diff --git a/aio.py b/aio.py
index b6dc946..8b6b420 100644
--- a/aio.py
+++ b/aio.py
@@ -725,10 +725,14 @@ class MainWindow(main_window.Ui_MainWindow):
_, result, ret, error, idx, (msg_id, flag) = results
if _ is False:
self.btn_hmi_send.setDisabled(False)
- clibs.logger("INFO", "aio", f"hmi: [send] 请求发送失败 {msg_id}", "red")
+ clibs.logger("INFO", "aio", f"hmi: [send] 请求发送失败 {msg_id}, error = {error}", "red")
return
- records = clibs.c_hr.get_from_id(msg_id)
+ try:
+ records = clibs.c_hr.get_from_id(msg_id)
+ finally:
+ self.btn_hmi_send.setDisabled(False)
+
for record in records:
if "请求发送成功" not in record[0]:
self.pte_hmi_recv.clear()
@@ -742,10 +746,10 @@ class MainWindow(main_window.Ui_MainWindow):
nonlocal hmi_dict, cmd_json, flag
if flag == 0:
clibs.c_hr.c.send(clibs.c_hr.package(cmd_json))
- clibs.c_hr.logger("DEBUG", "aio", f"hmi: [send] 老协议请求发送成功 {cmd_json}")
+ clibs.logger("DEBUG", "aio", f"hmi: [send] 老协议请求发送成功 {cmd_json}")
elif flag == 1:
clibs.c_hr.c_xs.send(clibs.c_hr.package_xs(hmi_dict))
- clibs.c_hr.logger("DEBUG", "aio", f"hmi: xService请求发送成功 {cmd_json}")
+ clibs.logger("DEBUG", "aio", f"hmi: xService请求发送成功 {cmd_json}")
if clibs.status["hmi"] == 0:
QMessageBox.critical(self, "错误", "使用该功能之前，需要先打开 HMI 连接！")
diff --git a/assets/files/version/file_version_info.txt b/assets/files/version/file_version_info.txt
index 40268e1..6f9ecbf 100644
--- a/assets/files/version/file_version_info.txt
+++ b/assets/files/version/file_version_info.txt
@@ -6,8 +6,8 @@ VSVersionInfo(
ffi=FixedFileInfo(
# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
# Set not needed items to zero 0.
- filevers=(0, 4, 0, 3),
- prodvers=(0, 4, 0, 3),
+ filevers=(0, 4, 0, 4),
+ prodvers=(0, 4, 0, 4),
# Contains a bitmask that specifies the valid bits 'flags'r
mask=0x3f,
# Contains a bitmask that specifies the Boolean attributes of the file.
@@ -31,12 +31,12 @@ VSVersionInfo(
'040904b0',
[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
StringStruct('FileDescription', 'All in one automatic toolbox'),
- StringStruct('FileVersion', '0.4.0.3 (2025-04-10)'),
+ StringStruct('FileVersion', '0.4.0.4 (2025-04-21)'),
StringStruct('InternalName', 'AIO.exe'),
StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
StringStruct('OriginalFilename', 'AIO.exe'),
StringStruct('ProductName', 'AIO'),
- StringStruct('ProductVersion', '0.4.0.3 (2025-04-10)')])
+ StringStruct('ProductVersion', '0.4.0.4 (2025-04-21)')])
]),
VarFileInfo([VarStruct('Translation', [1033, 1200])])
]
diff --git a/assets/files/version/local_vers b/assets/files/version/local_vers
index 10cb691..e6e7760 100644
--- a/assets/files/version/local_vers
+++ b/assets/files/version/local_vers
@@ -1 +1 @@
-0.4.0.3@04/10/2025
\ No newline at end of file
+0.4.0.4@04/21/2025
\ No newline at end of file
diff --git a/assets/files/version/server_vers b/assets/files/version/server_vers
index 10cb691..e6e7760 100644
--- a/assets/files/version/server_vers
+++ b/assets/files/version/server_vers
@@ -1 +1 @@
-0.4.0.3@04/10/2025
\ No newline at end of file
+0.4.0.4@04/21/2025
\ No newline at end of file
diff --git a/codes/autotest/do_current.sync-conflict-20250422-195845-FMBQ36M.py b/codes/autotest/do_current.sync-conflict-20250422-195845-FMBQ36M.py
new file mode 100644
index 0000000..25e026f
--- /dev/null
+++ b/codes/autotest/do_current.sync-conflict-20250422-195845-FMBQ36M.py
@@ -0,0 +1,289 @@
+import os
+import threading
+import time
+import paramiko
+import pandas
+from PySide6.QtCore import Signal, QThread
+from codes.common import clibs
+
+
+class DoCurrentTest(QThread):
+ def __init__(self, dir_path, tool, /):
+ super().__init__()
+ self.dir_path = dir_path
+ self.tool = tool
+ self.idx = 5
+
+ def initialization(self, data_dirs, data_files):
+ 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！
"
