From 2f782c9693c31446fe0ef3be446ea53179ad05be Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 19 Jul 2024 16:32:31 +0800 Subject: [PATCH] another try --- aio/README.md | 11 ++++ aio/code/aio.py | 6 ++ aio/code/durable_action/factory_test.py | 86 ++++++++++++------------- 3 files changed, 58 insertions(+), 45 deletions(-) diff --git a/aio/README.md b/aio/README.md index 1398488..42a9985 100644 --- a/aio/README.md +++ b/aio/README.md @@ -161,6 +161,8 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A - configs.xlsx，执行之前需要手动修改好configs.xlsx中的参数，以及间隔时间 - target.zip，需要确认工程点位和动作无问题后，保存导出 +> 重新运行时，必须突出软件，重新运行 + #### 其他 customtkinter的tabview组件不支持修改字体大小，可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现： a. 运行 `pip show customtkinter`，获取到库的路径 @@ -518,3 +520,12 @@ v0.2.0.0(2024/07/17) - HmiRequest模块：日志取消记录move.monitor相关 - HmiRequest模块：增加了durable_lock变量，控制文件读写互斥 +v0.2.0.1(2024/07/19) +1. [main: aio.py] + - 修改了x轴显示，使之为时间刻度 + - 修改pre_warning函数，增加了durable test的初始化 +2. [main: factory_test.py] + - 增加了数据计算错误的判断逻辑 + - 增加了历史数据保存的逻辑 + - 增加了文件读写互斥的逻辑 + - 修改功能为输出有效电流和最大电流，并将数据结构简化 \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 565fa86..37556fb 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -619,6 +619,12 @@ class App(customtkinter.CTk): tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", ) def pre_warning(self): + if self.tabview.get() == 'Durable Action': + df = DataFrame(durable_data_current) + df.to_excel(durable_data_current_xlsx, index=False) + df = DataFrame(durable_data_current_max) + df.to_excel(durable_data_current_max_xlsx, index=False) + if tkinter.messagebox.askyesno(title="开始运行", message="确认机器已按照测试规范更新固件，并提按照测试机型前修改好工程？"): pass else: diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index 05b80ab..23f77b8 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -11,7 +11,6 @@ from numpy import power from csv import writer tab_name = 'Durable Action' -count = 0 durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx' durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx' display_pdo_params = [ @@ -28,25 +27,6 @@ display_pdo_params = [ {"name": "device_servo_trq_feedback", "channel": 4}, {"name": "device_servo_trq_feedback", "channel": 5}, ] -durable_data_current = { - 'time': list(range(1, 19)), - 'axis1': [0 for _ in range(18)], - 'axis2': [0 for _ in range(18)], - 'axis3': [0 for _ in range(18)], - 'axis4': [0 for _ in range(18)], - 'axis5': [0 for _ in range(18)], - 'axis6': [0 for _ in range(18)], -} -durable_data_current_max = { - 'time': list(range(1, 19)), - 'axis1': [0 for _ in range(18)], - 'axis2': [0 for _ in range(18)], - 'axis3': [0 for _ in range(18)], - 'axis4': [0 for _ in range(18)], - 'axis5': [0 for _ in range(18)], - 'axis6': [0 for _ in range(18)], -} -data_all = [durable_data_current, durable_data_current_max] title = [ 'time', 'trq-1', 'trq-2', 'trq-3', 'trq-4', 'trq-5', 'trq-6', 'trq-max-1', 'trq-max-2', 'trq-max-3', 'trq-max-4', 'trq-max-5', 'trq-max-6' @@ -71,8 +51,7 @@ def traversal_files(path, w2t): def check_files(data_dirs, data_files, w2t): if len(data_dirs) != 0 or len(data_files) != 2: - w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, - 10, 'red', tab_name) + w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, 10, 'red', tab_name) _files = [data_files[0].split('\\')[-1], data_files[1].split('\\')[-1]] _files.sort() @@ -124,16 +103,13 @@ def execution(cmd, hr, w2t, **kwargs): return _response -def run_rl(path, config_file, hr, md, w2t): +def run_rl(path, config_file, data_all, count, hr, md, w2t): # 1. 