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界面优化，监控逻辑优化

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gitea
2025-03-30 12:27:57 +08:00
parent c325875dbb
commit a9a6db23fd
20 changed files with 574 additions and 594 deletions
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65
codes/common/clibs.py
View 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

140
codes/common/openapi.py
View File

@ -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