+ msg += "1. T_电机电流.xlsx
2. xxxx.zip"
+ if len(data_dirs) != 0 or len(data_files) != 2:
+ clibs.logger("ERROR", "do_current", msg, "red")
+
+ prj_file, count = None, 0
+ for data_file in data_files:
+ filename = data_file.split("/")[-1]
+ if filename == "T_电机电流.xlsx":
+ count += 1
+ elif filename.endswith(".zip"):
+ count += 1
+ prj_file = data_file
+ else:
+ clibs.logger("ERROR", "do_current", msg, "red")
+
+ if count != 2:
+ clibs.logger("ERROR", "do_current", msg, "red")
+
+ if self.tool == "tool100":
+ os.mkdir(f"{self.dir_path}/single")
+ os.mkdir(f"{self.dir_path}/s_1")
+ os.mkdir(f"{self.dir_path}/s_2")
+ os.mkdir(f"{self.dir_path}/s_3")
+ elif self.tool == "inertia":
+ os.mkdir(f"{self.dir_path}/inertia")
+ else:
+ clibs.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
+
+ def get_configs():
+ robot_type = None
+ msg_id = clibs.c_hr.execution("controller.get_params")
+ records = clibs.c_hr.get_from_id(msg_id)
+ for record in records:
+ if "请求发送成功" not in record[0]:
+ robot_type = eval(record[0])["data"]["robot_type"]
+ server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg"
+ local_file = self.dir_path + f"/{robot_type}.cfg"
+ clibs.c_pd.pull_file_from_server(server_file, local_file)
+
+ clibs.logger("INFO", "do_current", "正在做初始化校验和配置，这可能需要一点时间......", "green")
+ _prj_file = check_files()
+ get_configs()
+ clibs.logger("INFO", "do_current", "数据目录合规性检查结束，未发现问题......", "green")
+ return _prj_file
+
+ def single_axis_proc(self, records, number):
+ text = "single" if number < 6 else "hold"
+ number = number if number < 6 else number - 6
+ d_vel, d_trq, d_sensor, d_trans, d_predict_trq, d_real_trq = [], [], [], [], [], []
+ for record in records:
+ data = eval(record[0])["data"]
+ for item in data:
+ d_item = reversed(item["value"])
+ if item.get("channel", None) == number and item.get("name", None) == "hw_joint_vel_feedback":
+ d_vel.extend(d_item)
+ elif item.get("channel", None) == number and item.get("name", None) == "device_servo_trq_feedback":
+ d_trq.extend(d_item)
+ elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback":
+ d_sensor.extend(d_item)
+ elif item.get("channel", None) == number and item.get("name", None) == "hw_estimate_trans_trq_res":
+ d_trans.extend(d_item)
+ elif item.get("channel", None) == number and item.get("name", None) == "hw_predict_trq_res":
+ d_predict_trq.extend(d_item)
+ elif item.get("channel", None) == number and item.get("name", None) == "hw_real_trq_res":
+ d_real_trq.extend(d_item)
+
+ df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
+ df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
+ df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
+ df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans})
+ df5 = pandas.DataFrame.from_dict({"hw_predict_trq_res": d_predict_trq})
+ df6 = pandas.DataFrame.from_dict({"hw_real_trq_res": d_real_trq})
+ df = pandas.concat([df1, df2, df3, df4, df5, df6], axis=1)
+ filename = f"{self.dir_path}/single/j{number + 1}_{text}_{time.time()}.data"
+ df.to_csv(filename, sep="\t", index=False)
+
+ def scenario_proc(self, records, number, scenario_time):
+ # d_vel, d_trq, d_sensor, d_trans, d_predict_trq, d_real_trq = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
+ d_vel, d_trq, d_sensor, d_trans, d_predict_trq, d_real_trq = [[[], [], [], [], [], []] for _ in range(6)]
+ for record in records:
+ data = eval(record[0])["data"]
+ for item in data:
+ d_item = reversed(item["value"])
+ for axis in range(6):
+ if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
+ d_vel[axis].extend(d_item)
+ elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
+ d_trq[axis].extend(d_item)
+ elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback":
+ d_sensor[axis].extend(d_item)
+ elif item.get("channel", None) == axis and item.get("name", None) == "hw_estimate_trans_trq_res":
