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
This commit is contained in:
parent
da5ddcea0a
commit
3010cb8931
@ -499,3 +499,15 @@ v0.1.9.4(2024/07/15)
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4. [profile: openapi.py]：多次合并遗留问题处理
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5. templates文件夹组织架构调整
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v0.2.0.0(2024/07/17)
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1. [profile: aio.py]
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- 增加velocity相关逻辑
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- 修改负载信息为曲线信息
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2. [profile: factory_test.py]
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- 增加velocity相关逻辑
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3. [profile: current.py]
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- 修正减速比获取的规则
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4. [profile: openapi.py]
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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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@ -6,8 +6,8 @@ VSVersionInfo(
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ffi=FixedFileInfo(
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# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
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# Set not needed items to zero 0.
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filevers=(0, 1, 9, 2),
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prodvers=(0, 1, 9, 2),
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filevers=(0, 2, 0, 0),
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prodvers=(0, 2, 0, 0),
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# Contains a bitmask that specifies the valid bits 'flags'r
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mask=0x3f,
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# Contains a bitmask that specifies the Boolean attributes of the file.
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@ -31,12 +31,12 @@ VSVersionInfo(
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'040904b0',
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[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
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StringStruct('FileDescription', 'All in one automatic toolbox'),
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StringStruct('FileVersion', '0.1.9.2 (2024-07-13)'),
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StringStruct('FileVersion', '0.2.0.0 (2024-07-17)'),
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StringStruct('InternalName', 'AIO.exe'),
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StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
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StringStruct('OriginalFilename', 'AIO.exe'),
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StringStruct('ProductName', 'AIO'),
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StringStruct('ProductVersion', '0.1.9.2 (2024-07-13)')])
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StringStruct('ProductVersion', '0.2.0.0 (2024-07-17)')])
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]),
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VarFileInfo([VarStruct('Translation', [1033, 1200])])
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]
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Binary file not shown.
Binary file not shown.
@ -1 +1 @@
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0.1.9.2 @ 07/13/2024
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0.2.0.0 @ 07/17/2024
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@ -64,7 +64,7 @@ widgits_at = {
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}
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widgits_da = {
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'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
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'loadsel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '负载选择'},
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'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '曲线选择'},
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}
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@ -78,6 +78,7 @@ class App(customtkinter.CTk):
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self.canvas = None
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self.flg = 0
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self.df_copy = None
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self.old_curve = None
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# =====================================================================
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# configure window
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self.title("AIO - All in one automatic toolbox")
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@ -104,7 +105,7 @@ class App(customtkinter.CTk):
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btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
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btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
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# create version info
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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")
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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")
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self.frame_func.rowconfigure(6, weight=1)
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self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
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# =====================================================================
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@ -183,8 +184,8 @@ class App(customtkinter.CTk):
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widgits_da[widgit]['label'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], sticky='e', padx=(20, 5), pady=10)
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widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font)
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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')
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elif widgit in ['loadsel']:
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widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), button_color='#708090', fg_color='#778899', values=["tool100", "inertia"], font=self.my_font)
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elif widgit in ['curvesel']:
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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)
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widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we')
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widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
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# For durable_action tab END =====================================================================
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@ -218,19 +219,37 @@ class App(customtkinter.CTk):
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plt.rcParams['font.size'] = 14
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plt.rcParams['lines.marker'] = 'o'
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curvesel = widgits_da['curvesel']['optionmenu'].get()
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while True:
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if not self.hr.durable_lock:
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self.hr.durable_lock = 1
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if curvesel == 'device_servo_trq_feedback':
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df = pd.read_excel(durable_data_current_xlsx)
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if not df.equals(self.df_copy) or self.flg == 0:
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_title = 'device_servo_trq_feedback'
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elif curvesel == 'hw_joint_vel_feedback':
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_title = 'hw_joint_vel_feedback'
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df = pd.read_excel(durable_data_velocity_xlsx)
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else:
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_title = 'device_servo_trq_feedback'
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df = pd.read_excel(durable_data_current_xlsx)
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self.hr.durable_lock = 0
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break
