7. [APIs: btn_functions.py]: 重写了告警输出函数，从日志中拿数据

8. [APIs: aio.py]: 将日志框输出的内容，也保存至日志文件
9. [APIs: do_brake.py]
   - 修改获取初始速度的逻辑，只获取configs文件中配置的时间内的速度
   - 新增 configs 参数 single_brake，可针对特定条件做测试

aio/README.md

@@ -590,4 +590,8 @@ v0.2.0.5(2024/07/31)
    - 保持电流，只取最后 15s
    - 优化 ssh 输入密码的部分
 6. [t_change_ui: all the part]: 引入 commons 包，并定制了 logging 输出，后续持续优化
-
+7. [APIs: btn_functions.py]: 重写了告警输出函数，从日志中拿数据
+8. [APIs: aio.py]: 将日志框输出的内容，也保存至日志文件
+9. [APIs: do_brake.py]
+   - 修改获取初始速度的逻辑，只获取configs文件中配置的时间内的速度
+   - 新增 configs 参数 single_brake，可针对特定条件做测试

aio/code/aio.py

@@ -449,6 +449,7 @@ class App(customtkinter.CTk):
         self.textbox.tag_add(color, 'insert', 'end')
         self.textbox.tag_config(tagName=color, foreground=color)
         tab_name_cur = self.tabview.get()
+        logger.info(text)
 
         if tab_name == tab_name_cur:
             if wait != 0:

aio/code/automatic_test/btn_functions.py

@@ -38,12 +38,15 @@ def get_state(hr, w2t):
 
 
 def warning_info(hr, w2t):
-    for msg in hr.c_msg:
+    for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
-        if 'alarm' in msg.lower():
+        log_name = clibs.log_data + postfix
-            w2t(str(loads(msg)), tab_name=tab_name)
+        try:
-    for msg in hr.c_msg_xs:
+            with open(log_name, 'r', encoding='utf-8') as f_log:
-        if 'alarm' in msg.lower():
+                for line in f_log:
-            w2t(str(loads(msg)), tab_name=tab_name)
+                    if 'alarm' in line:
+                        w2t(line.strip(), tab_name=tab_name)
+        except FileNotFoundError:
+            pass
 
 
 def main(hr, md, func, w2t):

aio/code/automatic_test/do_brake.py

@@ -61,7 +61,7 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
     _d2d_vel = {'hw_joint_vel_feedback': []}
     _d2d_trq = {'device_servo_trq_feedback': []}
     _d2d_stop = {'device_safety_estop': []}
-    for data in curve_data[-240:]:
+    for data in curve_data[-240:]:  # 保留最后12s的数据
         dict_results = data['data']
         for item in dict_results:
             try:
@@ -85,6 +85,7 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
 
 def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
     _count = 0
+    _total = 63
     display_pdo_params = [
         {"name": "hw_joint_vel_feedback", "channel": 0},
         {"name": "hw_joint_vel_feedback", "channel": 1},
@@ -104,6 +105,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
     ws = wb['Target']
     write_diagnosis = float(ws.cell(row=3, column=10).value)
     get_init_speed = float(ws.cell(row=4, column=10).value)
+    single_brake = ws.cell(row=5, column=10).value
+
     if ws.cell(row=1, column=1).value == 'positive':
         md.write_pon(1)
     elif ws.cell(row=1, column=1).value == 'negative':
@@ -118,7 +121,19 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
         _load = condition.split('_')[1].removeprefix('load')
         _speed = condition.split('_')[2].removeprefix('speed')
 
+        # for single condition test
+        _single_axis = 0
+        if single_brake != '0':
+            _total = 3
+            _single_axis = int(single_brake.split('-')[0])
+            if _reach != single_brake.split('-')[1] or _load != single_brake.split('-')[2] or _speed != single_brake.split('-')[3]:
+                continue
+
         for axis in range(1, 4):
+            # for single condition test
+            if _single_axis != 0 and _single_axis != axis:
+                continue
+
             md.write_axis(axis)
             speed_max = 0
             if axis == 3 and _reach != '100':
@@ -130,7 +145,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                 _count += 1
                 this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
                 prj_path = 'target/_build/target.prj'
-                w2t(f"[{this_time} | {_count}/63] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
+                w2t(f"[{this_time} | {_count}/{_total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
 
                 # 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
                 md.trigger_estop()
@@ -180,13 +195,17 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                                 w2t("20s内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', tab_name)
                             else:
                                 sleep(1)
-                # 4. 打开诊断曲线，并执行采集，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
+                # 4. 找出最大速度，传递给RL程序，最后清除相关记录
-                    sleep(get_init_speed)  # 获取实际最大速度，可通过configs.xlsx配置
+                    sleep(get_init_speed+5)  # 冗余5s，指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置
                     clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['brake'])
                     # 找出最大速度
                     _c_msg = hr.c_msg.copy()
+                    _number = 0
                     for _msg in _c_msg:
+                        if _number > get_init_speed*20:  # 最开始回零点的时候，二轴速度可以达到最大值，实际摆动时，某一方向可能达不到
+                            break
                         if 'diagnosis.result' in _msg:
+                            _number += 1
                             dict_results = loads(_msg)['data']
                             for item in dict_results:
                                 if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
@@ -195,7 +214,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                                         speed_max = max(_, speed_max)
                                     elif ws.cell(row=1, column=1).value == 'negative':
                                         speed_max = min(_, speed_max)
-                    print(f"speed max = {speed_max}")
+                    logger.info(f"speed max = {speed_max}")
                     speed_max = abs(speed_max)
                     speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
                     if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:

aio/code/automatic_test/do_current.py

@@ -64,7 +64,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel = {'hw_joint_vel_feedback': []}
             _d2d_trq = {'device_servo_trq_feedback': []}
-            for line in lines:
+            for line in lines[-500:]:  # 保留最后25s的数据
                 data = eval(line.strip())['data']
                 for item in data:
                     try:
@@ -168,7 +168,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel = {'hw_joint_vel_feedback': []}
             _d2d_trq = {'device_servo_trq_feedback': []}
-            for line in lines[-300:]:
+            for line in lines[-300:]:  # 保留最后15s的数据
                 data = eval(line.strip())['data']
                 for item in data:
                     try: