTabBar::tab:!selected {
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background: #F0F0F0;
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color: #333;
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}
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QTabWidget::pane {
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border: 1px solid #CCCCCC;
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}
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""")
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# ============================↓↓↓debug↓↓↓============================
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# print(f"self.cb_data_func.currentIndex() = {self.cb_data_func.currentIndex()}")
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logger_handler = clibs.LoggerHandler()
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logger_handler.signal.connect(self.w2t)
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clibs.logger = logger_handler.logger
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# ========================= detection =========================
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self.detection_thread = StateDetection()
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self.detection_thread.finished.connect(self.prog_done_detection)
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self.detection_thread.start()
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# ========================= debug =========================
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# for i in range(105):
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# clibs.logger("DEBUG", "aio", "debug testing log for aio", color="gray")
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# clibs.logger("INFO", "clibs", "info testing log for clibs", color="green")
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# clibs.logger("WARNING", "iso", "warning testing log for aio", color="yellow")
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# # clibs.logger("ERROR", "openapi", "error testing log for aio", color="red")
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def run_program_thread(self, prog, idx, prog_done, reserved):
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if idx != -98 and idx != -97:
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self.tw_docs.setCurrentIndex(0)
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if idx != -99 and idx != -98:
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prog.output.connect(self.w2t)
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self.t = QThread(self)
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self.run = RunProg()
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@ -191,7 +189,13 @@ class MainWindow(main_window.Ui_MainWindow):
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self.run_program_thread(factory_test.DoFactoryTest(self.le_durable_path.text(), self.le_durable_interval.text(), self.get_checkbox_states()), 6, prog_done, None)
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def prog_stop(self):
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QMessageBox.warning(self, "停止运行", "运行过程中不建议停止运行，可能会损坏文件，如果确实需要停止运行，可以直接关闭窗口！")
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if sum(clibs.running) == 0:
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return
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idx = clibs.running.index(1)
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clibs.running[idx] = 0
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clibs.logger("INFO", "aio", f"{clibs.functions[idx]}程序已经停止，涉及Excel文件读写时可能会损坏该文件！", "red")
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# QMessageBox.warning(self, "停止运行", "运行过程中不建议停止运行，可能会损坏文件，如果确实需要停止运行，可以直接关闭窗口！")
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def prog_reset(self):
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self.tw_docs.setCurrentIndex(0)
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@ -205,7 +209,6 @@ 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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output = Signal(str, str)
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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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@ -230,7 +233,7 @@ class MainWindow(main_window.Ui_MainWindow):
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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, output)
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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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@ -320,7 +323,7 @@ class MainWindow(main_window.Ui_MainWindow):
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end = first_id-1 if first_id-1 > 0 else None
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if end is None:
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return
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start = end-100 if end-100 > 0 else 1
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start = end-100+1 if end-100+1 > 0 else 1
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clibs.cursor.execute(f"SELECT * FROM logs WHERE id BETWEEN {start} AND {end}")
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records = clibs.cursor.fetchall()
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@ -397,12 +400,12 @@ class MainWindow(main_window.Ui_MainWindow):
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line_number = self.treew_log.topLevelItemCount()
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last_id = int(self.treew_log.topLevelItem(line_number-1).text(0))
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start = last_id + 1 if last_id % 100 == 0 else last_id - last_id % 100 + 1
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end = int(start) + 100
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if int(start) <= len_records:
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end = int(start) + 100 - 1
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if start <= len_records:
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clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
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records = clibs.cursor.fetchall()
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pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
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current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
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current_page = start // 100 if start % 100 == 0 else start // 100 + 1
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return pages_all, current_page, records
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elif self.is_searching is True:
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@ -688,25 +691,26 @@ class MainWindow(main_window.Ui_MainWindow):
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flag, result, ret, error, idx, network = results
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if flag is False:
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...
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# self.w2t(f"{network.upper()}连接失败", "red")
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self.w2t(f"{network.upper()}连接失败", "red")
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elif flag is True:
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clibs.status[network] = 1
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if network == "hmi":
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self.btn_hmi_conn.setText("断开")
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self.hmi_state.setText(f'<img src="{clibs.PREFIX}/media/green.png" width="10" height="10" /><font face="consolas" size="4"><b>HR </b></font>')
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clibs.c_hr = result
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elif network == "md":
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self.btn_md_conn.setText("断开")
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self.md_state.setText(f'<img src="{clibs.PREFIX}/media/green.png" width="10" height="10" /><font face="consolas" size="4"><b>MD </b></font>')
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clibs.c_md = result
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elif network == "ec":
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self.btn_ec_conn.setText("断开")
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self.ec_state.setText(f'<img src="{clibs.PREFIX}/media/green.png" width="10" height="10" /><font face="consolas" size="4"><b>EC </b></font>')
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clibs.c_ec = result
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def prog_done_disconn(self, results):
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self.btn_hmi_conn.setDisabled(False)
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self.btn_md_conn.setDisabled(False)
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self.btn_ec_conn.setDisabled(False)
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flag, result, ret, error, idx, network = results
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if flag is False:
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self.w2t(f"{network.upper()}断开连接失败", "red")
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@ -714,13 +718,16 @@ class MainWindow(main_window.Ui_MainWindow):
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clibs.status[network] = 0
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if network == "hmi":
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self.btn_hmi_conn.setText("连接")
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clibs.c_hr = result
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self.hmi_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>HR </b></font>')
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clibs.c_hr = None
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elif network == "md":
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self.btn_md_conn.setText("连接")
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clibs.c_md = result
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self.md_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>MD </b></font>')
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clibs.c_md = None
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elif network == "ec":
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self.btn_ec_conn.setText("连接")
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clibs.c_ec = result
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self.ec_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>EC </b></font>')
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clibs.c_ec = None
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def hmi_conn(self):
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self.btn_hmi_conn.setDisabled(True)
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@ -759,22 +766,51 @@ class MainWindow(main_window.Ui_MainWindow):
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self.run_program_thread(clibs.c_ec.close, -99, self.prog_done_disconn, "ec")
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def hmi_page(self):
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self.pte_md_send.clear()
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self.pte_md_recv.clear()
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self.pte_ec_send.clear()
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self.pte_ec_recv.clear()
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self.tw_funcs.setCurrentIndex(3)
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self.sw_network.setCurrentIndex(0)
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self.hmi_btn.setStyleSheet("background-color: DarkCyan; color: white;")
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self.md_btn.setStyleSheet("background-color: DarkGrey; color: white;")
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self.ec_btn.setStyleSheet("background-color: DarkGrey; color: white;")
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def md_page(self):
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self.pte_hmi_send.clear()
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self.pte_hmi_recv.clear()
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self.pte_ec_send.clear()
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self.pte_ec_recv.clear()
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self.tw_funcs.setCurrentIndex(3)
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self.sw_network.setCurrentIndex(1)
