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basically done again

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gitea
2025-03-28 13:43:25 +08:00
parent 957071075d
commit b07f221bb6
19 changed files with 74 additions and 1560 deletions
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19
codes/autotest/do_brake.py
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@ -159,13 +159,12 @@ class DoBrakeTest(QThread):
prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
wb = openpyxl.load_workbook(config_file, read_only=True)
ws = wb["Target"]
write_diagnosis = float(ws.cell(row=2, column=2).value)
get_init_speed = float(ws.cell(row=3, column=2).value)
single_brake = str(ws.cell(row=4, column=2).value)
pon = ws.cell(row=5, column=2).value
io_name = ws.cell(row=6, column=2).value.upper().strip()
get_init_speed = float(ws.cell(row=2, column=2).value)
single_brake = str(ws.cell(row=3, column=2).value).strip()
pon = ws.cell(row=4, column=2).value
io_name = ws.cell(row=5, column=2).value.upper().strip()
wb.close()
msg = f"基本参数配置：write_diagnosis(废弃) = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}, pon = {pon}"
msg = f"基本参数配置：get_init_speed = {get_init_speed}, single_brake = {single_brake}, pon = {pon}, IO = {io_name}"
self.logger("INFO", "do_brake", msg)
if pon == "positive":
@ -195,7 +194,7 @@ class DoBrakeTest(QThread):
continue
clibs.c_md.write_axis(axis)
self.logger("INFO", "brake-processing", "-" * 90, "purple", flag="signal")
self.logger("INFO", "brake", "-" * 90, "purple", flag="signal")
speed_max = 0
for rounds in range(1, 4):
count += 1
@ -309,9 +308,9 @@ class DoBrakeTest(QThread):
if clibs.c_md.w_program_state == 1:
break
else:
time.sleep(5)
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", "RlProgramStartTimeout")
for i in range(16):
if clibs.c_md.read_ready_to_go() == 1:
@ -360,7 +359,7 @@ class DoBrakeTest(QThread):
break
else:
time.sleep(50) # why?
time.sleep(clibs.INTERVAL*2)
self.change_curve_state(False)
msg = f"<br>{self.tool.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行"
self.logger("INFO", "do_brake", msg, "green")

13
codes/common/clibs.py
View File

@ -81,23 +81,18 @@ def handle_exception(func):
return wrapper
log_path = f"assets/logs"
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
functions = ["制动数据处理", "转矩数据处理", "激光数据处理", "精度数据处理", "制动自动化测试", "转矩自动化测试", "耐久数据采集"]
levels = ["DEBUG", "INFO", "WARNING", "ERROR"]
ip_addr, ssh_port, socket_port, xService_port, external_port, modbus_port, upgrade_port = "", 22, 5050, 6666, 8080, 502, 4567
username, password = "luoshi", "luoshi2019"
INTERVAL, RADIAN, MAX_FRAME_SIZE, MAX_LOG_NUMBER = 1, 57.3, 1024, 10
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
status = {"mysql": 0, "hmi": 0, "md": 0, "ec": 0}
c_joint_vel, c_servo_trq, c_sensor_trq, c_estimate_trans_trq, c_safety_estop = 1, 2, 3, 4, 3 # 各个指标所在列
init_logdb()
# ============== ↓↓↓DEBUG CODE↓↓↓ ==============
for i in range(100):
logger("DEBUG", "clibs", 'running123', flag="cursor")
logger("INFO", "aio", 'running234', flag="cursor")
logger("WARNING", "openapi", 'running345', flag="cursor")
logger("ERROR", "brake", 'running456', flag="cursor")

20
codes/common/openapi.py
View File

@ -745,7 +745,7 @@ class HmiRequest(QThread):
def execution(self, command, **kwargs):
req = None
try:
with open(f"assets/files/protocols/hmi/{command}.json", encoding="utf-8", mode="r") as f_json:
with open(f"{clibs.PREFIX}/files/protocols/hmi/{command}.json", encoding="utf-8", mode="r") as f_json:
req = json.load(f_json)
t = datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")
req["id"] = f"{command}@{t}"
@ -768,12 +768,14 @@ class HmiRequest(QThread):
cmd = json.dumps(req, separators=(",", ":"))
try:
self.c.send(self.package(cmd))
time.sleep(clibs.INTERVAL/4)
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")
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")
@ -1804,9 +1806,9 @@ class ExternalCommunication(QThread):
if clibs.status["ec"]:
try:
self.c.close()
self.logger("INFO", "openapi", f"ec: 关闭 EC 连接成功", "green")
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 EC 连接失败：{err}", "red", "EcCloseFailed")
self.logger("ERROR", "openapi", f"ec: 关闭外部通信连接失败：{err}", "red", "EcCloseFailed")
def s_string(self, directive):
order = "".join([directive, self.suffix])
@ -2057,7 +2059,7 @@ class ExternalCommunication(QThread):
self.s_string(directive)
time.sleep(clibs.INTERVAL)
result = self.r_string(directive).strip()
self.logger("INFO", "openapi", f"ec: 执行{description}指令是 {directive}，返回值为 {result}{more_desc}")
self.logger("DEBUG", "openapi", f"ec: 执行{description}指令是 {directive}，返回值为 {result}{more_desc}")
return result
@ -2167,9 +2169,9 @@ class RobotInit(object):
interactive_data = f"/home/luoshi/bin/controller/interactive_data/{robot_type}"
config_files = [
f"assets/files/projects/fieldbus_device.json",
f"assets/files/projects/registers.json",
f"assets/files/projects/registers.xml"
f"{clibs.PREFIX}/files/projects/fieldbus_device.json",
f"{clibs.PREFIX}/files/projects/registers.json",
f"{clibs.PREFIX}/files/projects/registers.xml"
]
for config_file in config_files:
filename = config_file.split("/")[-1]
@ -2197,10 +2199,10 @@ class RobotInit(object):
os.remove(io_device_file_local_tmp)
except:
...
clibs.c_hr.execution("io_device.load_cfg")
clibs.c_hr.execution("modbus.load_cfg")
clibs.c_hr.execution("fieldbus_device.load_cfg")
clibs.c_hr.execution("fieldbus_device.set_params", device_name="autotest", enable=True)
clibs.c_hr.execution("io_device.load_cfg")
clibs.c_hr.execution("modbus.load_cfg")
def robot_init(self):
pd = PreDos(clibs.ip_addr, clibs.ssh_port, clibs.username, clibs.password)