关闭诊断曲线，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，切手动模式并下电 _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[]) md.trigger_estop() md.reset_estop() md.write_act(False) sleep(1) # 让曲线彻底关闭 - _response = execution('state.switch_manual', hr, w2t) - _response = execution('state.switch_motor_off', hr, w2t) # 2. reload工程后，pp2main，并且自动模式和上电 prj_path = 'target/_build/target.prj' @@ -163,7 +139,7 @@ def run_rl(path, config_file, hr, md, w2t): while True: scenario_time = md.read_scenario_time() if float(scenario_time) > 1: - w2t(f"场景的周期时间：{scenario_time}", 0, 0, 'green', tab_name) + w2t(f"场景的周期时间：{scenario_time}s", 0, 0, 'green', tab_name) break else: if (time() - _t_start) // 60 > 3: @@ -172,13 +148,9 @@ def run_rl(path, config_file, hr, md, w2t): sleep(5) sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确 scenario_time = float(md.read_scenario_time()) - sleep(scenario_time * 0.2) # 再运行周期的20%即可 + sleep(scenario_time*0.2) - # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[]) - sleep(1) # 保证所有数据均已返回 - # 7. 保留数据并处理输出 + # 6. 准备初始数据，关闭诊断曲线，保留数据并处理输出 with open(f'{path}\\results.csv', mode='a+', newline='') as f_csv: csv_writer = writer(f_csv) csv_writer.writerow(title) @@ -189,23 +161,24 @@ def run_rl(path, config_file, hr, md, w2t): for i in range(6): rcs.append(float(_ws.cell(row=6, column=i + 2).value)) - get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, w2t) + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + sleep(1) # 保证所有数据均已返回 + get_durable_data(path, data_all, scenario_time, wait_time, count, rcs, hr, md, w2t) - # 8. 继续运行 + # 7. 继续运行 while True: - # 每3分钟，更新一次数据，打开曲线，获取周期内电流，关闭曲线 + # 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线 sleep(wait_time) _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) sleep(scenario_time+5) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[]) sleep(2) - # 7. 保留数据并处理输出 - get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, w2t) + # 保留数据并处理输出 + get_durable_data(path, data_all, scenario_time, wait_time, count, rcs, hr, md, w2t) -def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): +def get_durable_data(path, data, scenario_time, wait_time, count, rcs, hr, md, w2t): _data_list = [] for _msg in hr.c_msg: if 'diagnosis.result' in _msg: @@ -219,7 +192,7 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): del hr.c_msg[_index:] hr.c_msg_xs.clear() - # with open('log.txt', 'w', encoding='utf-8') as f_obj: + # with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj: # for _ in _data_list: # f_obj.write(f"{_}\n") @@ -241,12 +214,15 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): for i in range(6): def overmax_data(df, index, number, flag): if number > 100: + md.trigger_estop() + hr.durable_quit = 1 df.to_excel(f'{path}\\{this_time}.xlsx') - w2t(f"[{this_time}] {flag}-axis-{index} 数据过大错误，需要检查确定。", 0, 0, 'red', tab_name) + w2t(f"[{this_time}] {flag}-axis-{index} 数据过大错误，需要检查确定。", 0, 10, 'red', tab_name) try: _ = sqrt(_df[i].apply(lambda x: power((rcs[i]*x/1000), 2)).sum()/len(_df[i])) except: + md.trigger_estop() _df.to_excel(path+"\\err_data.xlsx") w2t(f"{i}calculate error", 0, 11, 'red', tab_name) @@ -294,22 +270,42 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): break else: sleep(1) - global count count += 1 w2t(f"[{this_time}] 当前次数：{count:09d} | 预计下次数据更新时间：{next_time}", 0, 0, '#008B8B', tab_name) break else: + md.trigger_estop() with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj: for _ in _d2d_trq[0]: f_obj.write(f"{_}\n") - w2t("采集的数据时间长度不够，需要确认。", 0, 2, 'red', tab_name) + w2t("采集的数据时间长度不够，需要确认。", 0, 10, 'red', tab_name) def main(path, hr, md, w2t): + count = 0 + durable_data_current = { + 'time': list(range(1, 19)), + 'axis1': [0 for _ in range(18)], + 'axis2': [0 for _ in range(18)], + 'axis3': [0 for _ in range(18)], + 'axis4': [0 for _ in range(18)], + 'axis5': [0 for _ in range(18)], + 'axis6': [0 for _ in range(18)], + } + durable_data_current_max = { + 'time': list(range(1, 19)), + 'axis1': [0 for _ in range(18)], + 'axis2': [0 for _ in range(18)], + 'axis3': [0 for _ in range(18)], + 'axis4': [0 for _ in range(18)], + 'axis5': [0 for _ in range(18)], + 'axis6': [0 for _ in range(18)], + } + data_all = [durable_data_current, durable_data_current_max] data_dirs, data_files = traversal_files(path, w2t) config_file, prj_file = check_files(data_dirs, data_files, w2t) prj_to_xcore(prj_file) - run_rl(path, config_file, hr, md, w2t) + run_rl(path, config_file, data_all, count, hr, md, w2t) if __name__ == '__main__':