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self.hmi_btn.setStyleSheet("background-color: DarkGrey; color: white;")
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self.md_btn.setStyleSheet("background-color: DarkCyan; color: white;")
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self.ec_btn.setStyleSheet("background-color: DarkGrey; color: white;")
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def ec_page(self):
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self.pte_md_send.clear()
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self.pte_md_recv.clear()
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self.pte_hmi_send.clear()
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self.pte_hmi_recv.clear()
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self.tw_funcs.setCurrentIndex(3)
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self.sw_network.setCurrentIndex(2)
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self.hmi_btn.setStyleSheet("background-color: DarkGrey; color: white;")
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self.md_btn.setStyleSheet("background-color: DarkGrey; color: white;")
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self.ec_btn.setStyleSheet("background-color: DarkCyan; color: white;")
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def prog_done_hmi_send(self, results):
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_, result, ret, error, idx, (msg_id, flag) = results
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if _ is False:
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self.btn_hmi_send.setDisabled(False)
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clibs.logger("INFO", "aio", f"hmi: [send] 请求发送失败 {msg_id}", "red")
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return
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records = clibs.c_hr.get_from_id(msg_id)
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for record in records:
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if "请求发送成功" not in record[0]:
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self.pte_him_recv.clear()
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self.pte_hmi_recv.clear()
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response = eval(record[0]) if flag == 0 else json.loads(record[0])
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self.pte_him_recv.appendPlainText(json.dumps(response, indent=4, separators=(",", ":")))
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self.pte_hmi_recv.appendPlainText(json.dumps(response, indent=4, separators=(",", ":")))
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else:
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self.btn_hmi_send.setDisabled(False)
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@ -852,9 +888,7 @@ class MainWindow(main_window.Ui_MainWindow):
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self.pte_ec_recv.clear()
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cmd = self.pte_ec_send.toPlainText().strip()
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try:
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clibs.c_ec.s_string(cmd)
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time.sleep(clibs.INTERVAL/2)
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result = clibs.c_ec.r_string(cmd)
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result = clibs.c_ec.sr_string(cmd)
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self.pte_ec_recv.appendPlainText(str(result))
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except Exception as err:
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self.pte_ec_recv.appendPlainText(f"操作失败：{err}")
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@ -862,7 +896,7 @@ class MainWindow(main_window.Ui_MainWindow):
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def hmi_cb_change(self):
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cmd = self.cb_hmi_cmd.currentText()
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self.pte_hmi_send.clear()
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self.pte_him_recv.clear()
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self.pte_hmi_recv.clear()
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with open(f"{clibs.PREFIX}/files/protocols/hmi/{cmd}.json", mode="r", encoding="utf-8") as f_hmi:
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hmi_dict = json.load(f_hmi)
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t = datetime.datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")
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@ -886,6 +920,13 @@ class MainWindow(main_window.Ui_MainWindow):
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c_send = f_md.read()
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self.pte_ec_send.appendPlainText(c_send)
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def data_cb_change(self):
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proc = self.cb_data_func.currentText()
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if proc != "转矩":
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self.cb_data_current.setDisabled(True)
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else:
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self.cb_data_current.setDisabled(False)
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def check_interval(self):
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try:
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interval = float(self.le_durable_interval.text())
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@ -894,13 +935,21 @@ class MainWindow(main_window.Ui_MainWindow):
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interval = clibs.CYCLE
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self.le_durable_interval.setText(str(interval))
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def state_detection(self):
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while True:
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time.sleep(clibs.INTERVAL)
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if clibs.status["hmi"] == 0 and self.btn_hmi_conn.text() == "断开":
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self.btn_hmi_conn.setText("连接")
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elif clibs.status["hmi"] == 1 and self.btn_hmi_conn.text() == "连接":
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self.btn_hmi_conn.setText("断开")
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def prog_done_detection(self, finished):
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if clibs.status["hmi"] == 0:
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self.btn_hmi_conn.setText("连接")
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self.hmi_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>HR </b></font>')
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if clibs.status["md"] == 0:
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self.btn_md_conn.setText("连接")
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self.md_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>MD </b></font>')
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if clibs.status["ec"] == 0:
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self.btn_ec_conn.setText("连接")
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self.ec_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>EC </b></font>')
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# ============= Program running status =============
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if sum(clibs.running) == 1:
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self.run_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>BUSY</b></font>')
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else:
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self.run_state.setText(f'<img src="{clibs.PREFIX}/media/green.png" width="10" height="10" /><font face="consolas" size="4"><b>IDLE</b></font>')
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def closeEvent(self, event):
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idx = -1 if clibs.running.count(1) == 0 else clibs.running.index(1)
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@ -913,7 +962,7 @@ class MainWindow(main_window.Ui_MainWindow):
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clibs.conn.backup(target=disk_conn, pages=1, progress=None)
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_, logs = clibs.traversal_files(".", 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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@ -938,24 +987,68 @@ class MainWindow(main_window.Ui_MainWindow):
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with open(f"{clibs.PREFIX}/files/version/server_vers", mode="r", encoding="utf-8") as f_server:
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server_vers = f_server.read().strip()
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update_label = QLabel()
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version_label = QLabel()
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self.statusbar.addWidget(version_label, 0)
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self.statusbar.addPermanentWidget(update_label, 0) # 添加到右侧
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self.update_label, self.hmi_state, self.md_state, self.ec_state, self.run_state, self.version_label = QLabel(), ClickableLabel(), ClickableLabel(), ClickableLabel(), QLabel(), QLabel()
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self.statusbar.addWidget(self.version_label, 0)
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self.statusbar.addWidget(self.hmi_state, 0)
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self.statusbar.addWidget(self.md_state, 0)
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self.statusbar.addWidget(self.ec_state, 0)
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self.statusbar.addWidget(self.run_state, 0)
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self.statusbar.addPermanentWidget(self.update_label, 0) # 添加到右侧
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self.hmi_state.clicked.connect(self.hmi_page)
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self.md_state.clicked.connect(self.md_page)
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self.ec_state.clicked.connect(self.ec_page)
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if local_vers == server_vers:
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update_label.setText(f'<img src="{clibs.PREFIX}/media/updated.png" width="12" height="12" /><font color="#0D8A3D" face="consolas" size="4"><b> 当前是最新版本，继续保持！ </b></font>')
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self.update_label.setText(f'<img src="{clibs.PREFIX}/media/updated.png" width="14" height="14" style="vertical-align: middle;" /><span style="vertical-align: middle; font-size: 14px; font-weight: bold; color: #0D8A3D;"> Current is the latest version！</span>')
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elif local_vers > server_vers:
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pass
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elif local_vers < server_vers:
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update_label.setText(f'''<a href="https://www.rustle.cc/aio.zip" style="text-decoration: none;"><img src="{clibs.PREFIX}/media/upgrade.png" width="12" height="12" /><font color="#D81E06" face="consolas" size="4"><b> v{server_vers.split('@')[0]}已经发布，尽快更新至最新版本！ </b></font></a>''')
|
||||
self.update_label.setText(f'''<a href="https://www.rustle.cc/aio.zip" style="text-decoration: none;"><img src="{clibs.PREFIX}/media/upgrade.png" width="14" height="14" style="vertical-align: middle;" /><span style="vertical-align: middle; font-size: 14px; font-weight: bold; color: #D81E06;"> v{server_vers.split('@')[0]} has been released, update ASAP!</span></a>''')
|
||||
|
||||
version_label.setText(f'<font color="black" face="consolas" size="4"><b> {vers_info}</b></font>')
|
||||
update_label.setOpenExternalLinks(True) # 允许超链接在浏览器中打开
|
||||
# update_label.setAlignment(Qt.AlignmentFlag.AlignVCenter | Qt.AlignmentFlag.AlignRight)
|
||||
update_label.setStyleSheet("border: none;")
|
||||
update_label.setFrameShape(QFrame.Shape.NoFrame)
|
||||
update_label.setFrameShadow(QFrame.Shadow.Plain)
|
||||
self.close_on_net_error = False
|
||||
self.version_label.setText(f'<font color="black" face="consolas" size="4"><b>{vers_info} </b></font>')
|
||||
self.hmi_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>HR </b></font>')
|
||||
self.md_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>MD </b></font>')
|
||||
self.ec_state.setText(f'<img src="{clibs.PREFIX}/media/red.png" width="10" height="10" /><font face="consolas" size="4"><b>EC </b></font>')
