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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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34
codes/durable/factory_test.py
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@ -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)