v0.1.7.5(2024/07/03)

1. [APIs: aio.py]
   - 增加触发急停和恢复急停功能逻辑
2. [APIs: do_current.py]
   - 重新调整运行顺序，增加数据处理的逻辑（惯量负载逻辑暂不实现，等待软件部解决了修改工程之后不生效的问题再考虑）
3. [APIs: btn_functions.py]
   - 增加触发急停和恢复急停的modbus实现，仅适用于自动化测试

v0.1.7.6(2024/07/04)
1. [APIs: aio.py]
   - Automatic Test逻辑中增加选择current时，需要选负载类型的逻辑
2. [APIs: do_current.py]
   - 单轴/场景电机电流的采集已完成
3. [APIs: openapi.py]
   - 增加了modbus读取浮点数的功能
   - 优化了get_from_id的逻辑
4. [autotest.xml]: 新增了scenario_time只写寄存器

aio/README.md

@@ -402,3 +402,22 @@ v0.1.7.4(2024/07/02)
 3[APIs: aio.py]
    - 引入modbus实例化，并以参数的形式，传递给相应的tabview
    - 新增pre_warning函数，在做自动化测试之前，确保所有条件皆具备
+
+v0.1.7.5(2024/07/03)
+1. [APIs: aio.py]
+   - 增加触发急停和恢复急停功能逻辑
+2. [APIs: do_current.py]
+   - 重新调整运行顺序，增加数据处理的逻辑（惯量负载逻辑暂不实现，等待软件部解决了修改工程之后不生效的问题再考虑）
+3. [APIs: btn_functions.py]
+   - 增加触发急停和恢复急停的modbus实现，仅适用于自动化测试
+
+v0.1.7.6(2024/07/04)
+1. [APIs: aio.py]
+   - Automatic Test逻辑中增加选择current时，需要选负载类型的逻辑
+2. [APIs: do_current.py]
+   - 单轴/场景电机电流的采集已完成
+3. [APIs: openapi.py]
+   - 增加了modbus读取浮点数的功能
+   - 优化了get_from_id的逻辑
+4. [autotest.xml]: 新增了scenario_time只写寄存器
+

aio/assets/autotest.xml

@@ -891,35 +891,56 @@
         <c name="addr_2nd" type="2" value="0"/>
         <c name="bit_bias" type="2" value="0"/>
         <c name="byte_bias" type="4" value="0"/>
-        <c name="description" type="10" value="robot to pc"/>
+        <c name="description" type="10" value="pc to robot"/>
         <c name="dev_name" type="10" value="autotest"/>
         <c name="dev_type" type="10" value="MODBUS"/>
         <c name="end_addr" type="2" value="41000"/>
         <c name="function" type="10" value=""/>
         <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="act"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+        <c name="bias" type="2" value="0"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41001"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value="robot to pc"/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41001"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
         <c name="name" type="10" value="ready_to_go"/>
         <c name="retain" type="1" value="false"/>
         <c name="rw" type="10" value="rdwr"/>
         <c name="type" type="10" value="bool"/>
         <c name="value"/>
         <c name="value_single" type="10" value=""/>
+        <c name="bias" type="2" value="0"/>
     </l>
     <l>
-        <c name="addr" type="2" value="41001"/>
+        <c name="addr" type="2" value="41002"/>
         <c name="addr_1st" type="2" value="0"/>
         <c name="addr_2nd" type="2" value="0"/>
         <c name="bit_bias" type="2" value="0"/>
         <c name="byte_bias" type="4" value="0"/>
-        <c name="description" type="10" value="pc to robot"/>
+        <c name="description" type="10" value="robot to pc"/>
         <c name="dev_name" type="10" value="autotest"/>
         <c name="dev_type" type="10" value="MODBUS"/>
-        <c name="end_addr" type="2" value="41001"/>
+        <c name="end_addr" type="2" value="41003"/>
         <c name="function" type="10" value=""/>
         <c name="len" type="2" value="1"/>
-        <c name="name" type="10" value="act"/>
+        <c name="name" type="10" value="scenario_time"/>
         <c name="retain" type="1" value="false"/>
-        <c name="rw" type="10" value="rd"/>
+        <c name="rw" type="10" value="rdwr"/>
-        <c name="type" type="10" value="int16"/>
+        <c name="type" type="10" value="float"/>
         <c name="value"/>
         <c name="value_single" type="10" value=""/>
     </l>

