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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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13
codes/common/clibs.py
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@ -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)