v0.4.0.7 interpreter improvement

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),
+    filevers=(0, 4, 0, 7),
-    prodvers=(0, 4, 0, 6),
+    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])])
   ]

assets/files/version/local_vers

@@ -1 +1 @@
-0.4.0.6@05/16/2025
+0.4.0.7@05/28/2025

assets/files/version/server_vers

@@ -1 +1 @@
-0.4.0.6@05/16/2025
+0.4.0.7@05/28/2025

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]):

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_cmd = f"brake_E(j{axis}_{reach}_n, j{axis}_{reach}_p, p_speed, p_tool);"
-                        rl_speed = f"VelSet {speed}"
+                        rl_speed = f"VelSet {speed};"
-                        rl_tool = f"tool p_tool = {self.tool}"
+                        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; '

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！<br>"
+            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！<br>"
-            msg += "1. T_电机电流.xlsx<br>2. configs.xlsx<br>3. xxxx.zip"
+            msg += "1. T_电机电流.xlsx<br>2. configs.xlsx（可选：测试单一场景时需要）<br>3. xxxx.zip"
-            if len(data_dirs) != 0 or len(data_files) != 3:
+            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)
+        if config_file != "":
-        ws = wb["Target"]
+            wb = openpyxl.load_workbook(config_file, read_only=True)
-        try:
+            ws = wb["Target"]
-            single_current = int(str(ws.cell(row=6, column=2).value).strip())
+            try:
-        except:
+                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, j1_p, j1_n, p_speed, p_tool, i_tool);",
-            "scenario(0, j2_p, j2_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, j3_p, j3_n, p_speed, p_tool, i_tool);",
-            "scenario(0, j4_p, j4_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, j5_p, j5_n, p_speed, p_tool, i_tool);",
-            "scenario(0, j6_p, j6_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, j1_hold, j1_hold, p_speed, p_tool, i_tool);",
-            "scenario(4, j2_hold, j2_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, j3_hold, j3_hold, p_speed, p_tool, i_tool);",
-            "scenario(4, j4_hold, j4_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, j5_hold, j5_hold, p_speed, p_tool, i_tool);",
-            "scenario(4, j6_hold, j6_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(1, j6_p, j6_n, p_speed, p_tool, i_tool);",
-            "scenario(2, 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(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, 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, 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, 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"]

codes/autotest/do_current.sync-conflict-20250422-195845-FMBQ36M.py

@@ -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！<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/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)

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