another try
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@ -161,6 +161,8 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
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- 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
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- target.zip，需要确认工程点位和动作无问题后，保存导出
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> 重新运行时，必须突出软件，重新运行
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#### 其他
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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：
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a. 运行 `pip show customtkinter`，获取到库的路径
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@ -518,3 +520,12 @@ v0.2.0.0(2024/07/17)
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- HmiRequest模块：日志取消记录move.monitor相关
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- HmiRequest模块：增加了durable_lock变量，控制文件读写互斥
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v0.2.0.1(2024/07/19)
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1. [main: aio.py]
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- 修改了x轴显示，使之为时间刻度
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- 修改pre_warning函数，增加了durable test的初始化
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2. [main: factory_test.py]
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- 增加了数据计算错误的判断逻辑
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- 增加了历史数据保存的逻辑
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- 增加了文件读写互斥的逻辑
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- 修改功能为输出有效电流和最大电流，并将数据结构简化
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@ -619,6 +619,12 @@ class App(customtkinter.CTk):
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tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
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def pre_warning(self):
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if self.tabview.get() == 'Durable Action':
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df = DataFrame(durable_data_current)
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df.to_excel(durable_data_current_xlsx, index=False)
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df = DataFrame(durable_data_current_max)
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df.to_excel(durable_data_current_max_xlsx, index=False)
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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？"):
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pass
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else:
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@ -11,7 +11,6 @@ from numpy import power
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from csv import writer
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tab_name = 'Durable Action'
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count = 0
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durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx'
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durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx'
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display_pdo_params = [
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@ -28,25 +27,6 @@ display_pdo_params = [
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{"name": "device_servo_trq_feedback", "channel": 4},
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{"name": "device_servo_trq_feedback", "channel": 5},
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]
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durable_data_current = {
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'time': list(range(1, 19)),
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'axis1': [0 for _ in range(18)],
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'axis2': [0 for _ in range(18)],
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'axis3': [0 for _ in range(18)],
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'axis4': [0 for _ in range(18)],
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'axis5': [0 for _ in range(18)],
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'axis6': [0 for _ in range(18)],
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}
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durable_data_current_max = {
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'time': list(range(1, 19)),
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'axis1': [0 for _ in range(18)],
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'axis2': [0 for _ in range(18)],
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'axis3': [0 for _ in range(18)],
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'axis4': [0 for _ in range(18)],
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'axis5': [0 for _ in range(18)],
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'axis6': [0 for _ in range(18)],
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}
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data_all = [durable_data_current, durable_data_current_max]
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title = [
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'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',
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'trq-max-5', 'trq-max-6'
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@ -71,8 +51,7 @@ def traversal_files(path, w2t):
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def check_files(data_dirs, data_files, w2t):
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if len(data_dirs) != 0 or len(data_files) != 2:
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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,
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10, 'red', tab_name)
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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)
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_files = [data_files[0].split('\\')[-1], data_files[1].split('\\')[-1]]
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_files.sort()
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@ -124,16 +103,13 @@ def execution(cmd, hr, w2t, **kwargs):
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return _response
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def run_rl(path, config_file, hr, md, w2t):
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def run_rl(path, config_file, data_all, count, hr, md, w2t):
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# 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
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
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md.trigger_estop()
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md.reset_estop()
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md.write_act(False)
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sleep(1) # 让曲线彻底关闭
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_response = execution('state.switch_manual', hr, w2t)
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_response = execution('state.switch_motor_off', hr, w2t)
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# 2. reload工程后，pp2main，并且自动模式和上电
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prj_path = 'target/_build/target.prj'
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@ -163,7 +139,7 @@ def run_rl(path, config_file, hr, md, w2t):
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while True:
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scenario_time = md.read_scenario_time()
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if float(scenario_time) > 1:
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w2t(f"场景的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
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w2t(f"场景的周期时间：{scenario_time}s", 0, 0, 'green', tab_name)
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break
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else:
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if (time() - _t_start) // 60 > 3:
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@ -172,13 +148,9 @@ def run_rl(path, config_file, hr, md, w2t):
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sleep(5)
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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
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scenario_time = float(md.read_scenario_time())
