diff --git a/assets/files/version/file_version_info.txt b/assets/files/version/file_version_info.txt
index e123059..a7d3228 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, 6),
- prodvers=(0, 4, 0, 6),
+ filevers=(0, 4, 0, 7),
+ prodvers=(0, 4, 0, 7),
# 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', '0.4.0.6 (2025-05-16)'),
+ StringStruct('FileVersion', '0.4.0.7 (2025-05-28)'),
StringStruct('InternalName', 'AIO.exe'),
StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
StringStruct('OriginalFilename', 'AIO.exe'),
StringStruct('ProductName', 'AIO'),
- StringStruct('ProductVersion', '0.4.0.6 (2025-05-16)')])
+ StringStruct('ProductVersion', '0.4.0.7 (2025-05-28)')])
]),
VarFileInfo([VarStruct('Translation', [1033, 1200])])
]
diff --git a/assets/files/version/local_vers b/assets/files/version/local_vers
index 3280021..2e49f76 100644
--- a/assets/files/version/local_vers
+++ b/assets/files/version/local_vers
@@ -1 +1 @@
-0.4.0.6@05/16/2025
\ No newline at end of file
+0.4.0.7@05/28/2025
\ No newline at end of file
diff --git a/assets/files/version/server_vers b/assets/files/version/server_vers
index 3280021..2e49f76 100644
--- a/assets/files/version/server_vers
+++ b/assets/files/version/server_vers
@@ -1 +1 @@
-0.4.0.6@05/16/2025
\ No newline at end of file
+0.4.0.7@05/28/2025
\ No newline at end of file
diff --git a/codes/analysis/current.py b/codes/analysis/current.py
index c53de25..dc78b8a 100644
--- a/codes/analysis/current.py
+++ b/codes/analysis/current.py
@@ -303,12 +303,15 @@ class CurrentDataProcess(QThread):
if abs(row_end+row_start-2*row_middle) > 1000:
clibs.logger("WARNING", "current", f"{axis} 轴数据占空比异常，处理数据可能有误，需检查！", "purple")
- data, first_c, second_c, third_c, fourth_c = [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1
+ data, data_appendix, first_c, second_c, third_c, fourth_c, fifth_c, sixth_c = [], [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1, clibs.c_predict_trq_res-1, clibs.c_real_trq_res-1
for row in range(row_start, row_end+1):
data.append(df_origin.iloc[row, first_c])
data.append(df_origin.iloc[row, second_c])
data.append(df_origin.iloc[row, third_c])
data.append(df_origin.iloc[row, fourth_c])
+ for row in range(row_start, row_end + 1):
+ data_appendix.append(df_origin.iloc[row, fifth_c])
+ data_appendix.append(df_origin.iloc[row, sixth_c])
i = 0
for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=5):
@@ -325,6 +328,19 @@ class CurrentDataProcess(QThread):
cell.value = None
i += 1
+ i = 0
+ ws.cell(row=1, column=27).value = "hw_predict_trq_res"
+ ws.cell(row=1, column=28).value = "hw_real_trq_res"
+ for row in ws.iter_rows(min_row=2, min_col=27, max_row=250000, max_col=28):
+ for cell in row:
+ try:
+ _ = f"{data_appendix[i]:.2f}"
+ cell.value = float(_)
+ except Exception:
+ cell.value = None
+ finally:
+ i += 1
+
def p_scenario(self, wb, scenario, rrs, dur_time):
clibs.logger("INFO", "current", f"本次处理的是电机电流场景数据，场景运动周期为 {dur_time}s", "blue")
for data_file in scenario:
@@ -345,12 +361,15 @@ class CurrentDataProcess(QThread):
if row_end > df.index[-1]:
clibs.logger("ERROR", "current", f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "red")
- data, first_c, second_c, third_c, fourth_c = [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1
+ data, data_appendix, first_c, second_c, third_c, fourth_c, fifth_c, sixth_c = [], [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1, clibs.c_predict_trq_res-1, clibs.c_real_trq_res-1
for row in range(row_start, row_end+1):
data.append(df_origin.iloc[row, first_c])
data.append(df_origin.iloc[row, second_c])
data.append(df_origin.iloc[row, third_c])
data.append(df_origin.iloc[row, fourth_c])
+ for row in range(row_start, row_end + 1):
+ data_appendix.append(df_origin.iloc[row, fifth_c])
+ data_appendix.append(df_origin.iloc[row, sixth_c])
i = 0
for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=5):
@@ -367,6 +386,19 @@ class CurrentDataProcess(QThread):
ws.cell((i//4)+2, 1).value = None
i += 1
+ i = 0
+ ws.cell(row=1, column=27).value = "hw_predict_trq_res"
+ ws.cell(row=1, column=28).value = "hw_real_trq_res"
+ for row in ws.iter_rows(min_row=2, min_col=27, max_row=250000, max_col=28):
+ for cell in row:
+ try:
+ _ = f"{data_appendix[i]:.2f}"
+ cell.value = float(_)
+ except Exception:
+ cell.value = None
+ finally:
+ i += 1
+
def get_configs(self, config_file):
try:
if re.match("^[NXEC]B.*", config_file.split("/")[-1]):