|
||||
self.run_state.setText(f'<img src="{clibs.PREFIX}/media/green.png" width="10" height="10" /><font face="consolas" size="4"><b>IDLE</b></font>')
|
||||
self.update_label.setOpenExternalLinks(True) # 允许超链接在浏览器中打开
|
||||
|
||||
|
||||
class StateDetection(QThread):
|
||||
finished = Signal(bool)
|
||||
|
||||
def __init__(self, /):
|
||||
super().__init__()
|
||||
|
||||
def run(self):
|
||||
while True:
|
||||
time.sleep(clibs.INTERVAL*2)
|
||||
# ============= HMI connection status =============
|
||||
try:
|
||||
clibs.c_hr.execution("controller.heart")
|
||||
except:
|
||||
clibs.status["hmi"] = 0
|
||||
# ============= MD connection status =============
|
||||
try:
|
||||
clibs.c_md.c.read_holding_registers(40503, count=1).registers[0]
|
||||
except:
|
||||
clibs.status["md"] = 0
|
||||
# ============= EC connection status =============
|
||||
try:
|
||||
clibs.c_ec.sr_string("controller_is_running")
|
||||
except:
|
||||
clibs.status["ec"] = 0
|
||||
|
||||
self.finished.emit(True)
|
||||
|
||||
|
||||
class ClickableLabel(QLabel):
|
||||
def __init__(self, parent=None):
|
||||
super().__init__(parent)
|
||||
|
||||
def mousePressEvent(self, event):
|
||||
self.clicked.emit()
|
||||
|
||||
clicked = Signal()
|
||||
|
||||
|
||||
class InitWork(QThread):
|
||||
@ -994,13 +1087,16 @@ class SplashScreen(QApplication):
|
||||
self.splash.show()
|
||||
self.splash.showMessage("正在加载资源.....", Qt.AlignmentFlag.AlignBottom | Qt.AlignmentFlag.AlignHCenter, Qt.GlobalColor.white)
|
||||
|
||||
self.t = QThread(self)
|
||||
self.run = InitWork()
|
||||
self.run.moveToThread(self.t)
|
||||
self.run.completed.connect(self.prog_done)
|
||||
self.action.connect(self.run.program)
|
||||
self.t.start()
|
||||
self.action.emit(1)
|
||||
# self.t = QThread(self)
|
||||
# self.run = InitWork()
|
||||
# self.run.moveToThread(self.t)
|
||||
# self.run.completed.connect(self.prog_done)
|
||||
# self.action.connect(self.run.program)
|
||||
# self.t.start()
|
||||
# self.action.emit(1)
|
||||
|
||||
# without validation of server version
|
||||
self.prog_done("true")
|
||||
|
||||
def prog_done(self, result):
|
||||
if result == "false" or result == "":
|
||||
|
||||
1
assets/files/protocols/ec/close_reduced_mode.txt
Normal file
1
assets/files/protocols/ec/close_reduced_mode.txt
Normal file
@ -0,0 +1 @@
|
||||
close_reduced_mode
|
||||
1
assets/files/protocols/ec/open_reduced_mode.txt
Normal file
1
assets/files/protocols/ec/open_reduced_mode.txt
Normal file
@ -0,0 +1 @@
|
||||
open_reduced_mode
|
||||
1
assets/files/protocols/ec/soft_estop_state.txt
Normal file
1
assets/files/protocols/ec/soft_estop_state.txt
Normal file
@ -0,0 +1 @@
|
||||
soft_estop_state
|
||||
@ -1 +0,0 @@
|
||||
tcp_pos
|
||||
1
assets/files/protocols/ec/tcp_pose.txt
Normal file
1
assets/files/protocols/ec/tcp_pose.txt
Normal file
@ -0,0 +1 @@
|
||||
tcp_pose
|
||||
BIN
assets/media/green.png
Normal file
BIN
assets/media/green.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 4.4 KiB |
BIN
assets/media/red.png
Normal file
BIN
assets/media/red.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 4.4 KiB |
50
assets/qss/style.qss
Normal file
50
assets/qss/style.qss
Normal file
@ -0,0 +1,50 @@
|
||||
/* ------------------------------------------- QTabBar -------------------------------------------*/
|
||||
QTabBar::tab:selected {
|
||||
padding: 6px;
|
||||
background: #909090;
|
||||
color: white;
|
||||
border-radius: 0px;
|
||||
}
|
||||
QTabBar::tab:!selected {
|
||||
padding: 4px;
|
||||
background: #b0b0b0;
|
||||
color: white;
|
||||
}
|
||||
QTabWidget::pane {
|
||||
border: 4px solid #CCCCCC;
|
||||
padding: 1px;
|
||||
}
|
||||
|
||||
/* ------------------------------------------- QPushButton -------------------------------------------*/
|
||||
QPushButton[objectName$="_btn"] {
|
||||
background-color: DarkCyan; /* 按钮背景颜色 */
|
||||
color: white; /* 按钮文本颜色 */
|
||||
border: 1px solid DarkGray; /* 按钮边框 */
|
||||
border-radius: 4px; /* 按钮圆角 */
|
||||
padding: 2px 4px; /* 按钮内边距 */
|
||||
}
|
||||
QPushButton[objectName$="_btn"]:hover {
|
||||
background-color: #000000;
|
||||
}
|
||||
|
||||
|
||||
QPushButton[objectName^="btn"] {
|
||||
background-color: #666666; /* 按钮背景颜色 */
|
||||
color: white; /* 按钮文本颜色 */
|
||||
border: 1px solid #555555; /* 按钮边框 */
|
||||
border-radius: 4px; /* 按钮圆角 */
|
||||
padding: 4px 8px; /* 按钮内边距 */
|
||||
}
|
||||
|
||||
QPushButton[objectName^="btn"]:hover {
|
||||
background-color: #888888; /* 鼠标悬停时的背景颜色 */
|
||||
}
|
||||
|
||||
QPushButton[objectName^="btn"]:pressed {
|
||||
background-color: #8FBC8F; /* 按钮按下时的背景颜色 */
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* ------------------------------------------- QStatusBar -------------------------------------------*/
|
||||
QStatusBar::item { border: 0px; }
|
||||
@ -9,27 +9,19 @@ from codes.common import clibs
|
||||
|
||||
|
||||
class BrakeDataProcess(QThread):
|
||||
output = Signal(str, str)
|
||||
|
||||
def __init__(self, dir_path, /):
|
||||
super().__init__()
|
||||
self.dir_path = dir_path
|
||||
self.idx = 0
|
||||
self.logger = clibs.logger
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
|
||||
@clibs.handle_exception
|
||||
def check_files(self, rawdata_dirs, result_files):
|
||||
msg_wrong = "需要有四个文件和若干个数据文件夹，可参考如下确认：<br>"
|
||||
msg_wrong += "- reach33/66/100_XXXXXXX.xlsx<br>- *.cfg<br>"
|
||||
msg_wrong += "- reach33_load33_speed33<br>- reach33_load33_speed66<br>...<br>- reach100_load100_speed66<br>- reach100_load100_speed100<br>"
|
||||
|
||||
if len(result_files) != 4 or len(rawdata_dirs) == 0:
|
||||
self.logger("ERROR", "brake", msg_wrong, "red", "InitFileError")
|
||||
self.logger("ERROR", "brake", msg_wrong, "red")
|
||||
|
||||
config_file, reach33_file, reach66_file, reach100_file = None, None, None, None
|
||||
for result_file in result_files:
|
||||
@ -44,7 +36,7 @@ class BrakeDataProcess(QThread):
|
||||
reach100_file = result_file
|
||||
else:
|
||||
if not (config_file and reach33_file and reach66_file and reach100_file):
|
||||
self.logger("ERROR", "brake", msg_wrong, "red", "InitFileError")
|
||||
self.logger("ERROR", "brake", msg_wrong, "red")
|
||||
|
||||
reach_s = ['reach33', 'reach66', 'reach100']
|
||||
load_s = ['load33', 'load66', 'load100']
|
||||
@ -57,17 +49,17 @@ class BrakeDataProcess(QThread):
|
||||
msg = f"报错信息：数据目录 {rawdata_dir} 命名不合规，请参考如下形式<br>"
|
||||
msg += "命名规则：reachAA_loadBB_speedCC，AA/BB/CC 指的是臂展/负载/速度的比例<br>"
|
||||
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>"
|
||||
self.logger("ERROR", "brake", msg, "red", "WrongDataFolder")
|
||||
self.logger("ERROR", "brake", msg, "red")
|
||||
|
||||
_, rawdata_files = clibs.traversal_files(rawdata_dir, self.output)
|
||||
_, rawdata_files = clibs.traversal_files(rawdata_dir)
|
||||
if len(rawdata_files) != 3:
|
||||
msg = f"数据目录 {rawdata_dir} 下数据文件个数错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
|
||||
self.logger("ERROR", "brake", msg, "red", "WrongDataFile")
|
||||
self.logger("ERROR", "brake", msg, "red")
|
||||
|
||||
for rawdata_file in rawdata_files:
|
||||
if not rawdata_file.endswith(".data"):
|
||||
msg = f"数据文件 {rawdata_file} 后缀错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
|
||||
self.logger("ERROR", "brake", msg, "red", "WrongDataFile")
|
||||
self.logger("ERROR", "brake", msg, "red")
|
||||
|
||||
result_files = []
|
||||
for _ in [reach33_file, reach66_file, reach100_file]:
|
||||
@ -77,7 +69,6 @@ class BrakeDataProcess(QThread):
|
||||
self.logger("INFO", "brake", "数据目录合规性检查结束，未发现问题......", "green")
|
||||
return config_file, result_files
|
||||
|
||||
@clibs.handle_exception
|
||||
def get_configs(self, config_file):
|
||||
try:
|
||||
with open(config_file, mode="r", encoding="utf-8") as f_config:
|
||||
@ -85,7 +76,7 @@ class BrakeDataProcess(QThread):
|
||||
|
||||
p_dir = config_file.split('/')[-2]
|
||||
if not re.match("^[jJ][123]$", p_dir):
|
||||
self.logger("ERROR", "brake", "被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")
|
||||
self.logger("ERROR", "brake", "被处理的根文件夹命名必须是 [Jj][123] 的格式", "red")
|
||||
|
||||
axis = int(p_dir[-1]) # 要处理的轴
|
||||
rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio
|
||||
@ -94,7 +85,7 @@ class BrakeDataProcess(QThread):
|
||||
av = avs[axis-1]
|
||||
return av, rr
|
||||
except Exception as Err:
|
||||
self.logger("ERROR", "brake", f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查<br>{Err}", "red", "OpenFileError")
|
||||
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")
|
||||
|
||||
def now_doing_msg(self, docs, flag):
|
||||
now = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()))
|
||||
@ -109,7 +100,6 @@ class BrakeDataProcess(QThread):
|
||||
self.logger("INFO", "brake", f"[{now}] 文件 {docs} 数据已处理完毕")
|
||||
|
||||
@staticmethod
|
||||
@clibs.handle_exception
|
||||
def data2result(df, ws_result, row_start, row_end):
|
||||
data = []
|
||||
for row in range(row_start, row_end):
|
||||
@ -130,7 +120,6 @@ class BrakeDataProcess(QThread):
|
||||
ws_result.cell(row=row, column=2).value = None
|
||||
ws_result.cell(row=row, column=3).value = None
|
||||
|
||||
@clibs.handle_exception
|
||||
def get_row_range(self, data_file, df, conditions, av, rr):
|
||||
row_start, row_end = 0, 0
|
||||
ratio = float(conditions[2].removeprefix('speed')) / 100
|
||||
@ -142,7 +131,7 @@ class BrakeDataProcess(QThread):
|
||||
row_start = row - 20 if row - 20 > 0 else 0 # 急停前找 20 个点
|
||||
break
|
||||
else:
|
||||
self.logger("ERROR", "brake", f"数据文件 {data_file} 采集的数据中没有 ESTOP 为非 0 的情况，需要确认", "red", "StartNotFoundError")
|
||||
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")
|
||||
|
||||
for row in range(row_start, df.index[-1] - 1, 10):
|
||||
speed_row = df.iloc[row, 0] * clibs.RADIAN * rr * 60 / 360
|
||||
@ -150,7 +139,7 @@ class BrakeDataProcess(QThread):
|
||||
row_end = row + 100 if row + 100 <= df.index[-1] - 1 else df.index[-1] - 1
|
||||
break
|
||||
else:
|
||||
self.logger("ERROR", "brake", f"数据文件 {data_file} 最后的速度未降为零", "red", "SpeedNotZeroError")
|
||||
self.logger("ERROR", "brake", f"数据文件 {data_file} 最后的速度未降为零", "red")
|
||||
|
||||
av_estop = abs(df.iloc[row_start - 20:row_start, 0].abs().mean() * clibs.RADIAN)
|
||||
if abs(av_estop / av_max) < threshold:
|
||||
@ -161,7 +150,6 @@ class BrakeDataProcess(QThread):
|
||||
return row_start, row_end
|
||||
|
||||
@staticmethod
|
||||
@clibs.handle_exception
|
||||
def get_shtname(conditions, count):
|
||||
# 33%负载_33%速度_1 - reach/load/speed
|
||||
load = conditions[1].removeprefix('load')
|
||||
@ -170,7 +158,6 @@ class BrakeDataProcess(QThread):
|
||||
|
||||
return result_sheet_name
|
||||
|
||||
@clibs.handle_exception
|
||||
def single_file_process(self, data_file, wb, count, av, rr):
|
||||
df = pandas.read_csv(data_file, sep='\t')
|
||||
conditions = data_file.split("/")[-2].split("_") # reach/load/speed
|
||||
@ -180,20 +167,19 @@ class BrakeDataProcess(QThread):
|
||||
row_start, row_end = self.get_row_range(data_file, df, conditions, av, rr)
|
||||
self.data2result(df, ws, row_start, row_end)
|
||||
|
||||
@clibs.handle_exception
|
||||
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")
|
||||
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", "CannotOpenFile")
|
||||
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")
|
||||
|
||||
prefix = filename.split('_')[0]
|
||||
for rawdata_dir in rawdata_dirs:
|
||||
if rawdata_dir.split("/")[-1].split('_')[0] == prefix:
|
||||
self.now_doing_msg(rawdata_dir, 'start')
|
||||
_, data_files = clibs.traversal_files(rawdata_dir, self.output)
|
||||
_, data_files = clibs.traversal_files(rawdata_dir)
|
||||
for idx in range(3):
|
||||
self.single_file_process(data_files[idx], wb, idx+1, av, rr)
|
||||
# threads = [
|
||||
@ -209,12 +195,11 @@ class BrakeDataProcess(QThread):
|
||||
wb.save(result_file)
|
||||
wb.close()
|
||||
|
||||
@clibs.handle_exception
|
||||
def processing(self):
|
||||
time_start = time.time()
|
||||
clibs.running[self.idx] = 1
|
||||
|
||||
rawdata_dirs, result_files = clibs.traversal_files(self.dir_path, self.output)
|
||||
rawdata_dirs, result_files = clibs.traversal_files(self.dir_path)
|
||||
config_file, result_files = self.check_files(rawdata_dirs, result_files)
|
||||
av, rr = self.get_configs(config_file)
|
||||
|
||||
|
||||
@ -9,23 +9,15 @@ from codes.common import clibs
|
||||
|
||||
|
||||
class CurrentDataProcess(QThread):
|
||||
output = Signal(str, str)
|
||||
|
||||
def __init__(self, dir_path, proc, /):
|
||||
super().__init__()
|
||||
self.dir_path = dir_path
|
||||
self.proc = proc
|
||||
self.idx = 1
|
||||
self.logger = clibs.logger
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
|
||||
@clibs.handle_exception
|
||||
def initialization(self):
|
||||
_, data_files = clibs.traversal_files(self.dir_path, self.output)
|
||||
_, data_files = clibs.traversal_files(self.dir_path)
|
||||
count, config_file = 0, None
|
||||