3
codes/durable/factory_test.py
View File

@ -19,7 +19,7 @@ class DoFactoryTest(QThread):
def __init__(self, dir_path, interval, procs, /):
super().__init__()
self.dir_path = dir_path
self.interval = int(interval) if interval != "" else 300
self.interval = int(interval) if interval != "" else clibs.CYCLE
self.procs = procs
self.idx = 6
self.curves = []
@ -99,6 +99,7 @@ class DoFactoryTest(QThread):
self.change_curve_state(False)
clibs.c_md.r_soft_estop(0)
clibs.c_md.r_soft_estop(1)
clibs.c_md.r_reset_estop()
clibs.c_md.r_clear_alarm()
clibs.c_md.write_act(False)
time.sleep(1) # 让曲线彻底关闭

15
codes/ui/main_window.py
View File

@ -38,9 +38,6 @@ class Ui_MainWindow(QMainWindow):
font.setFamilies([u"Consolas"])
font.setPointSize(14)
MainWindow.setFont(font)
icon = QIcon()
icon.addFile(u"../assets/media/icon.ico", QSize(), QIcon.Mode.Normal, QIcon.State.Off)
MainWindow.setWindowIcon(icon)
MainWindow.setStyleSheet(u"background-color: rgb(233, 233, 233);")
MainWindow.setDocumentMode(False)
self.centralwidget = QWidget(MainWindow)
@ -290,7 +287,7 @@ 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, 158, 78))
self.horizontalLayout_9 = QHBoxLayout(self.scrollAreaWidgetContents)
self.horizontalLayout_9.setObjectName(u"horizontalLayout_9")
self.verticalLayout_5 = QVBoxLayout()
@ -652,6 +649,7 @@ class Ui_MainWindow(QMainWindow):
self.cb_ec_cmd.addItem("")
self.cb_ec_cmd.addItem("")
self.cb_ec_cmd.addItem("")
self.cb_ec_cmd.addItem("")
self.cb_ec_cmd.setObjectName(u"cb_ec_cmd")
self.cb_ec_cmd.setMinimumSize(QSize(240, 0))
self.cb_ec_cmd.setFont(font4)
@ -881,7 +879,7 @@ class Ui_MainWindow(QMainWindow):
self.label.setText(QCoreApplication.translate("MainWindow", u"Rokae AIO", None))
self.btn_start.setText(QCoreApplication.translate("MainWindow", u"\u5f00\u59cb\u6267\u884c", None))
self.btn_stop.setText(QCoreApplication.translate("MainWindow", u"\u505c\u6b62\u6267\u884c", None))
self.btn_reset.setText(QCoreApplication.translate("MainWindow", u"\u72b6\u6001\u91cd\u7f6e", None))
self.btn_reset.setText(QCoreApplication.translate("MainWindow", u"\u8f93\u51fa\u91cd\u7f6e", None))
self.cb_data_func.setItemText(0, QCoreApplication.translate("MainWindow", u"\u5236\u52a8", None))
self.cb_data_func.setItemText(1, QCoreApplication.translate("MainWindow", u"\u8f6c\u77e9", None))
self.cb_data_func.setItemText(2, QCoreApplication.translate("MainWindow", u"\u6fc0\u5149", None))
@ -951,12 +949,13 @@ class Ui_MainWindow(QMainWindow):
self.label_18.setText("")
self.cb_ec_cmd.setItemText(0, QCoreApplication.translate("MainWindow", u"motor_on", None))
self.cb_ec_cmd.setItemText(1, QCoreApplication.translate("MainWindow", u"motor_off", None))
self.cb_ec_cmd.setItemText(2, QCoreApplication.translate("MainWindow", u"set_do", None))
self.cb_ec_cmd.setItemText(2, QCoreApplication.translate("MainWindow", u"setdo", None))
self.cb_ec_cmd.setItemText(3, QCoreApplication.translate("MainWindow", u"switch_mode_auto", None))
self.cb_ec_cmd.setItemText(4, QCoreApplication.translate("MainWindow", u"switch_mode_manual", None))
self.cb_ec_cmd.setItemText(5, QCoreApplication.translate("MainWindow", u"operating_mode", None))
self.cb_ec_cmd.setItemText(6, QCoreApplication.translate("MainWindow", u"motor_on_state", None))
self.cb_ec_cmd.setItemText(7, QCoreApplication.translate("MainWindow", u"robot_running_state", None))
self.cb_ec_cmd.setItemText(6, QCoreApplication.translate("MainWindow", u"io_state", None))
self.cb_ec_cmd.setItemText(7, QCoreApplication.translate("MainWindow", u"motor_on_state", None))
self.cb_ec_cmd.setItemText(8, QCoreApplication.translate("MainWindow", u"robot_running_state", None))
self.btn_ec_send.setText(QCoreApplication.translate("MainWindow", u"\u53d1\u9001", None))
self.pushButton.setText(QCoreApplication.translate("MainWindow", u"HMI", None))