expired date & brake speed setting format modification

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！")
@@ -803,7 +807,6 @@ class MainWindow(main_window.Ui_MainWindow):
 
     def prog_done_ec_send(self, results):
         flag, result, ret, error, idx, cmd = results
-        print(f"res = {results}")
         if ret[1] == "error":
             clibs.logger("ERROR", "openapi", f"{ret[0]}", "red")
         else:
@@ -1034,5 +1037,8 @@ class SplashScreen(QApplication):
 
 
 if __name__ == '__main__':
+    if time.time() > 1757486841:
+        exit(9)
+
     app = SplashScreen(sys.argv)
     sys.exit(app.exec())

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, 8),
+    prodvers=(0, 4, 0, 8),
     # 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', '0.4.0.8 (2025-06-10)'),
         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', '0.4.0.8 (2025-06-10)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

assets/files/version/local_vers

@@ -1 +1 @@
-0.4.0.3@04/10/2025
+0.4.0.8@06/10/2025

assets/files/version/server_vers

@@ -1 +1 @@
-0.4.0.3@04/10/2025
+0.4.0.8@06/10/2025

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

@@ -1,3 +1,4 @@
+import random
 import threading
 import time
 import os
@@ -124,6 +125,7 @@ class DoBrakeTest(QThread):
             else:
                 clibs.count = 0
                 clibs.logger("WARNING", "do_brake", f"尝试三次后仍无法获取正确数据，本次数据无效，继续执行...", "red")
+                return None
 
         df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
         df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
@@ -210,11 +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; '
@@ -314,9 +316,11 @@ class DoBrakeTest(QThread):
                         def exec_brake():
                             flag, start, data, record = True, time.time(), None, None
                             while flag:
-                                time.sleep(0.05)
+                                time.sleep(0.01*random.randint(1, 10))
+                                # time.sleep(0.05)
                                 if time.time() - start > 20:
-                                    clibs.logger("ERROR", "do_brake", "20s 内未触发急停，需排查......", "red")
+                                    clibs.logger("INFO", "do_brake", "20s 内未触发急停，需排查，当前先继续执行......", "red")
+                                    break
 
                                 try:
                                     clibs.lock.acquire(True)
@@ -337,10 +341,18 @@ class DoBrakeTest(QThread):
                                             time.sleep(clibs.INTERVAL*2)  # wait speed goes down to 0
                                             flag = False
                                             break
-                            return time.time()
+                            return time.time(), flag
 
                         time.sleep(11)  # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
-                        end_time = exec_brake()
+                        end_time, flag = exec_brake()
+                        if flag is True:  # 没有触发急停
+                            if clibs.count < 3:
+                                clibs.count += 1
+                                continue
+                            else:
+                                clibs.count = 0
+                                break
+
                         # 6. 保留数据并处理输出
                         ret = self.gen_result_file(axis, end_time, reach, load, speed, speed_max, rounds)
                         if ret != "retry":

codes/autotest/do_current.py

@@ -3,6 +3,7 @@ import threading
 import time
 import paramiko
 import pandas
+import openpyxl
 from PySide6.QtCore import Signal, QThread
 from codes.common import clibs
 
@@ -16,16 +17,18 @@ 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:
+            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（可选：测试单一场景时需要）<br>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":
+                    config_file = data_file
                 elif filename.endswith(".zip"):
                     count += 1
                     prj_file = data_file
@@ -45,7 +48,7 @@ class DoCurrentTest(QThread):
             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
+            return prj_file, config_file
 
         def get_configs():
             robot_type = None
@@ -157,29 +160,40 @@ class DoCurrentTest(QThread):
         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):
+    def run_rl(self, prj_file, config_file):
+        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
+
         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"]
@@ -199,9 +213,9 @@ class DoCurrentTest(QThread):
                 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
+            if single_current in range(0, 15) and single_current != number:
+                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
@@ -278,9 +292,9 @@ class DoCurrentTest(QThread):
             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)
+        prj_file, config_file = self.initialization(data_dirs, data_files)
         clibs.c_pd.push_prj_to_server(prj_file)
-        self.run_rl(prj_file)
+        self.run_rl(prj_file, config_file)
 
         clibs.logger("INFO", "do_current", "-" * 60 + "<br>全部处理完毕<br>", "purple")
         time_total = time.time() - time_start

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)

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")
 

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