diff --git a/aio/README.md b/aio/README.md index f29c7ba..90c80fd 100644 --- a/aio/README.md +++ b/aio/README.md @@ -339,4 +339,19 @@ v0.1.7.1(2024/06/29) - 文件合规性检查 - 导入工程并设置为运行工程 4. [APIs: current.py] 修改scenario/single电机电流最大长度为150s -5. 在本文件中更新关于制动自动化测试的相关内容 \ No newline at end of file +5. 在本文件中更新关于制动自动化测试的相关内容 + +v0.1.7.1(2024/06/29) +1. [APIs: aio.py] + - 修改detect_network函数中sleep语句放到最后，重新生成HmiRequest实例中增加sleep(4)，这个停顿时间一定是比openapi中heartbeat函数的sleep要长1s以上才能正常工作 + - 修改write2textbox函数，新增默认参数tab_name，只有当该值与当前tab一致时，函数才会有输出 + - 第二条改动影响到了automatic_test文件夹下所有的文件 +2. [APIs: openapi.py] + - 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理 + - execution函数中合并了case条件 + - 增加了N多指令，多为诊断曲线和rl程序相关 +3. [APIs: do_brake.py] + - 实现自动推送工程到xCore并自动运行 + - 初步实现了Modbus发送消息和检测状态 +4. [APIs: do_current.py] + - 将do_brake.py的内容完全拷贝到此文件，待修改 \ No newline at end of file diff --git a/aio/assets/templates/diagnosis.get_params.json b/aio/assets/templates/diagnosis.get_params.json new file mode 100644 index 0000000..7e57457 --- /dev/null +++ b/aio/assets/templates/diagnosis.get_params.json @@ -0,0 +1,8 @@ +{ + "id": "xxxxxxxxxxx", + "module": "robot", + "command": "diagnosis.get_params", + "data": { + "version": "1.4.1" + } +} \ No newline at end of file diff --git a/aio/assets/templates/diagnosis.open.json b/aio/assets/templates/diagnosis.open.json new file mode 100644 index 0000000..915ff6a --- /dev/null +++ b/aio/assets/templates/diagnosis.open.json @@ -0,0 +1,12 @@ +{ + "id": "xxxxxxxxxxx", + "module": "robot", + "command": "diagnosis.open", + "data": { + "open": false, + "display_open": false, + "overrun": true, + "turn_area": true, + "delay_motion": false + } +} \ No newline at end of file diff --git a/aio/assets/templates/diagnosis.save.json b/aio/assets/templates/diagnosis.save.json new file mode 100644 index 0000000..6564248 --- /dev/null +++ b/aio/assets/templates/diagnosis.save.json @@ -0,0 +1,8 @@ +{ + "id": "xxxxxxxxxxx", + "module": "robot", + "command": "diagnosis.save", + "data": { + "save": true + } +} \ No newline at end of file diff --git a/aio/assets/templates/diagnosis.set_params.json b/aio/assets/templates/diagnosis.set_params.json new file mode 100644 index 0000000..0bb13cc --- /dev/null +++ b/aio/assets/templates/diagnosis.set_params.json @@ -0,0 +1,10 @@ +{ + "id": "xxxxxxxxxxx", + "module": "robot", + "command": "diagnosis.set_params", + "data": { + "display_pdo_params": [], + "frequency": 50, + "version": "1.4.1" + } +} \ No newline at end of file diff --git a/aio/assets/templates/rl_task.pp_to_main.json b/aio/assets/templates/rl_task.pp_to_main.json new file mode 100644 index 0000000..3e2247f --- /dev/null +++ b/aio/assets/templates/rl_task.pp_to_main.json @@ -0,0 +1,8 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "rl_task.pp_to_main", + "data": { + "tasks": [] + } +} \ No newline at end of file diff --git a/aio/assets/templates/rl_task.run.json b/aio/assets/templates/rl_task.run.json new file mode 100644 index 0000000..52e89a1 --- /dev/null +++ b/aio/assets/templates/rl_task.run.json @@ -0,0 +1,8 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "rl_task.run", + "data": { + "tasks": [] + } +} \ No newline at end of file diff --git a/aio/assets/templates/rl_task.stop.json b/aio/assets/templates/rl_task.stop.json new file mode 100644 index 0000000..03b0f6b --- /dev/null +++ b/aio/assets/templates/rl_task.stop.json @@ -0,0 +1,8 @@ +{ + "id": "xxxxxxxxxxx", + "module": "project", + "command": "rl_task.stop", + "data": { + "tasks": [] + } +} \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 1111654..bfc7d2f 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -200,17 +200,17 @@ class App(customtkinter.CTk): c_state = f_hb.read().strip() pb_color = 'green' if c_state == '1' else 'red' self.progressbar.configure(progress_color=pb_color) - sleep(1) if c_state == '0': - self.textbox.delete(index1='1.0', index2='end') + # self.textbox.delete(index1='1.0', index2='end') self.hr.t_bool = False - sleep(1) + sleep(4) del self.hr