for data_file in data_files:
|
||||
filename = data_file.split("/")[-1]
|
||||
@ -38,15 +30,14 @@ 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", "FilenameIllegal")
|
||||
self.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", "FilenameIllegal")
|
||||
self.logger("ERROR", "current", msg, "red")
|
||||
|
||||
return data_files, config_file
|
||||
|
||||
@clibs.handle_exception
|
||||
def current_max(self, data_files, rts):
|
||||
self.logger("INFO", "current", f"正在处理最大转矩值逻辑......")
|
||||
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
|
||||
@ -88,7 +79,6 @@ class CurrentDataProcess(QThread):
|
||||
self.logger("INFO", "current", f"最大转矩数据处理完毕......")
|
||||
return current
|
||||
|
||||
@clibs.handle_exception
|
||||
def current_avg(self, data_files, rts):
|
||||
self.logger("INFO", "current", f"正在处理平均转矩值逻辑......")
|
||||
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
|
||||
@ -131,7 +121,6 @@ class CurrentDataProcess(QThread):
|
||||
self.logger("INFO", "current", f"平均转矩数据处理完毕......")
|
||||
return current
|
||||
|
||||
@clibs.handle_exception
|
||||
def current_cycle(self, data_files, rrs, rts, params):
|
||||
result, hold, single, scenario, dur_time = None, [], [], [], 0
|
||||
for data_file in data_files:
|
||||
@ -150,8 +139,8 @@ class CurrentDataProcess(QThread):
|
||||
self.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", "CannotOpenFile")
|
||||
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")
|
||||
|
||||
ws = wb["统计"]
|
||||
for idx in range(len(params)-1):
|
||||
@ -175,7 +164,6 @@ class CurrentDataProcess(QThread):
|
||||
wb.save(result)
|
||||
wb.close()
|
||||
|
||||
@clibs.handle_exception
|
||||
def find_point(self, data_file, df, flag, row_s, row_e, threshold, step, end_point, skip_scale, axis, seq):
|
||||
if flag == "lt":
|
||||
while row_e > end_point:
|
||||
@ -192,7 +180,7 @@ class CurrentDataProcess(QThread):
|
||||
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")
|
||||
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", "AnchorNotFound")
|
||||
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")
|
||||
elif flag == "gt":
|
||||
while row_e > end_point:
|
||||
speed_avg = df.iloc[row_s:row_e].abs().mean()
|
||||
@ -208,9 +196,8 @@ class CurrentDataProcess(QThread):
|
||||
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")
|
||||
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", "AnchorNotFound")
|
||||
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.handle_exception
|
||||
def get_row_number(self, threshold, flag, df, row_s, row_e, axis):
|
||||
count_1, count_2 = 0, 0
|
||||
if flag == "start" or flag == "end":
|
||||
@ -236,7 +223,6 @@ class CurrentDataProcess(QThread):
|
||||
self.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
|
||||
|
||||
@clibs.handle_exception
|
||||
def p_single(self, wb, single, rrs):
|
||||
# 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑
|
||||
# 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑
|
||||
@ -316,7 +302,7 @@ class CurrentDataProcess(QThread):
|
||||
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}")
|
||||
if abs(row_end+row_start-2*row_middle) > 1000:
|
||||
self.logger("DEBUG", "current", f"{axis} 轴数据占空比异常！", "purple")
|
||||
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")
|
||||
|
||||
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):
|
||||
@ -340,7 +326,6 @@ class CurrentDataProcess(QThread):
|
||||
cell.value = None
|
||||
i += 1
|
||||
|
||||
@clibs.handle_exception
|
||||
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")
|
||||
for data_file in scenario:
|
||||
@ -359,7 +344,7 @@ 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...", "blue", "DataOverLimit")
|
||||
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")
|
||||
|
||||
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):
|
||||
@ -383,7 +368,6 @@ class CurrentDataProcess(QThread):
|
||||
ws.cell((i//4)+2, 1).value = None
|
||||
i += 1
|
||||
|
||||
@clibs.handle_exception
|
||||
def get_configs(self, config_file):
|
||||
try:
|
||||
if re.match("^[NXEC]B.*", config_file.split("/")[-1]):
|
||||
@ -412,10 +396,9 @@ class CurrentDataProcess(QThread):
|
||||
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}")
|
||||
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", "OpenFileError")
|
||||
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.handle_exception
|
||||
def processing(self):
|
||||
time_start = time.time()
|
||||
clibs.running[self.idx] = 1
|
||||
@ -432,5 +415,5 @@ class CurrentDataProcess(QThread):
|
||||
|
||||
self.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\n"
|
||||
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)
|
||||
|
||||
@ -7,20 +7,14 @@ from codes.common import clibs
|
||||
|
||||
|
||||
class IsoDataProcess(QThread):
|
||||
output = Signal(str, str)
|
||||
|
||||
def __init__(self, dir_path, /):
|
||||
super().__init__()
|
||||
self.dir_path = dir_path
|
||||
self.idx = 2
|
||||
self.logger = clibs.logger
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
|
||||
def p_iso(self, file, p_files, ws, tmpfile):
|
||||
@staticmethod
|
||||
def p_iso(file, p_files, ws, tmpfile):
|
||||
p_files.append(file)
|
||||
|
||||
pdf = pdfplumber.open(file)
|
||||
@ -79,7 +73,8 @@ class IsoDataProcess(QThread):
|
||||
pass
|
||||
pdf.close()
|
||||
|
||||
def p_iso_100(self, file, p_files, ws, tmpfile):
|
||||
@staticmethod
|
||||
def p_iso_100(file, p_files, ws, tmpfile):
|
||||
p_files.append(file)
|
||||
|
||||
pdf = pdfplumber.open(file)
|
||||
@ -112,7 +107,8 @@ class IsoDataProcess(QThread):
|
||||
pass
|
||||
pdf.close()
|
||||
|
||||
def p_iso_1000(self, file, p_files, ws, tmpfile):
|
||||
@staticmethod
|
||||
def p_iso_1000(file, p_files, ws, tmpfile):
|
||||
p_files.append(file)
|
||||
|
||||
pdf = pdfplumber.open(file)
|
||||
@ -146,9 +142,9 @@ class IsoDataProcess(QThread):
|
||||
pdf.close()
|
||||
|
||||
def initialization(self):
|
||||
dirs, files = clibs.traversal_files(self.dir_path, self.output)
|
||||
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", "InitFileError")
|
||||
self.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()
|
||||
@ -161,7 +157,7 @@ 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", "InitFileError")
|
||||
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")
|
||||
|
||||
return files
|
||||
|
||||
@ -178,8 +174,8 @@ class IsoDataProcess(QThread):
|
||||
ws = wb.active
|
||||
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", "FileOpenError")
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "iso", f"main: 无法打开文件 {filename}<br>{err}", "red")
|
||||
|
||||
p_files = []
|
||||
for file in files:
|
||||
@ -204,11 +200,11 @@ 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", "FileNotFound")
|
||||
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")
|
||||
else:
|
||||
os.remove(tmpfile)
|
||||
|
||||
self.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\n"
|
||||
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)
|
||||
|
||||
@ -8,18 +8,11 @@ from codes.common import clibs
|
||||
|
||||
|
||||
class WaveloggerDataProcess(QThread):
|
||||
output = Signal(str, str)
|
||||
|
||||
def __init__(self, dir_path, /):
|
||||
super().__init__()
|
||||
self.dir_path = dir_path
|
||||
self.idx = 3
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
self.logger = clibs.logger
|
||||
|
||||
def find_point(self, bof, step, margin, threshold, pos, data_file, flag, df, row):
|
||||
# bof: backward or forward
|
||||
@ -38,7 +31,7 @@ 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", "DataError")
|
||||
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")
|
||||
elif bof == "forward":
|
||||
row_target = row + margin # to end while loop in function `single_file_proc`
|
||||
elif flag == "lt":
|
||||
@ -52,7 +45,7 @@ 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", "DataError")
|
||||
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")
|
||||
elif bof == "forward":
|
||||
row_target = row + margin # to end while loop in function `single_file_proc`
|
||||
return row_target
|
||||
@ -85,11 +78,11 @@ class WaveloggerDataProcess(QThread):
|
||||
return row_end-row_middle, row_middle-row_start, row_end-row_start, df
|
||||
|
||||
def initialization(self):
|
||||
_, data_files = clibs.traversal_files(self.dir_path, self.output)
|
||||
_, data_files = clibs.traversal_files(self.dir_path)
|
||||
|
||||
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", "FileTypeError")
|
||||
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")
|
||||
|
||||
return data_files
|
||||
|
||||
@ -115,7 +108,7 @@ 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", "purple")
|
||||
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")
|
||||
|
||||
data[count].append(value)
|
||||
count_i += 1
|
||||
@ -157,5 +150,5 @@ class WaveloggerDataProcess(QThread):
|
||||
|
||||
self.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\n"
|
||||
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)
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
import threading
|
||||
import time
|
||||
import os
|
||||
import paramiko
|
||||
@ -9,27 +10,19 @@ from codes.common import clibs
|
||||
|
||||
|
||||
class DoBrakeTest(QThread):
|
||||
output = Signal(str, str)
|
||||
|
||||
def __init__(self, dir_path, tool, /):
|
||||
super().__init__()
|
||||
self.dir_path = dir_path
|
||||
self.tool = tool
|
||||
self.idx = 4
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
self.logger = clibs.logger
|
||||
|
||||
def initialization(self, data_dirs, data_files):
|
||||
@clibs.handle_exception
|
||||
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", "InitFileError")
|
||||
self.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:
|
||||
@ -45,7 +38,7 @@ class DoBrakeTest(QThread):
|
||||
elif filename.endswith(".zip"):
|
||||
prj_file = data_file
|
||||
else:
|
||||
self.logger("ERROR", "do_brake", msg, "red", "InitFileError")
|
||||
self.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")
|
||||
@ -64,9 +57,8 @@ class DoBrakeTest(QThread):
|
||||
|
||||
return config_file, prj_file, result_dirs
|
||||
else:
|
||||
self.logger("ERROR", "do_brake", msg, "red", "InitFileError")
|
||||
self.logger("ERROR", "do_brake", msg, "red")
|
||||
|
||||
@clibs.handle_exception
|
||||
def get_configs():
|
||||
robot_type = None
|
||||
msg_id = clibs.c_hr.execution("controller.get_params")
|
||||
@ -82,7 +74,7 @@ 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", "OpenFileError")
|
||||
self.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"]
|
||||
@ -97,7 +89,6 @@ class DoBrakeTest(QThread):
|
||||
self.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
|
||||
|
||||
@clibs.handle_exception
|
||||
def gen_result_file(self, axis, end_time, reach, load, speed, speed_max, rounds):
|
||||
d_vel, d_trq, d_stop, threshold = [], [], [], 0.95
|
||||
s_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(end_time-clibs.INTERVAL*12))
|
||||
@ -133,7 +124,7 @@ class DoBrakeTest(QThread):
|
||||
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")
|
||||
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")
|
||||
|
||||
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
|
||||
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
|
||||
@ -143,7 +134,6 @@ class DoBrakeTest(QThread):
|
||||
df.to_csv(filename, sep="\t", index=False)
|
||||
|
||||
@staticmethod
|
||||
@clibs.handle_exception
|
||||
def change_curve_state(stat):
|
||||
if not stat:
|
||||
display_pdo_params = []
|
||||
@ -153,7 +143,6 @@ class DoBrakeTest(QThread):
|
||||
clibs.c_hr.execution("diagnosis.open", open=stat, display_open=stat)
|
||||
clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params)
|
||||
|
||||
@clibs.handle_exception
|
||||
def run_rl(self, config_file, prj_file, result_dirs, avs):
|
||||
count, total, speed_target = 0, 63, 0
|
||||
prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
|
||||
@ -172,7 +161,7 @@ class DoBrakeTest(QThread):
|
||||
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", "DirectionError")
|
||||
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")
|
||||
|
||||
self.change_curve_state(True)
|
||||
for condition in result_dirs:
|
||||
@ -194,7 +183,7 @@ class DoBrakeTest(QThread):
|
||||
continue
|
||||
|
||||
clibs.c_md.write_axis(axis)
|
||||
self.logger("INFO", "brake", "-" * 90, "purple", flag="signal")
|
||||
self.logger("INFO", "brake", "-" * 90, "purple")
|
||||
speed_max = 0
|
||||
for rounds in range(1, 4):
|
||||
count += 1
|
||||
@ -207,7 +196,7 @@ class DoBrakeTest(QThread):
|
||||
# 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)
|
||||
clibs.c_md.r_soft_estop(1)
|
||||
clibs.c_ec.setdo_value(io_name, "true")
|
||||
clibs.c_ec.sr_string(f"setdo:{io_name},true")
|
||||
clibs.c_md.r_reset_estop()
|
||||
clibs.c_md.r_clear_alarm()
|
||||
clibs.c_md.write_act(0)
|
||||
@ -251,7 +240,7 @@ 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", "ReadySignalTimeoutError")
