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

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
+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

aio/assets/templates/diagnosis.get_params.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.get_params",
+  "data": {
+	"version": "1.4.1"
+  }
+}

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
+  }
+}

aio/assets/templates/diagnosis.save.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.save",
+  "data": {
+	  "save": true
+  }
+}

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"
+  }
+}

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": []
+  }
+}

aio/assets/templates/rl_task.run.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.run",
+  "data": {
+	"tasks": []
+  }
+}

aio/assets/templates/rl_task.stop.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.stop",
+  "data": {
+	"tasks": []
+  }
+}

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:
+        if tab_name == tab_name_cur:
-            self.textbox.insert(index='end', text=text, tags=color)
+            if wait != 0:
-            self.textbox.update()
+                self.textbox.insert(index='end', text=text, tags=color)
-            self.textbox.see('end')
+                self.textbox.update()
-        elif exitcode != 0:
+                self.textbox.see('end')
-            self.textbox.insert(index='end', text=text + '\n', tags=color)
+            elif exitcode != 0:
-            self.textbox.update()
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
-            self.textbox.see('end')
+                self.textbox.update()
-            raise Exception(f"Error code: {exitcode}")
+                self.textbox.see('end')
-        else:
+                raise Exception(f"Error code: {exitcode}")
-            self.textbox.insert(index='end', text=text + '\n', tags=color)
+            else:
-            self.textbox.update()
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
-            self.textbox.see('end')
+                self.textbox.update()
+                self.textbox.see('end')
 
     def is_float(self, flag, *args):
         for item in args:

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':

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
+from paramiko import SSHClient, AutoAddPolicy
-import json
+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('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')
+        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('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')
+            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('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')
+        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 = SSHClient()
-    ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
+    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'
+    # prj_path = 'target/_build/target.prj'
-    _response = execution('overview.set_autoload', hr, w2t, autoload_prj_path=prj_path)
+    # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
-    print(f"set prj auto load: {_response}")
+    # print(f"reload prj: {_response}")
-    _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
+    # # _response = execution('overview.get_cur_prj', hr, w2t)
-    print(f"reload prj: {_response}")
+    # # print(f"get cur prj name: {_response}")
-    _response = execution('overview.get_cur_prj', hr, w2t)
+    # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
-    print(f"get prj name: {_response}")
+    # print(f"set pp2main of prj: {_response}")
-    _response = execution('overview.get_autoload', hr, w2t)
+    #
-    print(f"get auto load: {_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)
 
 

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:])

aio/code/automatic_test/openapi.py

@@ -1,13 +1,13 @@
-import json
+from json import load, dumps
-import socket
+from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
-import threading
+from threading import Thread
 import selectors
-import time
+from time import time, sleep
-import os
+from os.path import dirname
 
 MAX_FRAME_SIZE = 1024
-socket.setdefaulttimeout(2)
+setdefaulttimeout(2)
-current_path = os.path.dirname(__file__)
+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)
+                if _flag == '0':
-            # with open('log.txt', 'w') as f:
+                    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']