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else:
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sleep(1)
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if not df.equals(self.df_copy) or self.flg == 0 or curvesel != self.old_curve:
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self.flg = 1
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self.df_copy = df.copy()
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self.old_curve = widgits_da['curvesel']['optionmenu'].get()
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figure = plt.figure(frameon=True, facecolor='#E9E9E9')
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plt.subplots_adjust(left=0.04, right=0.98, bottom=0.05, top=0.98)
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plt.subplots_adjust(left=0.04, right=0.98, bottom=0.05, top=0.95)
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ax = figure.add_subplot(1, 1, 1)
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df.plot(grid=True, x='time', y='axis1', ax=ax)
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df.plot(grid=True, x='time', y='axis2', ax=ax)
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df.plot(grid=True, x='time', y='axis3', ax=ax)
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df.plot(grid=True, x='time', y='axis4', ax=ax)
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df.plot(grid=True, x='time', y='axis5', ax=ax)
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df.plot(grid=True, x='time', y='axis6', ax=ax)
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df.plot(grid=True, x='time', y='axis6', ax=ax, title=_title, legend='upper left')
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self.create_canvas(figure)
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@ -264,6 +283,8 @@ class App(customtkinter.CTk):
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def detect_network(self):
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df = pd.DataFrame(durable_data_current)
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df.to_excel(durable_data_current_xlsx, index=False)
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df = pd.DataFrame(durable_data_velocity)
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df.to_excel(durable_data_velocity_xlsx, index=False)
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with open(heartbeat, "w", encoding='utf-8') as f_hb:
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f_hb.write('0')
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@ -293,23 +314,19 @@ class App(customtkinter.CTk):
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if tab_name == 'Data Process':
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self.flg = 0
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self.menu_main_dp.set("Start Here!")
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try:
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self.canvas.get_tk_widget().grid_forget()
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except:
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pass
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elif tab_name == 'Automatic Test':
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self.flg = 0
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self.menu_main_at.set("Start Here!")
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self.seg_button.configure(state='normal')
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try:
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self.canvas.get_tk_widget().grid_forget()
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except:
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pass
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elif tab_name == 'Durable Action':
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pass
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def initialization(self):
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tab_name = self.tabview.get()
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try:
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self.canvas.get_tk_widget().grid_forget()
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except:
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pass
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self.textbox.delete(index1='1.0', index2='end')
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if tab_name == 'Data Process':
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for widgit in widgits_dp:
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@ -343,9 +360,9 @@ class App(customtkinter.CTk):
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widgits_da[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
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widgits_da[widgit]['entry'].delete(0, tkinter.END)
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widgits_da[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
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elif widgit in ['loadsel']:
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elif widgit in ['curvesel']:
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widgits_da[widgit]['optionmenu'].configure(state='normal')
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widgits_da[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
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widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
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def func_main_callback(self, func_name):
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self.initialization()
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@ -564,11 +581,11 @@ class App(customtkinter.CTk):
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return 0, 0
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elif tab_name == 'Durable Action':
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path = widgits_da['path']['entry'].get().strip()
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loadsel = widgits_da['loadsel']['optionmenu'].get()
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curvesel = widgits_da['curvesel']['optionmenu'].get()
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c1 = exists(path)
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c2 = loadsel in ['tool100', 'inertia']
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c2 = curvesel in ['device_servo_trq_feedback', 'hw_joint_vel_feedback']
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if c1 and c2:
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return 7, path, loadsel
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return 7, path, curvesel
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else:
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return 0, 0
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@ -251,7 +251,7 @@ def p_single(wb, single, vel, trq, rpms, rrs, w2t):
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set_option("display.precision", 2)
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if data_file.endswith('.data'):
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df = read_csv(data_file, sep='\t')
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rr = rrs[axis+1]
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rr = rrs[axis-1]
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addition = 180 / 3.1415926 * 60 / 360 * rr
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elif data_file.endswith('.csv'):
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df = read_csv(data_file, sep=',', encoding='gbk', header=8)
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@ -331,7 +331,7 @@ def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
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set_option("display.precision", 2)
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if data_file.endswith('.data'):
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df = read_csv(data_file, sep='\t')
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rr = rrs[axis+1]
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rr = rrs[axis-1]
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addition = 180 / 3.1415926 * 60 / 360 * rr
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elif data_file.endswith('.csv'):
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df = read_csv(data_file, sep=',', encoding='gbk', header=8)
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@ -43,6 +43,8 @@ durable_data_velocity = {
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'axis5': [0 for _ in range(25)],
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'axis6': [0 for _ in range(25)],
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}
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data_all = [durable_data_current, durable_data_velocity]
