v0.2.0.0(2024/07/17)

1. [profile: aio.py]
   - 增加velocity相关逻辑
   - 修改负载信息为曲线信息
2. [profile: factory_test.py]
   - 增加velocity相关逻辑
3. [profile: current.py]
   - 修正减速比获取的规则
4. [profile: openapi.py]
   - 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

aio/README.md

@@ -499,3 +499,15 @@ v0.1.9.4(2024/07/15)
 4. [profile: openapi.py]：多次合并遗留问题处理
 5. templates文件夹组织架构调整
 
+v0.2.0.0(2024/07/17)
+1. [profile: aio.py]
+   - 增加velocity相关逻辑
+   - 修改负载信息为曲线信息
+2. [profile: factory_test.py]
+   - 增加velocity相关逻辑
+3. [profile: current.py]
+   - 修正减速比获取的规则
+4. [profile: openapi.py]
+   - 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
+

aio/assets/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, 1, 9, 2),
+    filevers=(0, 2, 0, 0),
-    prodvers=(0, 1, 9, 2),
+    prodvers=(0, 2, 0, 0),
     # 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', '0.1.9.2 (2024-07-13)'),
+        StringStruct('FileVersion', '0.2.0.0 (2024-07-17)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.1.9.2 (2024-07-13)')])
+        StringStruct('ProductVersion', '0.2.0.0 (2024-07-17)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/vers

@@ -1 +1 @@
-0.1.9.2 @ 07/13/2024
+0.2.0.0 @ 07/17/2024

aio/code/aio.py

@@ -64,7 +64,7 @@ widgits_at = {
 }
 widgits_da = {
     'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
-    'loadsel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '负载选择'},
+    'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '曲线选择'},
 }
 
 
@@ -78,6 +78,7 @@ class App(customtkinter.CTk):
         self.canvas = None
         self.flg = 0
         self.df_copy = None
+        self.old_curve = None
         # =====================================================================
         # configure window
         self.title("AIO - All in one automatic toolbox")
@@ -104,7 +105,7 @@ class App(customtkinter.CTk):
         btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
         btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
         # create version info
-        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.2\nDate: 07/13/2024", font=self.my_font, text_color="#4F4F4F")
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.0\nDate: 07/17/2024", font=self.my_font, text_color="#4F4F4F")
         self.frame_func.rowconfigure(6, weight=1)
         self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
         # =====================================================================
@@ -183,8 +184,8 @@ class App(customtkinter.CTk):
                 widgits_da[widgit]['label'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], sticky='e', padx=(20, 5), pady=10)
                 widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font)
                 widgits_da[widgit]['entry'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we')
-            elif widgit in ['loadsel']:
+            elif widgit in ['curvesel']:
-                widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), button_color='#708090', fg_color='#778899', values=["tool100", "inertia"], font=self.my_font)
+                widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), button_color='#708090', fg_color='#778899', values=["device_servo_trq_feedback", "hw_joint_vel_feedback"], font=self.my_font)
                 widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we')
                 widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
         # For durable_action tab END =====================================================================
@@ -218,19 +219,37 @@ class App(customtkinter.CTk):
         plt.rcParams['font.size'] = 14
         plt.rcParams['lines.marker'] = 'o'
 
+        curvesel = widgits_da['curvesel']['optionmenu'].get()
+        while True:
+            if not self.hr.durable_lock:
+                self.hr.durable_lock = 1
+                if curvesel == 'device_servo_trq_feedback':
                     df = pd.read_excel(durable_data_current_xlsx)
-        if not df.equals(self.df_copy) or self.flg == 0:
+                    _title = 'device_servo_trq_feedback'
+                elif curvesel == 'hw_joint_vel_feedback':
+                    _title = 'hw_joint_vel_feedback'
+                    df = pd.read_excel(durable_data_velocity_xlsx)
+                else:
+                    _title = 'device_servo_trq_feedback'
+                    df = pd.read_excel(durable_data_current_xlsx)
+                self.hr.durable_lock = 0
+                break
+            else:
+                sleep(1)
+
+        if not df.equals(self.df_copy) or self.flg == 0 or curvesel != self.old_curve:
             self.flg = 1
             self.df_copy = df.copy()
+            self.old_curve = widgits_da['curvesel']['optionmenu'].get()
             figure = plt.figure(frameon=True, facecolor='#E9E9E9')
-            plt.subplots_adjust(left=0.04, right=0.98, bottom=0.05, top=0.98)
+            plt.subplots_adjust(left=0.04, right=0.98, bottom=0.05, top=0.95)
             ax = figure.add_subplot(1, 1, 1)
             df.plot(grid=True, x='time', y='axis1', ax=ax)
             df.plot(grid=True, x='time', y='axis2', ax=ax)
             df.plot(grid=True, x='time', y='axis3', ax=ax)
             df.plot(grid=True, x='time', y='axis4', ax=ax)
             df.plot(grid=True, x='time', y='axis5', ax=ax)
-            df.plot(grid=True, x='time', y='axis6', ax=ax)
+            df.plot(grid=True, x='time', y='axis6', ax=ax, title=_title, legend='upper left')
 