+ d_trans[axis].extend(d_item)
+ elif item.get("channel", None) == axis and item.get("name", None) == "hw_predict_trq_res":
+ d_predict_trq[axis].extend(d_item)
+ elif item.get("channel", None) == axis and item.get("name", None) == "hw_real_trq_res":
+ d_real_trq[axis].extend(d_item)
+
+ for axis in range(6):
+ df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel[axis]})
+ df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
+ df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor[axis]})
+ df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans[axis]})
+ df5 = pandas.DataFrame.from_dict({"hw_predict_trq_res": d_predict_trq[axis]})
+ df6 = pandas.DataFrame.from_dict({"hw_real_trq_res": d_real_trq[axis]})
+ df = pandas.concat([df1, df2, df3, df4, df5, df6], axis=1)
+ 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)
+
+ def gen_result_file(self, number, start_time, end_time, scenario_time):
+ 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))
+
+ try:
+ clibs.lock.acquire(True)
+ clibs.cursor.execute(f"SELECT content FROM logs WHERE timestamp BETWEEN '{s_time}' AND '{e_time}' AND content LIKE '%diagnosis.result%' ORDER BY id ASC")
+ return clibs.cursor.fetchall()
+ finally:
+ clibs.lock.release()
+
+ if number < 12:
+ records = get_records()
+ t = threading.Thread(target=self.single_axis_proc, args=(records, number))
+ t.daemon = True
+ t.start()
+ elif number < 15:
+ records = get_records()
+ t = threading.Thread(target=self.scenario_proc, args=(records, number, scenario_time))
+ t.daemon = True
+ t.start()
+
+ @staticmethod
+ def change_curve_state(stat):
+ curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res", "hw_predict_trq_res", "hw_real_trq_res"]
+ 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)
+
+ def run_rl(self, prj_file):
+ prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
+ c_regular = [
+ "scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
+ "scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
+ "scenario(0, j3_p, j3_n, p_speed, p_tool, i_tool)",
+ "scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)",
+ "scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)",
+ "scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)",
+ "scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)",
+ "scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)",
+ "scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)",
+ "scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)",
+ "scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)",
+ "scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)",
+ "scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
+ "scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
+ "scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
+ ]
+ c_inertia = [
+ "scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)",
+ "scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)",
+ "scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)",
+ ]
+ disc_regular = ["一轴", "二轴", "三轴", "四轴", "五轴", "六轴", "一轴保持", "二轴保持", "三轴保持", "四轴保持", "五轴保持", "六轴保持", "场景一", "场景二", "场景三"]
+ disc_inertia = ["四轴惯量", "五轴惯量", "六轴惯量"]
+ conditions, disc = [], []
+ if self.tool == "tool100":
+ conditions, disc = c_regular, disc_regular
+ elif self.tool == "inertia":
+ conditions, disc = c_inertia, disc_inertia
+
+ # 打开诊断曲线，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
+ clibs.c_md.r_soft_estop(0)
+ clibs.c_md.r_soft_estop(1)
+ clibs.c_md.r_clear_alarm()
+
+ for condition in conditions:
+ if clibs.stop_flag:
+ clibs.logger("ERROR", "do_current", "后台数据清零完成，现在可以重新运行其他程序。", "green")
+
+ number = conditions.index(condition)
+ # for testing
+ # if number < 12:
+ # continue
+ clibs.logger("INFO", "do_current", f"正在执行{disc[number]}测试......")