diff --git a/codes/autotest/do_brake.py b/codes/autotest/do_brake.py
index 370d56c..33be2d9 100644
--- a/codes/autotest/do_brake.py
+++ b/codes/autotest/do_brake.py
@@ -212,11 +212,11 @@ class DoBrakeTest(QThread):
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect(hostname=clibs.ip_addr, port=clibs.ssh_port, username=clibs.username, password=clibs.password)
if pon == "positive":
- rl_cmd = f"brake_E(j{axis}_{reach}_p, j{axis}_{reach}_n, p_speed, p_tool)"
+ rl_cmd = f"brake_E(j{axis}_{reach}_p, j{axis}_{reach}_n, p_speed, p_tool);"
elif pon == "negative":
- rl_cmd = f"brake_E(j{axis}_{reach}_n, j{axis}_{reach}_p, p_speed, p_tool)"
- rl_speed = f"VelSet {speed}"
- rl_tool = f"tool p_tool = {self.tool}"
+ rl_cmd = f"brake_E(j{axis}_{reach}_n, j{axis}_{reach}_p, p_speed, p_tool);"
+ rl_speed = f"VelSet {speed};"
+ rl_tool = f"tool p_tool = {self.tool};"
cmd = "cd /home/luoshi/bin/controller/; "
cmd += f'sudo sed -i "/brake_E/d" projects/{prj_name}/_build/brake/main.mod; '
cmd += f'sudo sed -i "/DONOTDELETE/i {rl_cmd}" projects/{prj_name}/_build/brake/main.mod; '
diff --git a/codes/autotest/do_current.py b/codes/autotest/do_current.py
index 7870f89..dd0d1c0 100644
--- a/codes/autotest/do_current.py
+++ b/codes/autotest/do_current.py
@@ -17,18 +17,17 @@ class DoCurrentTest(QThread):
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三个文件，且文件为关闭状态，确认后重新运行！
"
- msg += "1. T_电机电流.xlsx
2. configs.xlsx
3. xxxx.zip"
- if len(data_dirs) != 0 or len(data_files) != 3:
+ msg = "初始路径下不允许有文件夹，初始路径下只可能存在如下三个文件，且文件为关闭状态，确认后重新运行！
"
+ msg += "1. T_电机电流.xlsx
2. configs.xlsx（可选：测试单一场景时需要）
3. xxxx.zip"
+ if not (len(data_dirs) == 0 and (len(data_files) == 3 or len(data_files) == 2)):
clibs.logger("ERROR", "do_current", msg, "red")
- prj_file, count = None, 0
+ prj_file, count, config_file = 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 == "configs.xlsx":
- count += 1
config_file = data_file
elif filename.endswith(".zip"):
count += 1
@@ -36,7 +35,7 @@ class DoCurrentTest(QThread):
else:
clibs.logger("ERROR", "do_current", msg, "red")
- if count != 3:
+ if count != 2:
clibs.logger("ERROR", "do_current", msg, "red")
if self.tool == "tool100":
@@ -162,35 +161,39 @@ class DoCurrentTest(QThread):
clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params)
def run_rl(self, prj_file, config_file):
- wb = openpyxl.load_workbook(config_file, read_only=True)
- ws = wb["Target"]
- try:
- single_current = int(str(ws.cell(row=6, column=2).value).strip())
- except:
+ if config_file != "":
+ wb = openpyxl.load_workbook(config_file, read_only=True)
+ ws = wb["Target"]
+ try:
+ single_current = int(str(ws.cell(row=6, column=2).value).strip())
+ except:
+ single_current = -1
+ wb.close()
+ else:
single_current = -1
- wb.close()
+
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)",
+ "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)",
+ "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"]
diff --git a/codes/autotest/do_current.sync-conflict-20250422-195845-FMBQ36M.py b/codes/autotest/do_current.sync-conflict-20250422-195845-FMBQ36M.py
deleted file mode 100644
index 25e026f..0000000
--- a/codes/autotest/do_current.sync-conflict-20250422-195845-FMBQ36M.py
+++ /dev/null
@@ -1,289 +0,0 @@
-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/clibs.py b/codes/common/clibs.py
index 743b6e8..5e223ee 100644
--- a/codes/common/clibs.py
+++ b/codes/common/clibs.py
@@ -114,7 +114,7 @@ username, password = "luoshi", "luoshi2019"
INTERVAL, RADIAN, MAX_FRAME_SIZE, MAX_LOG_NUMBER, CYCLE = 1, 57.3, 1024, 10, 30
c_md, c_hr, c_ec, c_pd, conn, cursor, search_records, logger, count = None, None, None, None, None, None, None, None, 0
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
+c_joint_vel, c_servo_trq, c_sensor_trq, c_estimate_trans_trq, c_real_trq_res, c_predict_trq_res, c_safety_estop = 1, 2, 3, 4, 5, 6, 3 # 各个指标所在列
init_logdb()
t = threading.Thread(target=detect_db_size)
diff --git a/readme.md b/readme.md
index e02b1e2..671292f 100644
--- a/readme.md
+++ b/readme.md
@@ -81,7 +81,7 @@
> **！！需要联网使用！！**
-1. 仅适用于 xCore 2.3.0.7 及以上的版本
+1. 仅适用于 xCore 3.1.0.4 及以上的版本
2. 仅适配了六轴工业/协作机型，其他机型可能会存在使用上的问题，具体可以找fanmingfu@rokae.com确认
3. 单轴电机电流数据处理，至少需要三个完整周期，使用本工具采集一般不会有问题，主要是针对手动采集命名的数据
4. 执行制动测试/电机电流采集/耐久测试的时候，执行过程中停止，需要重新关闭软件再次打开，才能正常使用
@@ -90,7 +90,7 @@
7. 激光数据处理只支持英文版本的数据文件
8. 耐久（场景）指标数据采集的工程运行周期需要小于 300s，否则会出现异常
-> **需要使用 assets/files/projects/ 下的工程，寄存器文件以及配置文件等！！！**
+> **需要使用 assets/files/projects/ 下的工程，以及配置文件等！！！**
## 四、发版记录