|
||||
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")
|
||||
# 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()))
|
||||
@ -261,7 +250,6 @@ class DoBrakeTest(QThread):
|
||||
|
||||
# 找出最大速度
|
||||
@clibs.db_lock
|
||||
@clibs.handle_exception
|
||||
def get_speed_max():
|
||||
_speed_max = 0
|
||||
clibs.cursor.execute(f"SELECT content FROM logs WHERE timestamp BETWEEN '{start_time}' AND '{end_time}' AND content LIKE '%diagnosis.result%' ORDER BY id ASC")
|
||||
@ -292,7 +280,7 @@ class DoBrakeTest(QThread):
|
||||
break
|
||||
|
||||
while 1:
|
||||
clibs.c_ec.setdo_value(io_name, "true")
|
||||
clibs.c_ec.sr_string(f"setdo:{io_name},true")
|
||||
clibs.c_md.r_reset_estop()
|
||||
clibs.c_md.r_clear_alarm()
|
||||
clibs.c_md.write_act(0)
|
||||
@ -310,7 +298,7 @@ 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", "RlProgramStartTimeout")
|
||||
self.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:
|
||||
@ -319,15 +307,14 @@ 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", "ReadySignalTimeoutError")
|
||||
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.handle_exception
|
||||
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", "BrakeTimeoutError")
|
||||
self.logger("ERROR", "do_brake", "20s 内未触发急停，需排查......", "red")
|
||||
|
||||
try:
|
||||
clibs.lock.acquire(True)
|
||||
@ -344,7 +331,7 @@ class DoBrakeTest(QThread):
|
||||
speed_moment = clibs.RADIAN * sum(item["value"]) / len(item["value"])
|
||||
if abs(speed_moment) > speed_max - 2:
|
||||
if (pon == "positive" and speed_moment > 0) or (pon == "negative" and speed_moment < 0):
|
||||
clibs.c_ec.setdo_value(io_name, "false")
|
||||
clibs.c_ec.sr_string(f"setdo:{io_name},false")
|
||||
time.sleep(clibs.INTERVAL*2) # wait speed goes down to 0
|
||||
flag = False
|
||||
break
|
||||
@ -364,14 +351,16 @@ class DoBrakeTest(QThread):
|
||||
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.handle_exception
|
||||
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", "NetworkError")
|
||||
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")
|
||||
t = threading.Thread(target=clibs.running_detection, args=(self.idx, ))
|
||||
t.daemon = True
|
||||
t.start()
|
||||
|
||||
data_dirs, data_files = clibs.traversal_files(self.dir_path, self.output)
|
||||
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)
|
||||
|
||||
@ -8,27 +8,19 @@ from codes.common import clibs
|
||||
|
||||
|
||||
class DoCurrentTest(QThread):
|
||||
output = Signal(str, str)
|
||||
|
||||
def __init__(self, dir_path, tool, /):
|
||||
super().__init__()
|
||||
self.dir_path = dir_path
|
||||
self.tool = tool
|
||||
self.idx = 5
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
self.logger = clibs.logger
|
||||
|
||||
def initialization(self, data_dirs, data_files):
|
||||
@clibs.handle_exception
|
||||
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", "InitFileError")
|
||||
self.logger("ERROR", "do_current", msg, "red")
|
||||
|
||||
prj_file, count = None, 0
|
||||
for data_file in data_files:
|
||||
@ -39,10 +31,10 @@ class DoCurrentTest(QThread):
|
||||
count += 1
|
||||
prj_file = data_file
|
||||
else:
|
||||
self.logger("ERROR", "do_current", msg, "red", "InitFileError")
|
||||
self.logger("ERROR", "do_current", msg, "red")
|
||||
|
||||
if count != 2:
|
||||
self.logger("ERROR", "do_current", msg, "red", "InitFileError")
|
||||
self.logger("ERROR", "do_current", msg, "red")
|
||||
|
||||
if self.tool == "tool100":
|
||||
os.mkdir(f"{self.dir_path}/single")
|
||||
@ -52,11 +44,10 @@ 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", "LoadSelectError")
|
||||
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")
|
||||
|
||||
return prj_file
|
||||
|
||||
@clibs.handle_exception
|
||||
def get_configs():
|
||||
robot_type = None
|
||||
msg_id = clibs.c_hr.execution("controller.get_params")
|
||||
@ -74,7 +65,6 @@ class DoCurrentTest(QThread):
|
||||
self.logger("INFO", "do_current", "数据目录合规性检查结束，未发现问题......", "green")
|
||||
return _prj_file
|
||||
|
||||
@clibs.handle_exception
|
||||
def single_axis_proc(self, records, number):
|
||||
text = "single" if number < 6 else "hold"
|
||||
number = number if number < 6 else number - 6
|
||||
@ -100,7 +90,6 @@ class DoCurrentTest(QThread):
|
||||
filename = f"{self.dir_path}/single/j{number + 1}_{text}_{time.time()}.data"
|
||||
df.to_csv(filename, sep="\t", index=False)
|
||||
|
||||
@clibs.handle_exception
|
||||
def scenario_proc(self, records, number, scenario_time):
|
||||
d_vel, d_trq, d_sensor, d_trans = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
|
||||
for record in records:
|
||||
@ -126,9 +115,7 @@ class DoCurrentTest(QThread):
|
||||
filename = f"{self.dir_path}/s_{number-11}/j{axis+1}_s_{number-11}_{scenario_time}_{time.time()}.data"
|
||||
df.to_csv(filename, sep="\t", index=False)
|
||||
|
||||
@clibs.handle_exception
|
||||
def gen_result_file(self, number, start_time, end_time, scenario_time):
|
||||
@clibs.handle_exception
|
||||
def get_records():
|
||||
s_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(start_time))
|
||||
e_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(end_time+clibs.INTERVAL))
|
||||
@ -152,14 +139,12 @@ class DoCurrentTest(QThread):
|
||||
t.start()
|
||||
|
||||
@staticmethod
|
||||
@clibs.handle_exception
|
||||
def change_curve_state(stat):
|
||||
curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res"]
|
||||
display_pdo_params = [] if not stat else [{"name": curve, "channel": chl} for curve in curves for chl in range(6)]
|
||||
clibs.c_hr.execution("diagnosis.open", open=stat, display_open=stat)
|
||||
clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params)
|
||||
|
||||
@clibs.handle_exception
|
||||
def run_rl(self, prj_file):
|
||||
prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
|
||||
c_regular = [
|
||||
@ -235,7 +220,7 @@ 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", "ReadySignalTimeoutError")
|
||||
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")
|
||||
|
||||
# 4. 执行采集
|
||||
time.sleep(10) # 消除前 10s 的不稳定数据
|
||||
@ -256,7 +241,7 @@ class DoCurrentTest(QThread):
|
||||
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", "GetScenarioTimeError")
|
||||
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")
|
||||
time.sleep(20)
|
||||
|
||||
# 5.停止程序运行，保留数据并处理输出
|
||||
@ -271,14 +256,13 @@ class DoCurrentTest(QThread):
|
||||
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.handle_exception
|
||||
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", "NetworkError")
|
||||
self.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, self.output)
|
||||
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)
|
||||
|
||||
@ -2,14 +2,14 @@ import os
|
||||
import os.path
|
||||
import threading
|
||||
import sqlite3
|
||||
import time
|
||||
|
||||
from PySide6.QtCore import Signal, QThread
|
||||
|
||||
|
||||
def traversal_files(dir_path, signal):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径/信号/游标/功能编号
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
def traversal_files(dir_path):
|
||||
if not os.path.exists(dir_path):
|
||||
logger("ERROR", "clibs", f"数据文件夹{dir_path}不存在，请确认后重试......", "red", signal=signal)
|
||||
logger("ERROR", "clibs", f"数据文件夹{dir_path}不存在，请确认后重试......", color="red")
|
||||
else:
|
||||
dirs, files = [], []
|
||||
for item in os.scandir(dir_path):
|
||||
@ -56,33 +56,42 @@ def db_lock(func):
|
||||
return wrapper
|
||||
|
||||
|
||||
@db_lock
|
||||
def logger(level, module, content, color="black", flag="both", signal=""):
|
||||
global cursor
|
||||
if "move.monitor" in content:
|
||||
return
|
||||
class LoggerHandler(QThread):
|
||||
signal = Signal(str, str)
|
||||
|
||||
if flag == "signal":
|
||||
signal.emit(content, color)
|
||||
elif flag == "cursor":
|
||||
cursor.execute(f"INSERT INTO logs (level, module, content) VALUES (?, ?, ?)", (level, module, content))
|
||||
elif flag == "both":
|
||||
signal.emit(content, color)
|
||||
cursor.execute(f"INSERT INTO logs (level, module, content) VALUES (?, ?, ?)", (level, module, content))
|
||||
def __init__(self, /):
|
||||
super().__init__()
|
||||
|
||||
@db_lock
|
||||
def logger(self, level, module, content, color="black", flag="both"):
|
||||
global cursor
|
||||
if "move.monitor" in content:
|
||||
return
|
||||
|
||||
if level.upper() == "DEBUG":
|
||||
flag = "cursor"
|
||||
|
||||
if flag == "signal":
|
||||
self.signal.emit(content, color)
|
||||
elif flag == "cursor":
|
||||
cursor.execute(f"INSERT INTO logs (level, module, content) VALUES (?, ?, ?)", (level, module, content))
|
||||
elif flag == "both":
|
||||
self.signal.emit(content, color)
|
||||
cursor.execute(f"INSERT INTO logs (level, module, content) VALUES (?, ?, ?)", (level, module, content))
|
||||
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception()
|
||||
|
||||
|
||||
def handle_exception(func):
|
||||
def wrapper(*args, **kwargs):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception as err:
|
||||
print(f"{func.__name__} err = {err}")
|
||||
logger("DEBUG", "clibs", f"{func.__name__} err = {err}", flag="cursor")
|
||||
return wrapper
|
||||
def running_detection(idx):
|
||||
while True:
|
||||
time.sleep(INTERVAL*2)
|
||||
if not running[idx]:
|
||||
raise Exception("")
|
||||
|
||||
|
||||
PREFIX = "resources/assets" # for pyinstaller
|
||||
# PREFIX = "assets" # for local testing
|
||||
# PREFIX = "resources/assets" # for pyinstaller
|
||||
PREFIX = "assets" # for local testing
|
||||
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
|
||||
@ -91,7 +100,7 @@ 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
|
||||
c_md, c_hr, c_ec, c_pd, conn, cursor, search_records = None, None, None, None, None, None, None
|
||||
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
|
||||
|
||||
|
||||
@ -16,12 +16,12 @@ from codes.common import clibs
|
||||
|
||||
|
||||
class ModbusRequest(QThread):
|
||||
output = Signal(str, str)
|
||||
|
||||
def __init__(self, ip, port, /):
|
||||
super().__init__()
|
||||
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")
|
||||
@ -30,21 +30,11 @@ class ModbusRequest(QThread):
|
||||
if self.c.connect():
|
||||
self.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", "MdConnFailed")
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
self.logger("ERROR", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed!", "red")
|
||||
|
||||
def close(self):
|
||||
if self.c.connect():
|
||||
try:
|
||||
self.c.close()
|
||||
self.logger("INFO", "openapi", f"modbus: 关闭 Modbus 连接成功", "green")
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "openapi", f"modbus: 关闭 Modbus 连接失败：{err}", "red", "MdCloseFailed")
|
||||
self.c.close()
|
||||
self.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)
|
||||
@ -344,7 +334,6 @@ class HmiRequest(QThread):
|
||||
self.__port = port
|
||||
self.__port_xs = port_xs
|
||||
self.__close_hmi = False
|
||||
self.__is_connected = False
|
||||
self.__index = 0
|
||||
self.__previous_data = b""
|
||||
self.__valid_data_length = 0
|
||||
@ -357,12 +346,10 @@ 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()
|
||||
self.__t_heartbeat = threading.Thread(target=self.__heartbeat)
|
||||
self.__t_heartbeat.daemon = True
|
||||
self.__t_heartbeat.start()
|
||||
self.__t_unpackage = threading.Thread(target=self.__unpackage, args=(self.c,))
|
||||
self.__t_unpackage.daemon = True
|
||||
self.__t_unpackage.start()
|
||||
@ -370,30 +357,13 @@ class HmiRequest(QThread):
|
||||
self.__t_unpackage_xs.daemon = True
|
||||
self.__t_unpackage_xs.start()
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
|
||||
@property
|
||||
def status(self):
|
||||
return self.__is_connected
|
||||
|
||||
def close(self):
|
||||
if self.__is_connected:
|
||||
try:
|
||||
self.__is_connected = False
|
||||
time.sleep(clibs.INTERVAL/2)
|
||||
self.c.close()
|
||||
self.c_xs.close()
|
||||
clibs.status["hmi"] = 0
|
||||
self.logger("INFO", "openapi", f"hmi: 关闭 Socket 连接成功", "green")
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "openapi", f"hmi: 关闭 Socket 连接失败 {err}", "red", "HmiCloseFailed")
|
||||
self.c.close()
|
||||
self.c_xs.close()
|
||||
self.logger("INFO", "openapi", f"hmi: 关闭 Socket 连接成功", "green")
|
||||
|
||||
def __socket_conn(self):
|
||||
self.close()
|
||||
# self.close()
|
||||
try:
|
||||
self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.c.settimeout(clibs.INTERVAL*5)
|
||||
@ -405,16 +375,11 @@ class HmiRequest(QThread):
|
||||
state = None
|
||||
for i in range(3):
|
||||
_ = self.execution("controller.heart")
|
||||
time.sleep(clibs.INTERVAL/2)
|
||||
self.__is_connected = True
|
||||
time.sleep(clibs.INTERVAL/4)
|
||||
clibs.status["hmi"] = 1
|
||||
self.logger("INFO", "openapi", "hmi: HMI connection success...", "green")
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "openapi", f"hmi: HMI connection timeout...", "red", "HmiConnTimeout")