aio/code/aio.py

@@ -116,7 +116,7 @@ class App(customtkinter.CTk):
         # create buttons
         self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), dynamic_resizing=False, font=customtkinter.CTkFont(size=16, weight='bold'), command=lambda value='机器状态': self.thread_it(self.segmented_button_callback))
         self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew")
-        self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "停止运动", "继续运动", "零点位姿", "机器状态", "告警信息"])
+        self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "恢复急停", "待定功能", "功能待定", "机器状态", "告警信息"])
         self.seg_button.set("功能切换")
         # create progress bar
         self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
@@ -132,7 +132,7 @@ class App(customtkinter.CTk):
                 widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
                 widgits_at[widgit]['entry'].configure(state='disabled')
             elif widgit in ['loadsel', ]:
-                widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100"], width=self.w_param, font=self.my_font)
+                widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100", "inertia"], width=self.w_param, font=self.my_font)
                 widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we')
                 widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
                 widgits_at[widgit]['optionmenu'].configure(state='disabled')
@@ -161,7 +161,7 @@ class App(customtkinter.CTk):
         self.myThread.start()
 
     def segmented_button_callback(self):
-        _btn_funcs = {'get_state': '机器状态', 'warning_info': '告警信息', '3': '4', '5': '6', '7': '8'}
+        _btn_funcs = {'trigger_estop': '触发急停', 'reset_estop': '恢复急停', 'get_state': '机器状态', 'warning_info': '告警信息'}
         value = self.seg_button.get()
 
         self.seg_button.configure(state='disabled')
@@ -175,7 +175,7 @@ class App(customtkinter.CTk):
         else:
             for _func in _btn_funcs:
                 if _btn_funcs[_func] == value:
-                    btn_functions.main(self.hr, _func, self.write2textbox)
+                    btn_functions.main(self.hr, self.md_at, _func, self.write2textbox)
                     break
 
         self.seg_button.configure(state='normal')
@@ -196,7 +196,7 @@ class App(customtkinter.CTk):
                 if c_state == '0':
                     # self.textbox.delete(index1='1.0', index2='end')
                     self.hr.t_bool = False
-                    sleep(4)
+                    sleep(3)
                     del self.hr
                     self.hr = openapi.HmiRequest(self.write2textbox)
             sleep(3)
@@ -288,7 +288,7 @@ class App(customtkinter.CTk):
                         widgits_at[widgit]['entry'].configure(state='normal')
                     elif widgit in ['loadsel', ]:
                         widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
-                        widgits_at[widgit]['optionmenu'].configure(text_color='black', state='disabled')
+                        widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
             else:
                 self.initialization()
                 self.menu_main_at.set("Start Here!")
@@ -434,8 +434,11 @@ class App(customtkinter.CTk):
                     return 0, 0
             elif func_name == 'current':
                 path = widgits_at['path']['entry'].get().strip()
-                if exists(path):
+                loadsel = widgits_at['loadsel']['optionmenu'].get()
-                    return 6, path
+                c1 = exists(path)
+                c2 = loadsel in ['tool100', 'inertia']
+                if c1 and c2:
+                    return 6, path, loadsel
                 else:
                     return 0, 0
             else:
@@ -459,7 +462,7 @@ class App(customtkinter.CTk):
             func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox)
         elif flag == 6:
             self.pre_warning()
-            func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, w2t=self.write2textbox)
+            func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox)
         else:
             tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
 

aio/code/automatic_test/btn_functions.py

@@ -1,4 +1,4 @@
-import json
+from json import loads
 from sys import argv
 
 
@@ -20,11 +20,21 @@ def execution(cmd, hr, w2t, **kwargs):
     if not _msg:
         w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
     else:
-        _response = json.loads(_msg)
+        _response = loads(_msg)
         validate_resp(_id, _response, w2t)
         return _response
 
 
+def trigger_estop(md, w2t):
+    md.trigger_estop()
+    w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
+
+
+def reset_estop(md, w2t):
+    md.reset_estop()
+    w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
+
+
 def get_state(hr, w2t):
     # 获取机器状态
     _response = execution('state.get_state', hr, w2t)
@@ -48,17 +58,21 @@ def get_state(hr, w2t):
 def warning_info(hr, w2t):
     for msg in hr.c_msg:
         if 'alarm' in msg.lower():
-            w2t(msg, tab_name='Automatic Test')
+            w2t(str(loads(msg)), tab_name='Automatic Test')
     for msg in hr.c_msg_xs:
         if 'alarm' in msg.lower():
-            w2t(msg, tab_name='Automatic Test')
+            w2t(str(loads(msg)), tab_name='Automatic Test')
 
 
-def main(hr, func, w2t):
+def main(hr, md, func, w2t):
     if hr is None:
         w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test')
     # func: get_state/
     match func:
+        case 'trigger_estop':
+            trigger_estop(md, w2t)
+        case 'reset_estop':
+            reset_estop(md, w2t)
         case 'get_state':
             get_state(hr, w2t)
         case 'warning_info':
@@ -68,21 +82,3 @@ def main(hr, func, w2t):
 if __name__ == '__main__':
     main(*argv[1:])
 
-
-# 一、设置/检测机器人状态：
-#   1. 上电
-#   2. 软限位打开
-#   3. 示教器断开
-#   4. 操作模式/机器人类型
-#   5. 控制器状态/工作任务控件/机器人动态
-
-# 二、加载RL程序开始运行
-#   1. 怎么触发急停
-#   2. 怎么恢复急停
-#   3. 怎么采集曲线
-#   4.
-
-# 三、运行过程中，收集数据，并处理出结果
-
-# 四
-

aio/code/automatic_test/do_current.py

@@ -1,9 +1,11 @@
-from time import sleep
+import os
+from time import sleep, time
 from sys import argv
 from os import scandir
 from os.path import exists
 from paramiko import SSHClient, AutoAddPolicy
 from json import loads
+import pandas
 
 
 def traversal_files(path, w2t):
@@ -22,7 +24,7 @@ def traversal_files(path, w2t):
         return dirs, files
 
 
-def check_files(data_dirs, data_files, w2t):
+def check_files(path, data_dirs, data_files, w2t):
     if len(data_dirs) != 0 or len(data_files) != 3:
         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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
         w2t('   1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
@@ -42,6 +44,12 @@ def check_files(data_dirs, data_files, w2t):
 
     if config_file and current_file and prj_file:
         w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
+        os.mkdir(f"{path}\\single")
+        os.mkdir(f"{path}\\s_1")
+        os.mkdir(f"{path}\\s_2")
+        os.mkdir(f"{path}\\s_3")
+        os.mkdir(f"{path}\\inertia")
+        os.mkdir(f"{path}\\hold")
         return config_file, current_file, prj_file
     else:
         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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
@@ -56,11 +64,8 @@ def prj_to_xcore(prj_file):
     # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
     # ssh.exec_command('rm /tmp/target.zip')
     sftp.put(prj_file, '/tmp/target.zip')
-    cmd = 'cd /tmp; '
+    cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
-    cmd += 'rm -rf target/; '
+    cmd += 'chmod 777 -R target/; rm target.zip'
-    cmd += 'mkdir target; '
-    cmd += 'unzip -d target/ -q target.zip; '
-    cmd += 'rm target.zip; '
     ssh.exec_command(cmd)
 
     cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
@@ -72,8 +77,8 @@ def prj_to_xcore(prj_file):
     print(stderr.read().decode())  # 顺便也执行以下stderr
 