+
+ # 1. 将act重置为False，并修改将要执行的场景
+ clibs.c_md.write_act(False)
+ ssh = paramiko.SSHClient()
+ ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
+ ssh.connect(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password)
+ cmd = "cd /home/luoshi/bin/controller/; "
+ cmd += f'sudo sed -i "/scenario/d" projects/{prj_name}/_build/current/main.mod; '
+ cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/{prj_name}/_build/current/main.mod'
+ stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+ stdin.write(clibs.password + "\n")
+ stdout.read().decode() # 需要read一下才能正常执行
+ stderr.read().decode()
+
+ # 2. reload工程后，pp2main，并且自动模式和上电
+ prj_path = f"{prj_name}/_build/{prj_name}.prj"
+ clibs.c_hr.execution("overview.reload", prj_path=prj_path, tasks=["current"])
+ clibs.c_hr.execution("rl_task.pp_to_main", tasks=["current"])
+ clibs.c_hr.execution("state.switch_auto")
+ clibs.c_hr.execution("state.switch_motor_on")
+
+ # 3. 开始运行程序
+ clibs.c_hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
+ clibs.c_hr.execution("rl_task.run", tasks=["current"])
+ t_start = time.time()
+ while True:
+ if clibs.c_md.read_ready_to_go() == 1:
+ clibs.c_md.write_act(True)
+ break
+ else:
+ time.sleep(1)
+ if (time.time() - t_start) > 15:
+ clibs.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
+ self.change_curve_state(True)
+ start_time = time.time()
+ single_time, stall_time, scenario_time = 40, 10, 0
+ if number < 6: # 单轴
+ time.sleep(single_time)
+ elif number < 12: # 堵转
+ time.sleep(stall_time)
+ else: # 场景
+ t_start = time.time()
+ while True:
+ scenario_time = float(f"{float(clibs.c_md.read_scenario_time()):.2f}")
+ if float(scenario_time) != 0:
+ clibs.logger("INFO", "do_current", f"场景{number - 11}的周期时间：{scenario_time}")
+ break
+ else:
+ time.sleep(1)
+ if (time.time()-t_start) > 180:
+ clibs.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
+ end_time = time.time()
+ clibs.c_hr.execution("rl_task.stop", tasks=["current"])
+ self.change_curve_state(False)
+ time.sleep(2) # 确保数据都入库
+ self.gen_result_file(number, start_time, end_time, scenario_time)
+ else:
+ if self.tool == "tool100":
+ clibs.logger("INFO", "do_current", "单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行", "green")
+ elif self.tool == "inertia":
+ clibs.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")
+
+ def processing(self):
+ time_start = time.time()
+ clibs.running[self.idx] = 1
+ if clibs.status["hmi"] != 1 or clibs.status["md"] != 1:
+ clibs.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)
+ prj_file = self.initialization(data_dirs, data_files)
+ clibs.c_pd.push_prj_to_server(prj_file)
+ self.run_rl(prj_file)
+
+ clibs.logger("INFO", "do_current", "-" * 60 + "
全部处理完毕
", "purple")
+ time_total = time.time() - time_start
+ msg = f"处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
+ clibs.logger("INFO", "do_current", msg)
diff --git a/codes/common/openapi.py b/codes/common/openapi.py
index 9390e25..d71d4c2 100644
--- a/codes/common/openapi.py
+++ b/codes/common/openapi.py
@@ -28,6 +28,7 @@ class ModbusRequest(QThread):
self.c = ModbusTcpClient(host=self.ip, port=self.port)
if self.c.connect():
clibs.logger("INFO", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) success!", "green")
+ self.r_soft_estop(1)
else:
clibs.logger("ERROR", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed!", "red")