|
||||
|
||||
def __heartbeat(self):
|
||||
while self.__is_connected:
|
||||
self.execution("controller.heart")
|
||||
time.sleep(clibs.INTERVAL*2)
|
||||
except Exception:
|
||||
self.logger("ERROR", "openapi", f"hmi: HMI connection failed...", "red")
|
||||
|
||||
@staticmethod
|
||||
def package(cmd):
|
||||
@ -439,13 +404,13 @@ class HmiRequest(QThread):
|
||||
try:
|
||||
sel = selectors.DefaultSelector()
|
||||
sel.register(sock, selectors.EVENT_READ, to_read)
|
||||
while self.__is_connected:
|
||||
while clibs.status["hmi"]:
|
||||
events = sel.select()
|
||||
for key, mask in events:
|
||||
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}", "red", "UnpackageFailed")
|
||||
except Exception as err:
|
||||
self.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):
|
||||
@ -458,7 +423,7 @@ 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}")
|
||||
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")
|
||||
else:
|
||||
self.__half_pkg = data[index:]
|
||||
self.__half_pkg_flag = True
|
||||
@ -681,7 +646,7 @@ 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", "WillNeverBeHere")
|
||||
self.logger("ERROR", "openapi", "hmi: will never be here", "red")
|
||||
|
||||
@staticmethod
|
||||
def package_xs(cmd):
|
||||
@ -701,13 +666,13 @@ class HmiRequest(QThread):
|
||||
sel = selectors.DefaultSelector()
|
||||
sel.register(sock, selectors.EVENT_READ, to_read)
|
||||
|
||||
while self.__is_connected:
|
||||
while clibs.status["hmi"]:
|
||||
events = sel.select()
|
||||
for key, mask in events:
|
||||
callback = key.data
|
||||
callback(key.fileobj, mask)
|
||||
except Exception as err:
|
||||
self.logger("DEBUG", "openapi", f"hmi: xService解包报错 {err}", "red", "XsUnpackageFailed")
|
||||
self.logger("DEBUG", "openapi", f"hmi: xService解包报错 err = {err}")
|
||||
|
||||
def get_response_xs(self, data):
|
||||
char, response = "", self.__response_xs
|
||||
@ -721,7 +686,6 @@ class HmiRequest(QThread):
|
||||
else:
|
||||
self.__response_xs = response
|
||||
|
||||
@clibs.handle_exception
|
||||
def get_from_id(self, msg_id):
|
||||
f_text, flag, records, time_delay, ts = f"%{msg_id}%", False, "Null", clibs.INTERVAL*10, msg_id.split("@")[-1]
|
||||
t = ts.replace("T", " ")
|
||||
@ -740,7 +704,7 @@ 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", "ResponseNotFound")
|
||||
self.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
|
||||
@ -752,7 +716,7 @@ class HmiRequest(QThread):
|
||||
flag = req["p_type"]
|
||||
del req["p_type"]
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "openapi", f"hmi: 暂不支持 {command} 功能，或确认该功能存在... {err}", "red", "CommandNotSupport")
|
||||
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")
|
||||
|
||||
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":
|
||||
@ -768,17 +732,19 @@ class HmiRequest(QThread):
|
||||
cmd = json.dumps(req, separators=(",", ":"))
|
||||
try:
|
||||
self.c.send(self.package(cmd))
|
||||
time.sleep(clibs.INTERVAL/4)
|
||||
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}")
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "openapi", f"hmi: 老协议请求发送失败 {cmd}，报错信息 {err}", "red", "CommandSendFailed")
|
||||
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")
|
||||
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}")
|
||||
except Exception as Err:
|
||||
self.logger("ERROR", "openapi", f"hr: xService请求发送失败 {req} 报错信息 {Err}", "red", "CommandSendFailed")
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "openapi", f"hr: xService请求发送失败 {req} 报错信息 {err}", "red")
|
||||
|
||||
return req["id"]
|
||||
|
||||
@ -796,7 +762,7 @@ 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", "ArgumentError")
|
||||
self.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
|
||||
"""
|
||||
@ -810,7 +776,7 @@ 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", "ArgumentError")
|
||||
self.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
|
||||
"""
|
||||
@ -887,7 +853,7 @@ class HmiRequest(QThread):
|
||||
self.__sth_wrong("3min 内未能完成重新连接，需要查看后台控制器是否正常启动，或者 ip/port 是否正确")
|
||||
break
|
||||
for _ in range(3):
|
||||
if not self.__is_connected:
|
||||
if not clibs.status["hmi"]:
|
||||
break
|
||||
time.sleep(2)
|
||||
else:
|
||||
@ -1517,7 +1483,7 @@ 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", "ArgumentError")
|
||||
self.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
|
||||
@ -1772,8 +1738,6 @@ class HmiRequest(QThread):
|
||||
|
||||
|
||||
class ExternalCommunication(QThread):
|
||||
output = Signal(str, str)
|
||||
|
||||
def __init__(self, ip, port, /):
|
||||
super().__init__()
|
||||
self.c = None
|
||||
@ -1781,34 +1745,32 @@ 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"
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
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)
|
||||
# time.sleep(clibs.INTERVAL)
|
||||
clibs.c_hr.execution("socket.set_params", enable=False, ip="0.0.0.0", port=str(self.port), suffix="\r", type=1)
|
||||
time.sleep(clibs.INTERVAL)
|
||||
clibs.c_hr.execution("socket.set_params", enable=True, ip="0.0.0.0", port=str(self.port), suffix="\r", type=1)
|
||||
time.sleep(clibs.INTERVAL*2)
|
||||
# time.sleep(clibs.INTERVAL*2)
|
||||
self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.c.settimeout(clibs.INTERVAL*5)
|
||||
try:
|
||||
self.c.connect((self.ip, self.port))
|
||||
self.logger("INFO", "openapi", f"ec: 外部通信连接成功...", "green")
|
||||
return self.c
|
||||
# return self.c
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "openapi", f"ec: 外部通信连接失败... {err}", "red", "EcConnFailed")
|
||||
self.logger("ERROR", "openapi", f"ec: 外部通信连接失败... {err}", "red")
|
||||
|
||||
def close(self):
|
||||
if clibs.status["ec"]:
|
||||
try:
|
||||
self.c.close()
|
||||
self.logger("INFO", "openapi", f"ec: 关闭外部通信连接成功", "green")
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "openapi", f"ec: 关闭外部通信连接失败：{err}", "red", "EcCloseFailed")
|
||||
self.c.close()
|
||||
self.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):
|
||||
self.s_string(directive)
|
||||
time.sleep(interval)
|
||||
result = self.r_string(directive)
|
||||
return result
|
||||
|
||||
def s_string(self, directive):
|
||||
order = "".join([directive, self.suffix])
|
||||
@ -1820,7 +1782,7 @@ class ExternalCommunication(QThread):
|
||||
try:
|
||||
char = self.c.recv(1).decode(encoding="unicode_escape")
|
||||
except Exception as err:
|
||||
self.logger("ERROR", "openapi", f"ec: 获取请求指令 {directive} 的返回数据超时，需确认指令发送格式以及内容正确！具体报错信息如下 {err}", "red", "RecvMsgFailed")
|
||||
self.logger("ERROR", "openapi", f"ec: 获取请求指令 {directive} 的返回数据超时，需确认指令发送格式以及内容正确！具体报错信息如下 {err}", "red")
|
||||
result = "".join([result, char])
|
||||
return result
|
||||
|
||||
@ -2057,7 +2019,7 @@ class ExternalCommunication(QThread):
|
||||
|
||||
def __exec_cmd(self, directive, description, more_desc=""):
|
||||
self.s_string(directive)
|
||||
time.sleep(clibs.INTERVAL)
|
||||
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}")
|
||||
return result
|
||||
@ -2082,7 +2044,6 @@ class PreDos(object):
|
||||
print(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}")
|
||||
raise Exception("SshConnFailed")
|
||||
|
||||
@clibs.handle_exception
|
||||
def push_prj_to_server(self, prj_file):
|
||||
# prj_file：本地工程完整路径
|
||||
self.__ssh2server()
|
||||
@ -2151,7 +2112,6 @@ class PreDos(object):
|
||||
|
||||
class RobotInit(object):
|
||||
@staticmethod
|
||||
@clibs.handle_exception
|
||||
def modbus_init():
|
||||
clibs.c_pd = PreDos(clibs.ip_addr, clibs.ssh_port, clibs.username, clibs.password)
|
||||
# 推送配置文件
|
||||
|
||||
@ -10,7 +10,6 @@ from codes.common import clibs
|
||||
|
||||
|
||||
class DoFactoryTest(QThread):
|
||||
output = Signal(str, str)
|
||||
curve_map = {
|
||||
"周期内平均转矩": ["device_servo_trq_feedback", ],
|
||||
"周期内最大速度": ["hw_joint_vel_feedback", ],
|
||||
@ -23,32 +22,25 @@ class DoFactoryTest(QThread):
|
||||
self.procs = procs
|
||||
self.idx = 6
|
||||
self.curves = []
|
||||
|
||||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||||
flag = "cursor" if level.upper() == "DEBUG" else "both"
|
||||
clibs.logger(level, module, content, color, flag, signal=self.output)
|
||||
if level.upper() == "ERROR":
|
||||
raise Exception(f"{error} | {content}")
|
||||
self.logger = clibs.logger
|
||||
|
||||
def initialization(self, data_dirs, data_files):
|
||||
@clibs.handle_exception
|
||||
def check_files():
|
||||
for proc_name, is_enabled in self.procs.items():
|
||||
if is_enabled:
|
||||
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", "CurveNameError")
|
||||
self.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", "InitFileError")
|
||||
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")
|
||||
|
||||
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", "ProjectFileError")
|
||||
self.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]
|
||||
|
||||
@clibs.handle_exception
|
||||
def get_configs():
|
||||
robot_type, records = None, None
|
||||
msg_id = clibs.c_hr.execution("controller.get_params")
|
||||
@ -64,7 +56,7 @@ class DoFactoryTest(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", "factory", f"无法打开 {local_file}<br>{Err}", "red", "OpenFileError")
|
||||
self.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"]
|
||||
@ -86,13 +78,11 @@ class DoFactoryTest(QThread):
|
||||
self.logger("INFO", "factory", "数据目录合规性检查结束，未发现问题......", "green")
|
||||
return params
|
||||
|
||||
@clibs.handle_exception
|
||||
def change_curve_state(self, stat):
|
||||
display_pdo_params = [{"name": name, "channel": chl} for name in self.curves for chl in range(6)]
|
||||
clibs.c_hr.execution("diagnosis.open", open=stat, display_open=stat)
|
||||
clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params)
|
||||
|
||||
@clibs.handle_exception
|
||||
def run_rl(self, params):
|
||||
prj_file, interval = params["prj_file"], params["interval"]
|
||||
# 1. 关闭诊断曲线，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
|
||||
@ -123,7 +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", "ReadySignalTimeoutError")
|
||||
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")
|
||||
else:
|
||||
time.sleep(clibs.INTERVAL)
|
||||
|
||||
@ -138,7 +128,7 @@ class DoFactoryTest(QThread):
|
||||
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", "GetScenarioTimeError")
|
||||
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")
|
||||
|
||||
# 6. 准备数据保存文件
|
||||
for proc_name, is_enabled in self.procs.items():
|
||||
@ -180,7 +170,6 @@ class DoFactoryTest(QThread):
|
||||
self.change_curve_state(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.handle_exception
|
||||
def gen_results(self, params, start_time, end_time):
|
||||
s_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(start_time))
|
||||
e_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(end_time))
|
||||
@ -193,7 +182,6 @@ class DoFactoryTest(QThread):
|
||||
|
||||
self.data_proc(records, params)
|
||||
|
||||
@clibs.handle_exception
|
||||
def data_proc(self, records, params):
|
||||
for proc_name, is_enabled in self.procs.items():
|
||||
if not is_enabled:
|
||||
@ -210,7 +198,6 @@ class DoFactoryTest(QThread):
|
||||
t.daemon = True
|
||||
t.start()
|
||||
|
||||
@clibs.handle_exception
|
||||
def get_avg_trq(self, records, params, proc_name):
|
||||
d_trq, results = [[], [], [], [], [], []], [time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))]
|
||||
for record in records:
|
||||
@ -231,7 +218,6 @@ class DoFactoryTest(QThread):
|
||||
csv_writer = csv.writer(f_csv)
|
||||
csv_writer.writerow(results)
|
||||
|
||||
@clibs.handle_exception
|
||||
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()))]
|
||||
for record in records:
|
||||
@ -255,7 +241,6 @@ class DoFactoryTest(QThread):
|
||||
@staticmethod
|
||||
def detect_db_size():
|
||||
@clibs.db_lock
|
||||
@clibs.handle_exception
|
||||
def release_memory():
|
||||
line_number = 20000
|
||||
leftover = 4000 # 200s
|
||||
@ -272,18 +257,17 @@ class DoFactoryTest(QThread):
|
||||
release_memory()
|
||||
time.sleep(clibs.INTERVAL*10)
|
||||
|
||||
@clibs.handle_exception
|
||||
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", "NetworkError")
|
||||
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()
|
||||
|
||||
data_dirs, data_files = clibs.traversal_files(self.dir_path, self.output)
|
||||
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)
|
||||
|
||||
@ -19,15 +19,15 @@ from PySide6.QtWidgets import (QApplication, QCheckBox, QComboBox, QFormLayout,
|
||||
QFrame, QHBoxLayout, QHeaderView, QLabel,
|
||||
QLineEdit, QMainWindow, QPlainTextEdit, QPushButton,
|
||||
QScrollArea, QSizePolicy, QSpacerItem, QStackedWidget,
|
||||
QStatusBar, QTabWidget, QTreeWidget, QTreeWidgetItem,
|
||||
QVBoxLayout, QWidget)
|
||||
QStatusBar, QTabWidget, QToolButton, QTreeWidget,
|
||||
QTreeWidgetItem, QVBoxLayout, QWidget)
|
||||
|
||||
class Ui_MainWindow(QMainWindow):
|
||||
def setupUi(self, MainWindow):