     _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
-    cmd = f'cd /home/luoshi/bin/controller/; '
+    cmd = 'cd /home/luoshi/bin/controller/; '
-    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj '
+    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
     stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
     stdin.write('luoshi2019' + '\n')
     stdin.flush()
@@ -98,15 +103,125 @@ def execution(cmd, hr, w2t, **kwargs):
     _id = hr.execution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
     if not _msg:
-        w2t(f"无法获取{_id}请求的响应信息", 0, 0, 'red', tab_name='Automatic Test')
+        w2t(f"无法获取{_id}请求的响应信息", 0, 7, 'red', tab_name='Automatic Test')
     else:
         _response = loads(_msg)
         validate_resp(_id, _response, w2t)
         return _response
 
 
-def run_rl(hr, md, w2t):
+def data_proc(path, filename, channel):
-    # need to run
+    if channel in list(range(6)):
+        with open(filename, 'r', encoding='utf-8') as f_obj:
+            lines = f_obj.readlines()
+            _d2d_vel = {'hw_joint_vel_feedback': []}
+            _d2d_trq = {'device_servo_trq_feedback': []}
+            for line in lines:
+                data = eval(line.strip())['data']
+                for item in data:
+                    if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+
+            df1 = pandas.DataFrame.from_dict(_d2d_vel)
+            df2 = pandas.DataFrame.from_dict(_d2d_trq)
+            df = pandas.concat([df1, df2], axis=1)
+            _filename = f'{path}\\single\\j{channel+1}_single.data'
+            df.to_csv(_filename, sep='\t', index=False)
+    elif channel in list(range(6, 9)):
+        with open(filename, 'r', encoding='utf-8') as f_obj:
+            lines = f_obj.readlines()
+            _d2d_vel_0 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_0 = {'device_servo_trq_feedback': []}
+            _d2d_vel_1 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_1 = {'device_servo_trq_feedback': []}
+            _d2d_vel_2 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_2 = {'device_servo_trq_feedback': []}
+            _d2d_vel_3 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_3 = {'device_servo_trq_feedback': []}
+            _d2d_vel_4 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_4 = {'device_servo_trq_feedback': []}
+            _d2d_vel_5 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_5 = {'device_servo_trq_feedback': []}
+            for line in lines:
+                data = eval(line.strip())['data']
+                for item in data:
+                    if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_0['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_1['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_1['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_2['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_2['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_3['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_3['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_4['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_4['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_5['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_0)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_0)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j1_s_1.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_1)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_1)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j2_s_1.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_2)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_2)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j3_s_1.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_3)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_3)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j4_s_1.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_4)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_4)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j5_s_1.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_5)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_5)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j6_s_1.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+
+def gen_result_file(path, loadsel, disc, number):
+    filename = path + f'\\data.txt'
+    with open(filename, 'w', encoding='utf-8') as f_obj:
+        for line in disc[number][1]:
+            f_obj.write(str(line)+'\n')
+
+    if loadsel == 'tool100':
+        data_proc(path, filename, number)
+    elif loadsel == 'inertia':
+        data_proc(path, filename, 'all')
+
+
+def regular_load(path, hr, md, loadsel, w2t):
     conditions = [
         "	scenario(0, j1_p, j1_n, p_speed, p_tool)",
         "	scenario(0, j2_p, j2_n, p_speed, p_tool)",
@@ -118,45 +233,44 @@ def run_rl(hr, md, w2t):
         "	scenario(2, j5_p, j5_n, p_speed, p_tool)",
         "	scenario(3, j5_p, j5_n, p_speed, p_tool)",
     ]
-
     for condition in conditions:
-        disc = {0: '一轴', 1: '二轴', 2: '三轴', 3: '四轴', 4: '五轴', 5: '六轴', 6: '场景一', 7: '场景二', 8: '场景三'}
+        disc = {
+            0: ['一轴', []], 1: ['二轴', []], 2: ['三轴', []], 3: ['四轴', []], 4: ['五轴', []], 5: ['六轴', []],
+            6: ['场景一', []], 7: ['场景二', []], 8: ['场景三', []]
+        }
         number = conditions.index(condition)
-        w2t(f"正在执行{disc[number]}测试......", 0, 0, 'purple', 'Automatic Test')
+        w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test')
 