             self.create_canvas(figure)
 
@@ -264,6 +283,8 @@ class App(customtkinter.CTk):
     def detect_network(self):
         df = pd.DataFrame(durable_data_current)
         df.to_excel(durable_data_current_xlsx, index=False)
+        df = pd.DataFrame(durable_data_velocity)
+        df.to_excel(durable_data_velocity_xlsx, index=False)
 
         with open(heartbeat, "w", encoding='utf-8') as f_hb:
             f_hb.write('0')
@@ -293,23 +314,19 @@ class App(customtkinter.CTk):
         if tab_name == 'Data Process':
             self.flg = 0
             self.menu_main_dp.set("Start Here!")
-            try:
-                self.canvas.get_tk_widget().grid_forget()
-            except:
-                pass
         elif tab_name == 'Automatic Test':
             self.flg = 0
             self.menu_main_at.set("Start Here!")
             self.seg_button.configure(state='normal')
-            try:
-                self.canvas.get_tk_widget().grid_forget()
-            except:
-                pass
         elif tab_name == 'Durable Action':
             pass
 
     def initialization(self):
         tab_name = self.tabview.get()
+        try:
+            self.canvas.get_tk_widget().grid_forget()
+        except:
+            pass
         self.textbox.delete(index1='1.0', index2='end')
         if tab_name == 'Data Process':
             for widgit in widgits_dp:
@@ -343,9 +360,9 @@ class App(customtkinter.CTk):
                     widgits_da[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
                     widgits_da[widgit]['entry'].delete(0, tkinter.END)
                     widgits_da[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
-                elif widgit in ['loadsel']:
+                elif widgit in ['curvesel']:
                     widgits_da[widgit]['optionmenu'].configure(state='normal')
-                    widgits_da[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                    widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
 
     def func_main_callback(self, func_name):
         self.initialization()
@@ -564,11 +581,11 @@ class App(customtkinter.CTk):
                 return 0, 0
         elif tab_name == 'Durable Action':
             path = widgits_da['path']['entry'].get().strip()
-            loadsel = widgits_da['loadsel']['optionmenu'].get()
+            curvesel = widgits_da['curvesel']['optionmenu'].get()
             c1 = exists(path)
-            c2 = loadsel in ['tool100', 'inertia']
+            c2 = curvesel in ['device_servo_trq_feedback', 'hw_joint_vel_feedback']
             if c1 and c2:
-                return 7, path, loadsel
+                return 7, path, curvesel
             else:
                 return 0, 0
 

aio/code/data_process/current.py

@@ -251,7 +251,7 @@ def p_single(wb, single, vel, trq, rpms, rrs, w2t):
         set_option("display.precision", 2)
         if data_file.endswith('.data'):
             df = read_csv(data_file, sep='\t')
-            rr = rrs[axis+1]
+            rr = rrs[axis-1]
             addition = 180 / 3.1415926 * 60 / 360 * rr
         elif data_file.endswith('.csv'):
             df = read_csv(data_file, sep=',', encoding='gbk', header=8)
@@ -331,7 +331,7 @@ def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
         set_option("display.precision", 2)
         if data_file.endswith('.data'):
             df = read_csv(data_file, sep='\t')
-            rr = rrs[axis+1]
+            rr = rrs[axis-1]
             addition = 180 / 3.1415926 * 60 / 360 * rr
         elif data_file.endswith('.csv'):
             df = read_csv(data_file, sep=',', encoding='gbk', header=8)

aio/code/durable_action/factory_test.py

@@ -43,6 +43,8 @@ durable_data_velocity = {
     'axis5': [0 for _ in range(25)],
     'axis6': [0 for _ in range(25)],
 }
+data_all = [durable_data_current, durable_data_velocity]
+
 
 def traversal_files(path, w2t):
     if not exists(path):
@@ -118,6 +120,7 @@ def execution(cmd, hr, w2t, **kwargs):
 def run_rl(path, config_file, 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)
@@ -170,9 +173,7 @@ def run_rl(path, config_file, hr, md, w2t):
     _response = execution('rl_task.stop', hr, w2t, tasks=['current'])
     sleep(1)  # 保证所有数据均已返回
     # 7. 保留数据并处理输出
-    data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t)
+    get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
-    df = pd.DataFrame(data)
-    df.to_excel(durable_data_current_xlsx, index=False)
 