|
||||
if not MainWindow.objectName():
|
||||
MainWindow.setObjectName(u"MainWindow")
|
||||
MainWindow.setEnabled(True)
|
||||
MainWindow.resize(1004, 560)
|
||||
MainWindow.resize(1006, 568)
|
||||
sizePolicy = QSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Expanding)
|
||||
sizePolicy.setHorizontalStretch(0)
|
||||
sizePolicy.setVerticalStretch(0)
|
||||
@ -174,18 +174,15 @@ class Ui_MainWindow(QMainWindow):
|
||||
|
||||
self.horizontalLayout.addWidget(self.le_data_path)
|
||||
|
||||
self.btn_data_open = QPushButton(self.tab_data)
|
||||
self.btn_data_open.setObjectName(u"btn_data_open")
|
||||
self.btn_data_open.setMaximumSize(QSize(30, 16777215))
|
||||
self.btn_data_open.setFont(font4)
|
||||
self.toolButton = QToolButton(self.tab_data)
|
||||
self.toolButton.setObjectName(u"toolButton")
|
||||
|
||||
self.horizontalLayout.addWidget(self.btn_data_open)
|
||||
self.horizontalLayout.addWidget(self.toolButton)
|
||||
|
||||
self.horizontalLayout.setStretch(0, 1)
|
||||
self.horizontalLayout.setStretch(1, 1)
|
||||
self.horizontalLayout.setStretch(2, 1)
|
||||
self.horizontalLayout.setStretch(3, 10)
|
||||
self.horizontalLayout.setStretch(4, 1)
|
||||
|
||||
self.verticalLayout.addLayout(self.horizontalLayout)
|
||||
|
||||
@ -235,18 +232,15 @@ class Ui_MainWindow(QMainWindow):
|
||||
|
||||
self.hl_2_unit1.addWidget(self.le_unit_path)
|
||||
|
||||
self.btn_unit_open = QPushButton(self.tab_unit)
|
||||
self.btn_unit_open.setObjectName(u"btn_unit_open")
|
||||
self.btn_unit_open.setMaximumSize(QSize(30, 16777215))
|
||||
self.btn_unit_open.setFont(font4)
|
||||
self.toolButton_2 = QToolButton(self.tab_unit)
|
||||
self.toolButton_2.setObjectName(u"toolButton_2")
|
||||
|
||||
self.hl_2_unit1.addWidget(self.btn_unit_open)
|
||||
self.hl_2_unit1.addWidget(self.toolButton_2)
|
||||
|
||||
self.hl_2_unit1.setStretch(0, 1)
|
||||
self.hl_2_unit1.setStretch(1, 1)
|
||||
self.hl_2_unit1.setStretch(2, 1)
|
||||
self.hl_2_unit1.setStretch(3, 10)
|
||||
self.hl_2_unit1.setStretch(4, 1)
|
||||
|
||||
self.verticalLayout_2.addLayout(self.hl_2_unit1)
|
||||
|
||||
@ -287,7 +281,7 @@ class Ui_MainWindow(QMainWindow):
|
||||
self.sa_durable.setWidgetResizable(True)
|
||||
self.scrollAreaWidgetContents = QWidget()
|
||||
self.scrollAreaWidgetContents.setObjectName(u"scrollAreaWidgetContents")
|
||||
self.scrollAreaWidgetContents.setGeometry(QRect(0, 0, 212, 78))
|
||||
self.scrollAreaWidgetContents.setGeometry(QRect(0, 0, 213, 78))
|
||||
self.horizontalLayout_9 = QHBoxLayout(self.scrollAreaWidgetContents)
|
||||
self.horizontalLayout_9.setObjectName(u"horizontalLayout_9")
|
||||
self.verticalLayout_5 = QVBoxLayout()
|
||||
@ -343,13 +337,14 @@ class Ui_MainWindow(QMainWindow):
|
||||
|
||||
self.horizontalLayout_6.addWidget(self.le_durable_path)
|
||||
|
||||
self.btn_durable_open = QPushButton(self.tab_durable)
|
||||
self.btn_durable_open.setObjectName(u"btn_durable_open")
|
||||
self.btn_durable_open.setMaximumSize(QSize(30, 16777215))
|
||||
self.btn_durable_open.setFont(font4)
|
||||
self.toolButton_3 = QToolButton(self.tab_durable)
|
||||
self.toolButton_3.setObjectName(u"toolButton_3")
|
||||
|
||||
self.horizontalLayout_6.addWidget(self.btn_durable_open)
|
||||
self.horizontalLayout_6.addWidget(self.toolButton_3)
|
||||
|
||||
self.horizontalLayout_6.setStretch(0, 1)
|
||||
self.horizontalLayout_6.setStretch(1, 10)
|
||||
self.horizontalLayout_6.setStretch(2, 1)
|
||||
|
||||
self.verticalLayout_6.addLayout(self.horizontalLayout_6)
|
||||
|
||||
@ -371,17 +366,8 @@ class Ui_MainWindow(QMainWindow):
|
||||
|
||||
self.horizontalLayout_7.addWidget(self.le_durable_interval)
|
||||
|
||||
self.label_10 = QLabel(self.tab_durable)
|
||||
self.label_10.setObjectName(u"label_10")
|
||||
sizePolicy2 = QSizePolicy(QSizePolicy.Policy.Fixed, QSizePolicy.Policy.Preferred)
|
||||
sizePolicy2.setHorizontalStretch(0)
|
||||
sizePolicy2.setVerticalStretch(0)
|
||||
sizePolicy2.setHeightForWidth(self.label_10.sizePolicy().hasHeightForWidth())
|
||||
self.label_10.setSizePolicy(sizePolicy2)
|
||||
self.label_10.setMinimumSize(QSize(30, 0))
|
||||
|
||||
self.horizontalLayout_7.addWidget(self.label_10)
|
||||
|
||||
self.horizontalLayout_7.setStretch(0, 1)
|
||||
self.horizontalLayout_7.setStretch(1, 10)
|
||||
|
||||
self.verticalLayout_6.addLayout(self.horizontalLayout_7)
|
||||
|
||||
@ -505,10 +491,10 @@ class Ui_MainWindow(QMainWindow):
|
||||
|
||||
self.horizontalLayout_5.addWidget(self.pte_hmi_send)
|
||||
|
||||
self.pte_him_recv = QPlainTextEdit(self.page)
|
||||
self.pte_him_recv.setObjectName(u"pte_him_recv")
|
||||
self.pte_hmi_recv = QPlainTextEdit(self.page)
|
||||
self.pte_hmi_recv.setObjectName(u"pte_hmi_recv")
|
||||
|
||||
self.horizontalLayout_5.addWidget(self.pte_him_recv)
|
||||
self.horizontalLayout_5.addWidget(self.pte_hmi_recv)
|
||||
|
||||
|
||||
self.verticalLayout_10.addLayout(self.horizontalLayout_5)
|
||||
@ -746,23 +732,23 @@ class Ui_MainWindow(QMainWindow):
|
||||
|
||||
self.verticalLayout_4 = QVBoxLayout()
|
||||
self.verticalLayout_4.setObjectName(u"verticalLayout_4")
|
||||
self.pushButton = QPushButton(self.tab_network)
|
||||
self.pushButton.setObjectName(u"pushButton")
|
||||
self.pushButton.setFont(font5)
|
||||
self.hmi_btn = QPushButton(self.tab_network)
|
||||
self.hmi_btn.setObjectName(u"hmi_btn")
|
||||
self.hmi_btn.setFont(font5)
|
||||
|
||||
self.verticalLayout_4.addWidget(self.pushButton)
|
||||
self.verticalLayout_4.addWidget(self.hmi_btn)
|
||||
|
||||
self.pushButton_2 = QPushButton(self.tab_network)
|
||||
self.pushButton_2.setObjectName(u"pushButton_2")
|
||||
self.pushButton_2.setFont(font5)
|
||||
self.md_btn = QPushButton(self.tab_network)
|
||||
self.md_btn.setObjectName(u"md_btn")
|
||||
self.md_btn.setFont(font5)
|
||||
|
||||
self.verticalLayout_4.addWidget(self.pushButton_2)
|
||||
self.verticalLayout_4.addWidget(self.md_btn)
|
||||
|
||||
self.pushButton_3 = QPushButton(self.tab_network)
|
||||
self.pushButton_3.setObjectName(u"pushButton_3")
|
||||
self.pushButton_3.setFont(font5)
|
||||
self.ec_btn = QPushButton(self.tab_network)
|
||||
self.ec_btn.setObjectName(u"ec_btn")
|
||||
self.ec_btn.setFont(font5)
|
||||
|
||||
self.verticalLayout_4.addWidget(self.pushButton_3)
|
||||
self.verticalLayout_4.addWidget(self.ec_btn)
|
||||
|
||||
|
||||
self.horizontalLayout_12.addLayout(self.verticalLayout_4)
|
||||
@ -877,11 +863,11 @@ class Ui_MainWindow(QMainWindow):
|
||||
MainWindow.setCentralWidget(self.centralwidget)
|
||||
self.statusbar = QStatusBar(MainWindow)
|
||||
self.statusbar.setObjectName(u"statusbar")
|
||||
sizePolicy3 = QSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Fixed)
|
||||
sizePolicy3.setHorizontalStretch(0)
|
||||
sizePolicy3.setVerticalStretch(0)
|
||||
sizePolicy3.setHeightForWidth(self.statusbar.sizePolicy().hasHeightForWidth())
|
||||
self.statusbar.setSizePolicy(sizePolicy3)
|
||||
sizePolicy2 = QSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Fixed)
|
||||
sizePolicy2.setHorizontalStretch(0)
|
||||
sizePolicy2.setVerticalStretch(0)
|
||||
sizePolicy2.setHeightForWidth(self.statusbar.sizePolicy().hasHeightForWidth())
|
||||
self.statusbar.setSizePolicy(sizePolicy2)
|
||||
self.statusbar.setMinimumSize(QSize(0, 27))
|
||||
self.statusbar.setStyleSheet(u"background-color: rgb(200, 200, 200);")
|
||||
MainWindow.setStatusBar(self.statusbar)
|
||||
@ -890,11 +876,8 @@ class Ui_MainWindow(QMainWindow):
|
||||
self.btn_start.clicked.connect(MainWindow.prog_start)
|
||||
self.btn_stop.clicked.connect(MainWindow.prog_stop)
|
||||
self.btn_reset.clicked.connect(MainWindow.prog_reset)
|
||||
self.btn_durable_open.clicked.connect(MainWindow.file_browser)
|
||||
self.btn_draw.clicked.connect(MainWindow.curve_draw)
|
||||
self.cb_durable_total.checkStateChanged.connect(MainWindow.durable_cb_change)
|
||||
self.btn_unit_open.clicked.connect(MainWindow.file_browser)
|
||||
self.btn_data_open.clicked.connect(MainWindow.file_browser)
|
||||
self.btn_docs_previous.clicked.connect(MainWindow.pre_page)
|
||||
self.btn_docs_realtime.clicked.connect(MainWindow.realtime_page)
|
||||
self.btn_docs_next.clicked.connect(MainWindow.next_page)
|
||||
@ -902,9 +885,9 @@ class Ui_MainWindow(QMainWindow):
|
||||
self.le_docs_search.returnPressed.connect(MainWindow.search_keyword)
|
||||
self.cb_hmi_cmd.currentTextChanged.connect(MainWindow.hmi_cb_change)
|
||||
self.btn_hmi_send.clicked.connect(MainWindow.hmi_send)
|
||||
self.pushButton.clicked.connect(MainWindow.hmi_page)
|
||||
self.pushButton_2.clicked.connect(MainWindow.md_page)
|
||||
self.pushButton_3.clicked.connect(MainWindow.ec_page)
|
||||
self.hmi_btn.clicked.connect(MainWindow.hmi_page)
|
||||
self.md_btn.clicked.connect(MainWindow.md_page)
|
||||
self.ec_btn.clicked.connect(MainWindow.ec_page)
|
||||
self.cb_md_cmd.currentTextChanged.connect(MainWindow.md_cb_change)
|
||||
self.btn_md_send.clicked.connect(MainWindow.md_send)
|
||||
self.btn_ec_send.clicked.connect(MainWindow.ec_send)
|
||||
@ -916,6 +899,10 @@ class Ui_MainWindow(QMainWindow):
|
||||
self.le_hmi_ip.returnPressed.connect(MainWindow.hmi_conn)
|
||||
self.tw_docs.currentChanged.connect(MainWindow.switch_log_tab)
|
||||
self.treew_log.itemDoubleClicked.connect(MainWindow.show_item_content)
|
||||
self.cb_data_func.currentTextChanged.connect(MainWindow.data_cb_change)
|
||||
self.toolButton.clicked.connect(MainWindow.file_browser)
|
||||
self.toolButton_2.clicked.connect(MainWindow.file_browser)
|
||||
self.toolButton_3.clicked.connect(MainWindow.file_browser)
|
||||
|
||||
self.tw_funcs.setCurrentIndex(0)
|
||||
self.sw_network.setCurrentIndex(0)
|
||||
@ -941,7 +928,7 @@ class Ui_MainWindow(QMainWindow):
|
||||
self.cb_data_current.setItemText(2, QCoreApplication.translate("MainWindow", u"\u5e73\u5747\u503c", None))
|
||||
|
||||
self.label_4.setText(QCoreApplication.translate("MainWindow", u"\u8def\u5f84", None))
|
||||
self.btn_data_open.setText(QCoreApplication.translate("MainWindow", u"...", None))
|
||||
self.toolButton.setText(QCoreApplication.translate("MainWindow", u"...", None))
|
||||
self.tw_funcs.setTabText(self.tw_funcs.indexOf(self.tab_data), QCoreApplication.translate("MainWindow", u"\u6570\u636e\u5904\u7406", None))
|
||||
self.cb_unit_func.setItemText(0, QCoreApplication.translate("MainWindow", u"\u5236\u52a8", None))
|
||||
self.cb_unit_func.setItemText(1, QCoreApplication.translate("MainWindow", u"\u8f6c\u77e9", None))
|
||||
@ -952,19 +939,18 @@ class Ui_MainWindow(QMainWindow):
|
||||
self.cb_unit_tool.setItemText(3, QCoreApplication.translate("MainWindow", u"inertia", None))
|
||||
|
||||
self.label_6.setText(QCoreApplication.translate("MainWindow", u"\u8def\u5f84", None))
|
||||
self.btn_unit_open.setText(QCoreApplication.translate("MainWindow", u"...", None))
|
||||
self.toolButton_2.setText(QCoreApplication.translate("MainWindow", u"...", None))
|
||||
self.tw_funcs.setTabText(self.tw_funcs.indexOf(self.tab_unit), QCoreApplication.translate("MainWindow", u"\u6574\u673a\u6d4b\u8bd5", None))
|
||||
self.label_11.setText(QCoreApplication.translate("MainWindow", u"\u9009\u62e9\u6307\u6807", None))
|
||||
self.cb_1.setText(QCoreApplication.translate("MainWindow", u"\u5468\u671f\u5185\u5e73\u5747\u8f6c\u77e9", None))
|
||||
self.cb_2.setText(QCoreApplication.translate("MainWindow", u"\u5468\u671f\u5185\u6700\u5927\u901f\u5ea6", None))
|
||||
self.label_8.setText(QCoreApplication.translate("MainWindow", u"\u8def\u5f84", None))
|
||||
self.btn_durable_open.setText(QCoreApplication.translate("MainWindow", u"...", None))
|
||||
self.toolButton_3.setText(QCoreApplication.translate("MainWindow", u"...", None))
|
||||
self.label_9.setText(QCoreApplication.translate("MainWindow", u"\u95f4\u9694", None))
|
||||
#if QT_CONFIG(whatsthis)
|
||||
self.le_durable_interval.setWhatsThis("")
|
||||
#endif // QT_CONFIG(whatsthis)
|
||||
self.le_durable_interval.setPlaceholderText(QCoreApplication.translate("MainWindow", u"\u6bcf\u6b21\u6570\u636e\u91c7\u96c6\u7684\u65f6\u95f4\u95f4\u9694\uff0c\u9ed8\u8ba4(\u6700\u5c0f)300s", None))
|
||||
self.label_10.setText("")
|
||||
self.cb_durable_total.setText(QCoreApplication.translate("MainWindow", u"\u5168\u90e8\u6253\u5f00/\u5173\u95ed", None))
|
||||
self.btn_draw.setText(QCoreApplication.translate("MainWindow", u"\u7ed8\u56fe", None))
|
||||
self.label_3.setText("")
|
||||
@ -1053,16 +1039,16 @@ class Ui_MainWindow(QMainWindow):
|
||||
self.cb_ec_cmd.setItemText(52, QCoreApplication.translate("MainWindow", u"safe_door_open", None))
|
||||
self.cb_ec_cmd.setItemText(53, QCoreApplication.translate("MainWindow", u"soft_estop_state", None))
|
||||
self.cb_ec_cmd.setItemText(54, QCoreApplication.translate("MainWindow", u"cart_vel", None))
|
||||
self.cb_ec_cmd.setItemText(55, QCoreApplication.translate("MainWindow", u"tcp_pos", None))
|
||||
self.cb_ec_cmd.setItemText(55, QCoreApplication.translate("MainWindow", u"tcp_pose", None))
|
||||