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sleep(scenario_time * 0.2) # 再运行周期的20%即可
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sleep(scenario_time*0.2)
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# 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
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sleep(1) # 保证所有数据均已返回
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# 7. 保留数据并处理输出
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# 6. 准备初始数据，关闭诊断曲线，保留数据并处理输出
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with open(f'{path}\\results.csv', mode='a+', newline='') as f_csv:
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csv_writer = writer(f_csv)
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csv_writer.writerow(title)
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@ -189,23 +161,24 @@ def run_rl(path, config_file, hr, md, w2t):
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for i in range(6):
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rcs.append(float(_ws.cell(row=6, column=i + 2).value))
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get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, w2t)
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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sleep(1) # 保证所有数据均已返回
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get_durable_data(path, data_all, scenario_time, wait_time, count, rcs, hr, md, w2t)
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# 8. 继续运行
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# 7. 继续运行
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while True:
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# 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
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# 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
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sleep(wait_time)
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_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
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sleep(scenario_time+5)
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
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sleep(2)
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# 7. 保留数据并处理输出
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get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, w2t)
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# 保留数据并处理输出
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get_durable_data(path, data_all, scenario_time, wait_time, count, rcs, hr, md, w2t)
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def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t):
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def get_durable_data(path, data, scenario_time, wait_time, count, rcs, hr, md, w2t):
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_data_list = []
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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@ -219,7 +192,7 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t):
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del hr.c_msg[_index:]
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hr.c_msg_xs.clear()
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# with open('log.txt', 'w', encoding='utf-8') as f_obj:
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# with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj:
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# for _ in _data_list:
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# f_obj.write(f"{_}\n")
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@ -241,12 +214,15 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t):
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for i in range(6):
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def overmax_data(df, index, number, flag):
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if number > 100:
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md.trigger_estop()
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hr.durable_quit = 1
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df.to_excel(f'{path}\\{this_time}.xlsx')
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w2t(f"[{this_time}] {flag}-axis-{index} 数据过大错误，需要检查确定。", 0, 0, 'red', tab_name)
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w2t(f"[{this_time}] {flag}-axis-{index} 数据过大错误，需要检查确定。", 0, 10, 'red', tab_name)
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try:
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_ = sqrt(_df[i].apply(lambda x: power((rcs[i]*x/1000), 2)).sum()/len(_df[i]))
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except:
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md.trigger_estop()
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_df.to_excel(path+"\\err_data.xlsx")
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w2t(f"{i}calculate error", 0, 11, 'red', tab_name)
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@ -294,22 +270,42 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t):
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break
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else:
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sleep(1)
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global count
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count += 1
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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)
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break
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else:
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md.trigger_estop()
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with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj:
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for _ in _d2d_trq[0]:
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f_obj.write(f"{_}\n")
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w2t("采集的数据时间长度不够，需要确认。", 0, 2, 'red', tab_name)
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w2t("采集的数据时间长度不够，需要确认。", 0, 10, 'red', tab_name)
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def main(path, hr, md, w2t):
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count = 0
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durable_data_current = {
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'time': list(range(1, 19)),
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'axis1': [0 for _ in range(18)],
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'axis2': [0 for _ in range(18)],
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'axis3': [0 for _ in range(18)],
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'axis4': [0 for _ in range(18)],
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'axis5': [0 for _ in range(18)],
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'axis6': [0 for _ in range(18)],
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}
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durable_data_current_max = {
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'time': list(range(1, 19)),
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'axis1': [0 for _ in range(18)],
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'axis2': [0 for _ in range(18)],
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'axis3': [0 for _ in range(18)],
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'axis4': [0 for _ in range(18)],
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'axis5': [0 for _ in range(18)],
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'axis6': [0 for _ in range(18)],
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}
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data_all = [durable_data_current, durable_data_current_max]
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data_dirs, data_files = traversal_files(path, w2t)
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config_file, prj_file = check_files(data_dirs, data_files, w2t)
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prj_to_xcore(prj_file)
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run_rl(path, config_file, hr, md, w2t)
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run_rl(path, config_file, data_all, count, hr, md, w2t)
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if __name__ == '__main__':
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