fixing bugs

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！")

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),
+    filevers=(0, 4, 0, 4),
-    prodvers=(0, 4, 0, 3),
+    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])])
   ]

assets/files/version/local_vers

@@ -1 +1 @@
-0.4.0.3@04/10/2025
+0.4.0.4@04/21/2025

assets/files/version/server_vers

@@ -1 +1 @@
-0.4.0.3@04/10/2025
+0.4.0.4@04/21/2025

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！<br>"
+            msg += "1. T_电机电流.xlsx<br>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 + "<br>全部处理完毕<br>", "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)

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")