-        # 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
+        # 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)
         md.trigger_estop()
         md.reset_estop()
         _response = execution('state.switch_manual', hr, w2t)
+        _response = execution('state.switch_motor_off', hr, w2t)
 
-        # 3. 修改未要执行的场景
+        # 2. 修改未要执行的场景
         ssh = SSHClient()
         ssh.set_missing_host_key_policy(AutoAddPolicy())
         ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
-        cmd = f'cd /home/luoshi/bin/controller/; '
+        cmd = 'cd /home/luoshi/bin/controller/; '
-        cmd += f'sudo sed -i "/scenario/d" projects/target/current/main.mod; '
+        cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; '
-        cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/current/main.mod; '
+        cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod'
         stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
         stdin.write('luoshi2019' + '\n')
         stdin.flush()
         print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
         print(stderr.read().decode())  # 顺便也执行以下stderr
 
-        # 4. reload工程后，pp2main
+        # 3. reload工程后，pp2main，并且自动模式和上电
         prj_path = 'target/_build/target.prj'
         _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
         _response = execution('overview.get_cur_prj', hr, w2t)
         _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
-        print(f"set pp2main of prj: {_response}")
-
-        # 5. 切换自动并上电
         _response = execution('state.switch_auto', hr, w2t)
         _response = execution('state.switch_motor_on', hr, w2t)
 
-        # 6. 开始运行程序，单轴运行15s
+        # 4. 开始运行程序，单轴运行15s
         _response = execution('rl_task.run', hr, w2t, tasks=['current'])
-        print(f"run prj: {_response}")
         for i in range(3):
             if md.read_ready_to_go() == 1:
                 md.write_act(True)
@@ -165,10 +279,10 @@ def run_rl(hr, md, w2t):
                 break
             else:
                 sleep(1)
-                continue
         else:
             w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
-        # 7. 打开诊断曲线，并执行采集
+
+        # 5. 打开诊断曲线，并执行采集
         _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
         display_pdo_params = [
             {"name": "hw_joint_vel_feedback", "channel": 0},
@@ -186,32 +300,62 @@ def run_rl(hr, md, w2t):
             {"name": "device_safety_estop", "channel": 0},
         ]
         _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-        sleep(8)
+        if number < 6:
-        # 8. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
+            sleep(15)
+        else:
+            _t_start = time()
+            while True:
+                scenario_time = md.read_scenario_time()
+                if float(scenario_time) > 1:
+                    w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', 'Automatic Test')
+                    break
+                else:
+                    if (time()-_t_start)//60 > 3:
+                        w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                    else:
+                        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
+            sleep(float(md.read_scenario_time())*0.2)  # 再运行周期的20%即可
+
+        # 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('rl_task.stop', hr, w2t, tasks=['current'])
         _response = execution('state.switch_motor_off', hr, w2t)
         _response = execution('state.switch_manual', hr, w2t)
-        sleep(1)
+        sleep(2)  # 保证所有数据均已返回
-        # 9. 处理数据并输出文件
+        # 7. 保留数据并处理输出
-        # for _msg in hr.c_msg:
+        for _msg in hr.c_msg:
-        #     if 'diagnosis.result' in _msg:
+            if 'diagnosis.result' in _msg:
-        #         print(_msg)
+                disc[number][1].insert(0, loads(_msg))
-        #         _msg = json.loads(_msg)
+        else:
-        #         if 'channel' in _msg and 'name' in _msg:
+            _index = 210
-        #             if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
+            for _msg in hr.c_msg:
-        #                 print(f"diagnosis.result: {_msg}")
+                if 'diagnosis.result' in _msg:
-        #                 count += 1
+                    _index = hr.c_msg.index(_msg)
-        #                 if count * 50 > 5 * 1000:
+                    break
-        #                     break
+            del hr.c_msg[_index-10:]
+            hr.c_msg_xs.clear()
+            gen_result_file(path, loadsel, disc, number)
+    else:
+        w2t("满载情况下，单轴和场景电机电流采集完毕。", 0, 0, 'green', 'Automatic Test')
 
