From 59711d9c65d9bb6c346a46278741d59acf4fcc30 Mon Sep 17 00:00:00 2001
From: gitea <mffan0922@163.com>
Date: Tue, 20 Aug 2024 18:03:44 +0800
Subject: [PATCH] =?UTF-8?q?4.=20[main:=20openapi.py]=EF=BC=9A=E6=96=B0?=
 =?UTF-8?q?=E5=A2=9E=20rl=5Ftask.set=5Frun=5Fparams=20=E6=8C=87=E4=BB=A4?=
 =?UTF-8?q?=E6=94=AF=E6=8C=81=EF=BC=8C=E5=8F=AF=E8=AE=BE=E5=AE=9A=E9=80=9F?=
 =?UTF-8?q?=E5=BA=A6=E6=BB=91=E5=9D=97=E4=BB=A5=E5=8F=8A=E6=98=AF=E5=90=A6?=
 =?UTF-8?q?=E9=87=8D=E5=A4=8D=E8=BF=90=E8=A1=8C=205.=20[main:=20do=5Fbrake?=
 =?UTF-8?q?/do=5Fcurrent/factory=5Ftest.py]=EF=BC=9A=E5=9C=A8=E5=88=9D?=
 =?UTF-8?q?=E5=A7=8B=E5=8C=96=E8=BF=90=E5=8A=A8=E6=97=B6=E5=A2=9E=E5=8A=A0?=
 =?UTF-8?q?=20`clibs.execution('rl=5Ftask.set=5Frun=5Fparams',=20hr,=20w2t?=
 =?UTF-8?q?,=20tab=5Fname,=20loop=5Fmode=3DTrue,=20override=3D1.0)`?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 aio/README.md                                         | 4 +++-
 aio/assets/templates/json/rl_task.set_run_params.json | 9 +++++++++
 aio/code/automatic_test/do_brake.py                   | 1 +
 aio/code/automatic_test/do_current.py                 | 1 +
 aio/code/commons/openapi.py                           | 3 +++
 aio/code/durable_action/factory_test.py               | 1 +
 main.py                                               | 0
 7 files changed, 18 insertions(+), 1 deletion(-)
 create mode 100644 aio/assets/templates/json/rl_task.set_run_params.json
 create mode 100644 main.py

diff --git a/aio/README.md b/aio/README.md
index fd9b2d5..5adc60c 100644
--- a/aio/README.md
+++ b/aio/README.md
@@ -146,7 +146,7 @@ pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory .
 10. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行
 11. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停
 12. 工程文件可以手动重命名，按照机型存档，或者导出用于自动化测试
-13. 自动化测试前，需要将HMI程序速度设置为100%并同步至控制器，也即左下方速度滑条滑动至最大
+13. （可废弃，但未验证）自动化测试前，需要将HMI程序速度设置为100%并同步至控制器，也即左下方速度滑条滑动至最大
 
 #### 6) 电机电流自动化测试
 
@@ -625,3 +625,5 @@ v0.2.0.8(2024/08/20)
    - 在 assets 目录新建 logs 目录，存放日志文件，并增加了相应的逻辑保证正常执行
 2. [t_change_ui: aio.py]：增加 App 窗口图标代码
 3. [t_change_ui: openapi.py]：将重复输出的网络错误提示，从 textbox 中转移到 debug.log 日志文件中
+4. [main: openapi.py]：新增 rl_task.set_run_params 指令支持，可设定速度滑块以及是否重复运行
+5. [main: do_brake/do_current/factory_test.py]：在初始化运动时增加 `clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)` 
diff --git a/aio/assets/templates/json/rl_task.set_run_params.json b/aio/assets/templates/json/rl_task.set_run_params.json
new file mode 100644
index 0000000..8490383
--- /dev/null
+++ b/aio/assets/templates/json/rl_task.set_run_params.json
@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.set_run_params",
+  "data": {
+	"loop_mode": true,
+	"override": 1.0
+  }
+}
\ No newline at end of file
diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py
index 76a07e9..8a4bf26 100644
--- a/aio/code/automatic_test/do_brake.py
+++ b/aio/code/automatic_test/do_brake.py
@@ -184,6 +184,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                     clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
                     clibs.execution('state.switch_auto', hr, w2t, tab_name)
                     clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
+                    clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
                     clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
                     _t_start = time()
                     while True:
diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py
index 0d15ab8..600d03d 100644
--- a/aio/code/automatic_test/do_current.py
+++ b/aio/code/automatic_test/do_current.py
@@ -290,6 +290,7 @@ def run_rl(path, hr, md, loadsel, w2t):
         clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
 
         # 3. 开始运行程序，单轴运行35s
+        clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
         clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
         _t_start = time()
         while True:
diff --git a/aio/code/commons/openapi.py b/aio/code/commons/openapi.py
index fa38b66..e8f8a69 100644
--- a/aio/code/commons/openapi.py
+++ b/aio/code/commons/openapi.py
@@ -599,6 +599,9 @@ class HmiRequest(object):
                     req['data']['tasks'] = kwargs['tasks']
                 case 'rl_task.pp_to_main' | 'rl_task.run' | 'rl_task.stop':
                     req['data']['tasks'] = kwargs['tasks']
+                case 'rl_task.set_run_params':
+                    req['data']['loop_mode'] = kwargs['loop_mode']
+                    req['data']['override'] = kwargs['override']
                 case 'diagnosis.set_params':
                     req['data']['display_pdo_params'] = kwargs['display_pdo_params']
                 case 'diagnosis.open':
diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py
index b9c0d71..629d5ac 100644
--- a/aio/code/durable_action/factory_test.py
+++ b/aio/code/durable_action/factory_test.py
@@ -61,6 +61,7 @@ def run_rl(path, config_file, data_all, hr, md, w2t):
     clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
 
     # 3. 开始运行程序
+    clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
     clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
     _t_start = time()
     while True:
diff --git a/main.py b/main.py
new file mode 100644
index 0000000..e69de29