self.hr = openapi.HmiRequest(self.write2textbox) + sleep(3) def tabview_click(self): self.initialization() - self.textbox.delete(index1='1.0', index2='end') + # self.textbox.delete(index1='1.0', index2='end') tab_name = self.tabview.get() if tab_name == 'Data Process': @@ -221,6 +221,7 @@ class App(customtkinter.CTk): def initialization(self): tab_name = self.tabview.get() + self.textbox.delete(index1='1.0', index2='end') if tab_name == 'Data Process': for widgit in widgits_dp: if widgit in ['path', 'av', 'rc', 'rpm', 'rr', 'dur', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6']: @@ -235,7 +236,6 @@ class App(customtkinter.CTk): widgits_dp[widgit]['optionmenu'].configure(state='disabled') self.menu_sub_dp.grid_forget() - self.textbox.delete(index1='1.0', index2='end') elif tab_name == 'Automatic Test': for widgit in widgits_at: if widgit in ['path', 'av1', 'av2', 'av3', 'av4', 'av5', 'av6', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6', 'rr1', 'rr2', 'rr3', 'rr4', 'rr5', 'rr6']: @@ -334,23 +334,25 @@ class App(customtkinter.CTk): widgits_dp[widgit]['label'].configure(text_color="red") widgits_dp[widgit]['optionmenu'].configure(state='normal') - def write2textbox(self, text, wait=0, exitcode=0, color='blue'): + def write2textbox(self, text, wait=0, exitcode=0, color='blue', tab_name='Data Process'): self.textbox.tag_add(color, 'insert', 'end') self.textbox.tag_config(tagName=color, foreground=color) + tab_name_cur = self.tabview.get() - if wait != 0: - self.textbox.insert(index='end', text=text, tags=color) - self.textbox.update() - self.textbox.see('end') - elif exitcode != 0: - self.textbox.insert(index='end', text=text + '\n', tags=color) - self.textbox.update() - self.textbox.see('end') - raise Exception(f"Error code: {exitcode}") - else: - self.textbox.insert(index='end', text=text + '\n', tags=color) - self.textbox.update() - self.textbox.see('end') + if tab_name == tab_name_cur: + if wait != 0: + self.textbox.insert(index='end', text=text, tags=color) + self.textbox.update() + self.textbox.see('end') + elif exitcode != 0: + self.textbox.insert(index='end', text=text + '\n', tags=color) + self.textbox.update() + self.textbox.see('end') + raise Exception(f"Error code: {exitcode}") + else: + self.textbox.insert(index='end', text=text + '\n', tags=color) + self.textbox.update() + self.textbox.see('end') def is_float(self, flag, *args): for item in args: diff --git a/aio/code/automatic_test/btn_functions.py b/aio/code/automatic_test/btn_functions.py index e6a6d51..9536e79 100644 --- a/aio/code/automatic_test/btn_functions.py +++ b/aio/code/automatic_test/btn_functions.py @@ -5,20 +5,20 @@ from sys import argv def validate_resp(_id, response, w2t): match _id: case 'DATA ERR': - w2t(f"数据处理错误，需要确认", 0, 4, 'red') + w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test') case 'DATA READ ERR': - w2t(f"无法读取数据，需要确认", 0, 3, 'red') + w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test') case 'NOT SUPPORT': - w2t(f"不支持的功能，需要确认", 0, 2, 'red') + w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test') if not response: - w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red') + w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') def execution(cmd, hr, w2t, **kwargs): _id = hr.excution(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, 6, 'red') + 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) validate_resp(_id, _response, w2t) @@ -30,7 +30,7 @@ def get_state(hr, w2t): _response = execution('state.get_state', hr, w2t) stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'} for component, state in _response['data'].items(): - w2t(f"{stat_desc[component]}: {state}") + w2t(f"{stat_desc[component]}: {state}", tab_name='Automatic Test') # 获取设备伺服信息 _response = execution('device.get_params', hr, w2t) @@ -39,7 +39,7 @@ def get_state(hr, w2t): for device in _response['data']['devices']: dev_vers[device['type']] = device['version'] for i in sorted(dev_desc.keys()): - w2t(f"{dev_desc[i]}: {dev_vers[i]}") + w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name='Automatic Test') # 设置示教器模式 _response = execution('state.set_tp_mode', hr, w2t, tp_mode='without') @@ -48,15 +48,15 @@ def get_state(hr, w2t): def warning_info(hr, w2t): for msg in hr.c_msg: if 'alarm' in msg.lower(): - w2t(msg) + w2t(msg, tab_name='Automatic Test') for msg in hr.c_msg_xs: if 'alarm' in msg.lower(): - w2t(msg) + w2t(msg, tab_name='Automatic Test') def main(hr, 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') + 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 'get_state': diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index a8da2c9..d60c955 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -1,8 +1,9 @@ +from time import sleep from sys import argv from os import scandir from os.path import exists -import paramiko -import json +from paramiko import SSHClient, AutoAddPolicy +from json import loads def traversal_files(path, w2t): @@ -11,7 +12,7 @@ def traversal_files(path, w2t): # 返回值：路径下的文件夹列表 路径下的文件列表 if not exists(path): msg = f'数据文件夹{path}不存在，请确认后重试......' - w2t(msg, 0, 1, 'red') + w2t(msg, 0, 1, 'red', tab_name='Automatic Test') else: dirs = [] files = [] @@ -26,8 +27,8 @@ def traversal_files(path, w2t): def check_files(data_dirs, data_files, w2t): if len(data_dirs) != 0 or len(data_files) != 5: - 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五个文件，确认后重新运行！', 0, 0, 'red') - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red') + 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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') config_file = reach33 = reach66 = reach100 = prj_file = None for data_file in data_files: @@ -43,20 +44,20 @@ def check_files(data_dirs, data_files, w2t): elif filename.endswith('.zip'): prj_file = data_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五个文件，确认后重新运行！', 0, 0, 'red') - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red') + 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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test') if config_file and reach33 and reach66 and reach100 and prj_file: - w2t("数据目录合规性检查结束，未发现问题......") + w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test') return config_file, reach33, reach66, reach100, 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五个文件，确认后重新运行！', 0, 0, 'red') - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red') + 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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') def prj_to_xcore(prj_file): - ssh = paramiko.SSHClient() - ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy()) + ssh = SSHClient() + ssh.set_missing_host_key_policy(AutoAddPolicy()) ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') sftp = ssh.open_sftp() # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip') @@ -76,6 +77,14 @@ def prj_to_xcore(prj_file): 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 + + cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj ' + 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 + ssh.close() @@ -86,42 +95,79 @@ def modify_prj(): def validate_resp(_id, response, w2t): match _id: case 'DATA ERR': - w2t(f"数据处理错误，需要确认", 0, 4, 'red') + w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test') case 'DATA READ ERR': - w2t(f"无法读取数据，需要确认", 0, 3, 'red') + w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test') case 'NOT SUPPORT': - w2t(f"不支持的功能，需要确认", 0, 2, 'red') + w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test') if not response: - w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red') + w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') def execution(cmd, hr, w2t, **kwargs): _id = hr.excution(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, 6, 'red') + 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 run_rl(hr, w2t): - prj_path = '/home/luoshi/bin/controller/projects/target' - _response = execution('overview.set_autoload', hr, w2t, autoload_prj_path=prj_path) - print(f"set prj auto load: {_response}") - _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com']) - print(f"reload prj: {_response}") - _response = execution('overview.get_cur_prj', hr, w2t) - print(f"get prj name: {_response}") - _response = execution('overview.get_autoload', hr, w2t) - print(f"get auto load: {_response}") + # prj_path = 'target/_build/target.prj' + # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com']) + # print(f"reload prj: {_response}") + # # _response = execution('overview.get_cur_prj', hr, w2t) + # # print(f"get cur prj name: {_response}") + # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com']) + # print(f"set pp2main of prj: {_response}") + # + # _response = execution('state.switch_auto', hr, w2t) + # _response = execution('state.switch_motor_on', hr, w2t) + # + # _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com']) + # print(f"run prj: {_response}") + # sleep(10) + # + # _response = execution('state.switch_motor_off', hr, w2t) + # _response = execution('state.switch_manual', hr, w2t) + + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + print(f"打开诊断: {_response}") + # _response = execution('diagnosis.get_params', hr, w2t) + # print(f"显示诊断状态: {_response}") + display_pdo_params = [ + {"name": "device_servo_trq_feedback", "channel": 0} + ] + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + print(f"执行采样: {_response}") + sleep(5) + + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + print(f"关闭诊断: {_response}") + # sleep(1) + for _msg in hr.c_msg: + if 'diagnosis.result' in _msg: + print(_msg) + # _msg = json.loads(_msg) + # if 'channel' in _msg and 'name' in _msg: + # if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback': + # print(f"diagnosis.result: {_msg}") + # count += 1 + # if count * 50 > 5 * 1000: + # break + + + else: + sleep(1) def main(path, hr, loadsel, w2t): data_dirs, data_files = traversal_files(path, w2t) config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t) - prj_to_xcore(prj_file) + # prj_to_xcore(prj_file) run_rl(hr, w2t) diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index e69de29..d60c955 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -0,0 +1,175 @@ +from time import sleep +from sys import argv +from os import scandir +from os.path import exists +from paramiko import SSHClient, AutoAddPolicy +from json import loads + + +def traversal_files(path, w2t): + # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录 + # 参数：路径 + # 返回值：路径下的文件夹列表 路径下的文件列表 + if not exists(path): + msg = f'数据文件夹{path}不存在，请确认后重试......' + w2t(msg, 0, 1, 'red', tab_name='Automatic Test') + else: + dirs = [] + files = [] + for item in scandir(path): + if item.is_dir(): + dirs.append(item.path) + elif item.is_file(): + files.append(item.path) + + return dirs, files + + +def check_files(data_dirs, data_files, w2t): + if len(data_dirs) != 0 or len(data_files) != 5: + 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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') + + config_file = reach33 = reach66 = reach100 = prj_file = None + for data_file in data_files: + filename = data_file.split('\\')[-1] + if filename == 'configs.xlsx': + config_file = data_file + elif filename.startswith('reach33_') and filename.endswith('.xlsx'): + reach33 = data_file + elif filename.startswith('reach66_') and filename.endswith('.xlsx'): + reach66 = data_file + elif filename.startswith('reach100_') and filename.endswith('.xlsx'): + reach100 = data_file + elif filename.endswith('.zip'): + prj_file = data_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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test') + + if config_file and reach33 and reach66 and reach100 and prj_file: + w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test') + return config_file, reach33, reach66, reach100, 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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') + + +def prj_to_xcore(prj_file): + ssh = SSHClient() + ssh.set_missing_host_key_policy(AutoAddPolicy()) + ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') + sftp = ssh.open_sftp() + # 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 += 'rm -rf target/; ' + 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; ' + cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/' + 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 + + cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj ' + 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 + + ssh.close() + + +def modify_prj(): + pass + + +def validate_resp(_id, response, w2t): + match _id: + case 'DATA ERR': + w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test') + case 'DATA READ ERR': + w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test') + case 'NOT SUPPORT': + w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test') + if not response: + w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') + + +def execution(cmd, hr, w2t, **kwargs): + _id = hr.excution(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, 6, 'red', tab_name='Automatic Test') + else: + _response = loads(_msg) + validate_resp(_id, _response, w2t) + return _response + + +def run_rl(hr, w2t): + # prj_path = 'target/_build/target.prj' + # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com']) + # print(f"reload prj: {_response}") + # # _response = execution('overview.get_cur_prj', hr, w2t) + # # print(f"get cur prj name: {_response}") + # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com']) + # print(f"set pp2main of prj: {_response}") + # + # _response = execution('state.switch_auto', hr, w2t) + # _response = execution('state.switch_motor_on', hr, w2t) + # + # _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com']) + # print(f"run prj: {_response}") + # sleep(10) + # + # _response = execution('state.switch_motor_off', hr, w2t) + # _response = execution('state.switch_manual', hr, w2t) + + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + print(f"打开诊断: {_response}") + # _response = execution('diagnosis.get_params', hr, w2t) + # print(f"显示诊断状态: {_response}") + display_pdo_params = [ + {"name": "device_servo_trq_feedback", "channel": 0} + ] + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + print(f"执行采样: {_response}") + sleep(5) + + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + print(f"关闭诊断: {_response}") + # sleep(1) + for _msg in hr.c_msg: + if 'diagnosis.result' in _msg: + print(_msg) + # _msg = json.loads(_msg) + # if 'channel' in _msg and 'name' in _msg: + # if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback': + # print(f"diagnosis.result: {_msg}") + # count += 1 + # if count * 50 > 5 * 1000: + # break + + + else: + sleep(1) + + +def main(path, hr, loadsel, w2t): + data_dirs, data_files = traversal_files(path, w2t) + config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t) + # prj_to_xcore(prj_file) + run_rl(hr, w2t) + + +if __name__ == '__main__': + main(*argv[1:]) diff --git a/aio/code/automatic_test/openapi.py b/aio/code/automatic_test/openapi.py index 5ede426..40b609a 100644 --- a/aio/code/automatic_test/openapi.py +++ b/aio/code/automatic_test/openapi.py @@ -1,13 +1,13 @@ -import json -import socket -import threading +from json import load, dumps +from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM +from threading import Thread import selectors -import time -import os +from time import time, sleep +from os.path import dirname MAX_FRAME_SIZE = 1024 -socket.setdefaulttimeout(2) -current_path = os.path.dirname(__file__) +setdefaulttimeout(2) +current_path = dirname(__file__) class HmiRequest(object): @@ -24,15 +24,16 @@ class HmiRequest(object): self.flag_xs = 0 self.response_xs = '' self.t_bool = True + self.tab_name = 'Automatic Test' self.sock_conn() - self.t_heartbeat = threading.Thread(target=self.heartbeat) + self.t_heartbeat = Thread(target=self.heartbeat) self.t_heartbeat.daemon = True self.t_heartbeat.start() - self.t_unpackage = threading.Thread(target=self.unpackage, args=(self.c, )) + self.t_unpackage = Thread(target=self.unpackage, args=(self.c, )) self.t_unpackage.daemon = True self.t_unpackage.start() - self.t_unpackage_xs = threading.Thread(target=self.unpackage_xs, args=(self.c_xs, )) + self.t_unpackage_xs = Thread(target=self.unpackage_xs, args=(self.c_xs, )) self.t_unpackage_xs.daemon = True self.t_unpackage_xs.start() @@ -42,21 +43,21 @@ class HmiRequest(object): c_state = f_hb.read().strip() if c_state == '0': try: - self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.c = socket(AF_INET, SOCK_STREAM) self.c.connect(('192.168.0.160', 5050)) # self.c.connect(('192.168.84.129', 5050)) self.c.setblocking(False) - self.c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.c_xs = socket(AF_INET, SOCK_STREAM) self.c_xs.connect(('192.168.0.160', 6666)) # self.c_xs.connect(('192.168.84.129', 6666)) self.c_xs.setblocking(False) - self.w2t("Connection success", 0, 0, 'green') + self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name) with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('1') except Exception as Err: - self.w2t("Connection failed...", 0, 0, 'red') + self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name) with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('0') @@ -81,20 +82,24 @@ class HmiRequest(object): while self.t_bool: _id = self.excution('controller.heart') _flag = '0' if self.get_from_id(_id) is None else '1' + print(f"hb = {_flag}", end=' ') with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write(_flag) - time.sleep(3) - # with open('log.txt', 'w') as f: + if _flag == '0': + self.w2t(f"心跳丢失，连接失败，重新连接中...", 0, 0, 'red', tab_name=self.tab_name) + sleep(2) + print(len(self.c_msg), end=' ') + # with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f: # for msg in self.c_msg: # f.write(msg + '\n') def msg_storage(self, response, flag=0): messages = self.c_msg if flag == 0 else self.c_msg_xs - if len(messages) < 1000: + if len(messages) < 20000: messages.insert(0, response) else: messages.insert(0, response) - while len(messages) > 1000: + while len(messages) > 20000: messages.pop() def get_response(self, data): @@ -187,10 +192,10 @@ class HmiRequest(object): for i in range(3): for msg in messages: if msg_id is None: - self.w2t("未能成功获取到 message id...", 0, 10, 'red') + self.w2t("未能成功获取到 message id...", 0, 10, 'red', tab_name=self.tab_name) if msg_id in msg: return msg - time.sleep(1) + sleep(1) else: return None @@ -202,7 +207,7 @@ class HmiRequest(object): return _frame_head + _pkg_head + _protocol + _reserved + cmd.encode() def package_xs(self, cmd): - return f"{json.dumps(cmd, separators=(',', ':'))}\r".encode() + return f"{dumps(cmd, separators=(',', ':'))}\r".encode() def unpackage(self, sock): def to_read(conn): @@ -245,7 +250,7 @@ class HmiRequest(object): callback(key.fileobj) def gen_id(self, command): - _now = time.time() + _now = time() _id = f"{command}-{_now}" return _id @@ -254,7 +259,7 @@ class HmiRequest(object): req = None try: with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8', mode='r') as f_json: - req = json.load(f_json) + req = load(f_json) except: print(f"暂不支持 {command} 功能，或确认该功能存在...") return 'NOT SUPPORT' @@ -267,15 +272,24 @@ class HmiRequest(object): case 'overview.reload': req['data']['prj_path'] = kwargs['prj_path'] req['data']['tasks'] = kwargs['tasks'] + case 'rl_task.pp_to_main' | 'rl_task.run' | 'rl_task.stop': + req['data']['tasks'] = kwargs['tasks'] + case 'diagnosis.set_params': + req['data']['display_pdo_params'] = kwargs['display_pdo_params'] + case 'diagnosis.open': + req['data']['open'] = kwargs['open'] + req['data']['display_open'] = kwargs['display_open'] + case _: + pass req['id'] = self.gen_id(command) print(f"req = {req}") - cmd = json.dumps(req, separators=(',', ':')) + cmd = dumps(req, separators=(',', ':')) try: self.c.send(self.package(cmd)) - time.sleep(2) + sleep(2) except Exception as Err: - self.w2t(f"{cmd}\n请求发送失败...\n{Err}", 0, 11) + self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name) return req['id']