another try

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

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:

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,
+        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)
-            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
+    # 6. 准备初始数据，关闭诊断曲线，保留数据并处理输出
-    _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
     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
+        # 保留数据并处理输出
-        get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, w2t)
+        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__':