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def traversal_files(path, w2t):
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if not exists(path):
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@ -118,6 +120,7 @@ def execution(cmd, hr, w2t, **kwargs):
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def run_rl(path, config_file, 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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@ -170,9 +173,7 @@ def run_rl(path, config_file, hr, md, w2t):
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_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
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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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data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t)
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df = pd.DataFrame(data)
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df.to_excel(durable_data_current_xlsx, index=False)
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get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
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# 8. 继续运行
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_response = execution('rl_task.run', hr, w2t, tasks=['current'])
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@ -185,9 +186,7 @@ def run_rl(path, config_file, hr, md, w2t):
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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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# 7. 保留数据并处理输出
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data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t)
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df = pd.DataFrame(data)
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df.to_excel(durable_data_current_xlsx, index=False)
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get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
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def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
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@ -218,19 +217,49 @@ def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
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'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [],
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'device_servo_trq_feedback_3': [], 'device_servo_trq_feedback_4': [], 'device_servo_trq_feedback_5': [],
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}
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_d2d_vel = {
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'hw_joint_vel_feedback_0': [], 'hw_joint_vel_feedback_1': [], 'hw_joint_vel_feedback_2': [],
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'hw_joint_vel_feedback_3': [], 'hw_joint_vel_feedback_4': [], 'hw_joint_vel_feedback_5': [],
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}
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for line in _data_list:
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for item in line['data']:
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for i in range(6):
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item['value'].reverse()
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if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq[f'device_servo_trq_feedback_{i}'].extend(item['value'])
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elif item.get('channel', None) == i and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel[f'hw_joint_vel_feedback_{i}'].extend(item['value'])
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if len(_d2d_trq['device_servo_trq_feedback_0']) / 1000 > scenario_time + 1:
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_df = pd.DataFrame(_d2d_trq)
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for i in range(6):
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_ = 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}']))
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del data[f"axis{i + 1}"][0]
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data[f"axis{i + 1}"].append(_)
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del data[0][f"axis{i + 1}"][0]
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data[0][f"axis{i + 1}"].append(_)
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_df = pd.DataFrame(data[0])
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while True:
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if not hr.durable_lock:
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hr.durable_lock = 1
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_df.to_excel(durable_data_current_xlsx, index=False)
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hr.durable_lock = 0
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break
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else:
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sleep(1)
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_df = pd.DataFrame(_d2d_vel)
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for i in range(6):
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_ = 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}']))
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del data[1][f"axis{i + 1}"][0]
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data[1][f"axis{i + 1}"].append(_)
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_df = pd.DataFrame(data[1])
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while True:
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if not hr.durable_lock:
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hr.durable_lock = 1
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_df.to_excel(durable_data_velocity_xlsx, index=False)
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hr.durable_lock = 0
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break
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else:
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sleep(1)
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break
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else:
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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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@ -238,8 +267,6 @@ def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
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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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return data
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def main(path, hr, md, w2t):
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data_dirs, data_files = traversal_files(path, w2t)
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@ -1,4 +1,4 @@
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from json import load, dumps
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from json import load, dumps, loads
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from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
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from threading import Thread
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import selectors
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@ -171,6 +171,7 @@ class HmiRequest(object):
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self.half_length = 0
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self.index = 0
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self.reset_index = 0
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self.durable_lock = 0
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self.sock_conn()
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self.t_heartbeat = Thread(target=self.heartbeat)
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@ -257,8 +258,11 @@ class HmiRequest(object):
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# f.write(str(loads(msg)) + '\n')
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def msg_storage(self, response, flag=0):
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# response是解码后的字符串
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messages = self.c_msg if flag == 0 else self.c_msg_xs
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if len(messages) < 20000:
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if 'move.monitor' in response:
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pass
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elif len(messages) < 20000:
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messages.insert(0, response)
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else:
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messages.insert(0, response)
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