self.cb_ec_cmd.setItemText(56, QCoreApplication.translate("MainWindow", u"tcp_vel", None))
|
||||
self.cb_ec_cmd.setItemText(57, QCoreApplication.translate("MainWindow", u"tcp_vel_mag", None))
|
||||
self.cb_ec_cmd.setItemText(58, QCoreApplication.translate("MainWindow", u"ext_estop_state", None))
|
||||
self.cb_ec_cmd.setItemText(59, QCoreApplication.translate("MainWindow", u"hand_estop_state", None))
|
||||
|
||||
self.btn_ec_send.setText(QCoreApplication.translate("MainWindow", u"\u53d1\u9001", None))
|
||||
self.pushButton.setText(QCoreApplication.translate("MainWindow", u"HMI", None))
|
||||
self.pushButton_2.setText(QCoreApplication.translate("MainWindow", u"Modbus", None))
|
||||
self.pushButton_3.setText(QCoreApplication.translate("MainWindow", u"EC", None))
|
||||
self.hmi_btn.setText(QCoreApplication.translate("MainWindow", u"HMI", None))
|
||||
self.md_btn.setText(QCoreApplication.translate("MainWindow", u"Modbus", None))
|
||||
self.ec_btn.setText(QCoreApplication.translate("MainWindow", u"EC", None))
|
||||
self.tw_funcs.setTabText(self.tw_funcs.indexOf(self.tab_network), QCoreApplication.translate("MainWindow", u"\u7f51\u7edc\u8bbe\u7f6e", None))
|
||||
self.tw_docs.setTabText(self.tw_docs.indexOf(self.tab_output), QCoreApplication.translate("MainWindow", u"\u8f93\u51fa", None))
|
||||
___qtreewidgetitem = self.treew_log.headerItem()
|
||||
|
||||
286
ui/main.ui
286
ui/main.ui
@ -9,8 +9,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1004</width>
|
||||
<height>563</height>
|
||||
<width>1006</width>
|
||||
<height>568</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
@ -248,7 +248,7 @@
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout" stretch="1,1,1,10,1">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout" stretch="1,1,1,10,0">
|
||||
<item>
|
||||
<widget class="QComboBox" name="cb_data_func">
|
||||
<property name="minimumSize">
|
||||
@ -346,19 +346,7 @@
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="btn_data_open">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<family>Consolas</family>
|
||||
<pointsize>12</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<widget class="QToolButton" name="toolButton">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
@ -387,7 +375,7 @@
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="hl_2_unit1" stretch="1,1,1,10,1">
|
||||
<layout class="QHBoxLayout" name="hl_2_unit1" stretch="1,1,1,10,0">
|
||||
<item>
|
||||
<widget class="QComboBox" name="cb_unit_func">
|
||||
<property name="minimumSize">
|
||||
@ -483,19 +471,7 @@
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="btn_unit_open">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<family>Consolas</family>
|
||||
<pointsize>12</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<widget class="QToolButton" name="toolButton_2">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
@ -583,7 +559,7 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>212</width>
|
||||
<width>213</width>
|
||||
<height>78</height>
|
||||
</rect>
|
||||
</property>
|
||||
@ -645,7 +621,7 @@
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_6">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_6">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,10,1">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="sizePolicy">
|
||||
@ -679,19 +655,7 @@
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="btn_durable_open">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<family>Consolas</family>
|
||||
<pointsize>12</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<widget class="QToolButton" name="toolButton_3">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
@ -700,7 +664,7 @@
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_7">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="1,10">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="sizePolicy">
|
||||
@ -742,25 +706,6 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@ -977,7 +922,7 @@
|
||||
<widget class="QPlainTextEdit" name="pte_hmi_send"/>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPlainTextEdit" name="pte_him_recv"/>
|
||||
<widget class="QPlainTextEdit" name="pte_hmi_recv"/>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
@ -1524,7 +1469,7 @@
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>tcp_pos</string>
|
||||
<string>tcp_pose</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
@ -1584,7 +1529,7 @@
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton">
|
||||
<widget class="QPushButton" name="hmi_btn">
|
||||
<property name="font">
|
||||
<font>
|
||||
<family>Consolas</family>
|
||||
@ -1598,7 +1543,7 @@
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_2">
|
||||
<widget class="QPushButton" name="md_btn">
|
||||
<property name="font">
|
||||
<font>
|
||||
<family>Consolas</family>
|
||||
@ -1612,7 +1557,7 @@
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_3">
|
||||
<widget class="QPushButton" name="ec_btn">
|
||||
<property name="font">
|
||||
<font>
|
||||
<family>Consolas</family>
|
||||
@ -1894,22 +1839,6 @@
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>btn_durable_open</sender>
|
||||
<signal>clicked()</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>file_browser()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>964</x>
|
||||
<y>69</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>990</x>
|
||||
<y>97</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>btn_draw</sender>
|
||||
<signal>clicked()</signal>
|
||||
@ -1917,8 +1846,8 @@
|
||||
<slot>curve_draw()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>692</x>
|
||||
<y>136</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>701</x>
|
||||
@ -1933,8 +1862,8 @@
|
||||
<slot>durable_cb_change()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>566</x>
|
||||
<y>135</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>546</x>
|
||||
@ -1942,38 +1871,6 @@
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>btn_unit_open</sender>
|
||||
<signal>clicked()</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>file_browser()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>981</x>
|
||||
<y>78</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>974</x>
|
||||
<y>181</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>btn_data_open</sender>
|
||||
<signal>clicked()</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>file_browser()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>964</x>
|
||||
<y>73</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>941</x>
|
||||
<y>180</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>btn_docs_previous</sender>
|
||||
<signal>clicked()</signal>
|
||||
@ -1981,8 +1878,8 @@
|
||||
<slot>pre_page()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>408</x>
|
||||
<y>507</y>
|
||||
<x>326</x>
|
||||
<y>266</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>307</x>
|
||||
@ -1997,8 +1894,8 @@
|
||||
<slot>realtime_page()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>489</x>
|
||||
<y>507</y>
|
||||
<x>326</x>
|
||||
<y>266</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>435</x>
|
||||
@ -2013,8 +1910,8 @@
|
||||
<slot>next_page()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>570</x>
|
||||
<y>507</y>
|
||||
<x>326</x>
|
||||
<y>266</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>520</x>
|
||||
@ -2029,8 +1926,8 @@
|
||||
<slot>search_keyword()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>730</x>
|
||||
<y>507</y>
|
||||
<x>326</x>
|
||||
<y>266</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>688</x>
|
||||
@ -2045,8 +1942,8 @@
|
||||
<slot>search_keyword()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>838</x>
|
||||
<y>505</y>
|
||||
<x>326</x>
|
||||
<y>266</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>932</x>
|
||||
@ -2061,7 +1958,7 @@
|
||||
<slot>hmi_cb_change()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>806</x>
|
||||
<x>475</x>
|
||||
<y>89</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
@ -2077,7 +1974,7 @@
|
||||
<slot>hmi_send()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>887</x>
|
||||
<x>335</x>
|
||||
<y>89</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
@ -2087,14 +1984,14 @@
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>pushButton</sender>
|
||||
<sender>hmi_btn</sender>
|
||||
<signal>clicked()</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>hmi_page()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>980</x>
|
||||
<y>85</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>744</x>
|
||||
@ -2103,14 +2000,14 @@
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>pushButton_2</sender>
|
||||
<sender>md_btn</sender>
|
||||
<signal>clicked()</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>md_page()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>980</x>
|
||||
<y>124</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>784</x>
|
||||
@ -2119,14 +2016,14 @@
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>pushButton_3</sender>
|
||||
<sender>ec_btn</sender>
|
||||
<signal>clicked()</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>ec_page()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>980</x>
|
||||
<y>163</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>969</x>
|
||||
@ -2141,8 +2038,8 @@
|
||||
<slot>md_cb_change()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>467</x>
|
||||
<y>81</y>
|
||||
<x>466</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>612</x>
|
||||
@ -2157,8 +2054,8 @@
|
||||
<slot>md_send()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>327</x>
|
||||
<y>81</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>795</x>
|
||||
@ -2173,8 +2070,8 @@
|
||||
<slot>ec_send()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>327</x>
|
||||
<y>81</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>652</x>
|
||||
@ -2189,7 +2086,7 @@
|
||||
<slot>hmi_conn()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>545</x>
|
||||
<x>335</x>
|
||||
<y>89</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
@ -2205,8 +2102,8 @@
|
||||
<slot>md_conn()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>327</x>
|
||||
<y>81</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>398</x>
|
||||
@ -2221,8 +2118,8 @@
|
||||
<slot>ec_conn()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>327</x>
|
||||
<y>81</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>412</x>
|
||||
@ -2237,8 +2134,8 @@
|
||||
<slot>check_interval()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>844</x>
|
||||
<y>97</y>
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>821</x>
|
||||
@ -2253,8 +2150,8 @@
|
||||
<slot>ec_cb_change()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>467</x>
|
||||
<y>81</y>
|
||||
<x>466</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>540</x>
|
||||
@ -2269,8 +2166,8 @@
|
||||
<slot>hmi_conn()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>420</x>
|
||||
<y>79</y>
|
||||
<x>385</x>
|
||||
<y>89</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>216</x>
|
||||
@ -2301,8 +2198,8 @@
|
||||
<slot>show_item_content()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>441</x>
|
||||
<y>321</y>
|
||||
<x>308</x>
|
||||
<y>230</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>205</x>
|
||||
@ -2310,6 +2207,70 @@
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>cb_data_func</sender>
|
||||
<signal>currentTextChanged(QString)</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>data_cb_change()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>273</x>
|
||||
<y>61</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>208</x>
|
||||
<y>7</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>toolButton</sender>
|
||||
<signal>clicked()</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>file_browser()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>973</x>
|
||||
<y>69</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>1002</x>
|
||||
<y>19</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>toolButton_2</sender>
|
||||
<signal>clicked()</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>file_browser()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>1004</x>
|
||||
<y>56</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>toolButton_3</sender>
|
||||
<signal>clicked()</signal>
|
||||
<receiver>MainWindow</receiver>
|
||||
<slot>file_browser()</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>326</x>
|
||||
<y>80</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>1004</x>
|
||||
<y>88</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
</connections>
|
||||
<slots>
|
||||
<slot>prog_start()</slot>
|
||||
@ -2338,5 +2299,6 @@
|
||||
<slot>check_interval()</slot>
|
||||
<slot>switch_log_tab()</slot>
|
||||
<slot>show_item_content()</slot>
|
||||
<slot>data_cb_change()</slot>
|
||||
</slots>
|
||||
</ui>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user