 
-def main(path, hr, md, w2t):
+def inertia_load(path, hr, md, loadsel, w2t):
+    pass
 
+
+def run_rl(path, hr, md, loadsel, w2t):
+    if loadsel == 'tool100':
+        regular_load(path, hr, md, loadsel, w2t)
+    elif loadsel == 'inertia':
+        inertia_load(path, hr, md, loadsel, w2t)
+
+
+def main(path, hr, md, loadsel, w2t):
     data_dirs, data_files = traversal_files(path, w2t)
-    config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t)
+    config_file, current_file, prj_file = check_files(path, data_dirs, data_files, w2t)
     prj_to_xcore(prj_file)
-    run_rl(hr, md, w2t)
+    run_rl(path, hr, md, loadsel, w2t)
 
 
 if __name__ == '__main__':

aio/code/automatic_test/openapi.py

@@ -4,8 +4,9 @@ from threading import Thread
 import selectors
 from time import time, sleep
 from os.path import dirname
-from binascii import b2a_hex, a2b_hex
 from pymodbus.client.tcp import ModbusTcpClient
+from pymodbus.payload import BinaryPayloadDecoder
+from pymodbus.constants import Endian
 
 MAX_FRAME_SIZE = 1024
 setdefaulttimeout(2)
@@ -113,6 +114,16 @@ class ModbusRequest(object):
             self.w2t(f"{Err}")
             self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
+    def read_scenario_time(self):
+        try:
+            results = self.c.read_holding_registers(41002, 2)
+            result = BinaryPayloadDecoder.fromRegisters(results.registers, byteorder=Endian.BIG, wordorder=Endian.LITTLE)
+            result = f"{result.decode_32bit_float():.3f}"
+            return result
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
 
 class HmiRequest(object):
     def __init__(self, w2t):
@@ -185,10 +196,10 @@ class HmiRequest(object):
                 return index + 8, _frame_size, _pkg_size
             else:
                 print(data)
-                print(f"index = {index}")
+                # print(f"index = {index}")
-                print(f"reserve = {_reserved}")
+                # print(f"reserve = {_reserved}")
-                print(f"protocol = {_protocol}")
+                # print(f"protocol = {_protocol}")
-                print("head check 数据有误，需要确认")
+                # print("head check 数据有误，需要确认")
                 self.w2t("Header Check: 解包数据有误，需要确认！", 0, 1, 'red', tab_name=self.tab_name)
         else:
             self.half_length = len(data) - index
@@ -208,12 +219,12 @@ class HmiRequest(object):
             _flag = '0' if self.get_from_id(_id) is None else '1'
             print(f"hb = {_flag}", end=' ')
             print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
-            print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end=' ')
+            print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
             with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
                 f_hb.write(_flag)
                 if _flag == '0':
                     self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
-            sleep(1)
+            sleep(2)
             # with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
             #     for msg in self.c_msg:
             #         f.write(str(loads(msg)) + '\n')
@@ -457,8 +468,8 @@ class HmiRequest(object):
                 self.flag_xs = 1
 
     def get_from_id(self, msg_id, flag=0):
-        messages = self.c_msg if flag == 0 else self.c_msg_xs
         for i in range(3):
+            messages = self.c_msg if flag == 0 else self.c_msg_xs
             for msg in messages:
                 if msg_id is None:
                     return None
@@ -552,7 +563,7 @@ class HmiRequest(object):
                     pass
 
             req['id'] = self.gen_id(command)
-            print(f"req = {req}")
+            # print(f"req = {req}")
             cmd = dumps(req, separators=(',', ':'))
             try:
                 self.c.send(self.package(cmd))