     # 8. 继续运行
     _response = execution('rl_task.run', hr, w2t, tasks=['current'])
@@ -185,9 +186,7 @@ def run_rl(path, config_file, hr, md, w2t):
         _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
         _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
         # 7. 保留数据并处理输出
-        data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t)
+        get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
-        df = pd.DataFrame(data)
-        df.to_excel(durable_data_current_xlsx, index=False)
 
 
 def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
@@ -218,19 +217,49 @@ def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
         'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [],
         'device_servo_trq_feedback_3': [], 'device_servo_trq_feedback_4': [], 'device_servo_trq_feedback_5': [],
     }
+    _d2d_vel = {
+        'hw_joint_vel_feedback_0': [], 'hw_joint_vel_feedback_1': [], 'hw_joint_vel_feedback_2': [],
+        'hw_joint_vel_feedback_3': [], 'hw_joint_vel_feedback_4': [], 'hw_joint_vel_feedback_5': [],
+    }
     for line in _data_list:
         for item in line['data']:
             for i in range(6):
                 item['value'].reverse()
                 if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback':
                     _d2d_trq[f'device_servo_trq_feedback_{i}'].extend(item['value'])
+                elif item.get('channel', None) == i and item.get('name', None) == 'hw_joint_vel_feedback':
+                    _d2d_vel[f'hw_joint_vel_feedback_{i}'].extend(item['value'])
 
         if len(_d2d_trq['device_servo_trq_feedback_0']) / 1000 > scenario_time + 1:
             _df = pd.DataFrame(_d2d_trq)
             for i in range(6):
                 _ = sqrt(_df[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}']))
-                del data[f"axis{i + 1}"][0]
+                del data[0][f"axis{i + 1}"][0]
-                data[f"axis{i + 1}"].append(_)
+                data[0][f"axis{i + 1}"].append(_)
+            _df = pd.DataFrame(data[0])
+            while True:
+                if not hr.durable_lock:
+                    hr.durable_lock = 1
+                    _df.to_excel(durable_data_current_xlsx, index=False)
+                    hr.durable_lock = 0
+                    break
+                else:
+                    sleep(1)
+
+            _df = pd.DataFrame(_d2d_vel)
+            for i in range(6):
+                _ = sqrt(_df[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}']))
+                del data[1][f"axis{i + 1}"][0]
+                data[1][f"axis{i + 1}"].append(_)
+            _df = pd.DataFrame(data[1])
+            while True:
+                if not hr.durable_lock:
+                    hr.durable_lock = 1
+                    _df.to_excel(durable_data_velocity_xlsx, index=False)
+                    hr.durable_lock = 0
+                    break
+                else:
+                    sleep(1)
             break
     else:
         with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj:
@@ -238,8 +267,6 @@ def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
                 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)
 
-    return data
-
 
 def main(path, hr, md, w2t):
     data_dirs, data_files = traversal_files(path, w2t)

aio/code/openapi.py

@@ -1,4 +1,4 @@
-from json import load, dumps
+from json import load, dumps, loads
 from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
 from threading import Thread
 import selectors
@@ -171,6 +171,7 @@ class HmiRequest(object):
         self.half_length = 0
         self.index = 0
         self.reset_index = 0
+        self.durable_lock = 0
 
         self.sock_conn()
         self.t_heartbeat = Thread(target=self.heartbeat)
@@ -257,8 +258,11 @@ class HmiRequest(object):
             #         f.write(str(loads(msg)) + '\n')
 
     def msg_storage(self, response, flag=0):
+        # response是解码后的字符串
         messages = self.c_msg if flag == 0 else self.c_msg_xs
-        if len(messages) < 20000:
+        if 'move.monitor' in response:
+            pass
+        elif len(messages) < 20000:
             messages.insert(0, response)
         else:
             messages.insert(0, response)