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v0.1.7.1(2024/06/29)

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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
This commit is contained in:
gitea 2024-06-29 20:40:17 +08:00
parent 802ccd8e97
commit 611d848b41
13 changed files with 398 additions and 84 deletions
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17
aio/README.md
View File

@ -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

8
aio/assets/templates/diagnosis.get_params.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "diagnosis.get_params",
"data": {
"version": "1.4.1"
}
}

12
aio/assets/templates/diagnosis.open.json Normal file
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@ -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
}
}

8
aio/assets/templates/diagnosis.save.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "diagnosis.save",
"data": {
"save": true
}
}

10
aio/assets/templates/diagnosis.set_params.json Normal file
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@ -0,0 +1,10 @@
{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "diagnosis.set_params",
"data": {
"display_pdo_params": [],
"frequency": 50,
"version": "1.4.1"
}
}

8
aio/assets/templates/rl_task.pp_to_main.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "rl_task.pp_to_main",
"data": {
"tasks": []
}
}

8
aio/assets/templates/rl_task.run.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "rl_task.run",
"data": {
"tasks": []
}
}

8
aio/assets/templates/rl_task.stop.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "rl_task.stop",
"data": {
"tasks": []
}
}

40
aio/code/aio.py
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@ -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:

20
aio/code/automatic_test/btn_functions.py
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@ -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':

102
aio/code/automatic_test/do_brake.py
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@ -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)

175
aio/code/automatic_test/do_current.py
View File

@ -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:])

66
aio/code/automatic_test/openapi.py
View File

@ -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']