diff --git a/.gitignore b/.gitignore index 7eb83ee..9013072 100644 --- a/.gitignore +++ b/.gitignore @@ -7,4 +7,10 @@ aio/venv aio/__pycache__/ aio/code/automatic_test/__pycache__/ aio/code/data_process/__pycache__/ -aio/assets/templates/c_msg.log \ No newline at end of file +aio/assets/templates/c_msg.log* +aio/code/durable_action/__pycache__/ +aio/assets/templates/durable/ +aio/assets/templates/.__c_msg.lock +aio/code/commons/__pycache__/ +aio/assets/templates/debug.log +dial_gauge/results.xlsx diff --git a/aio/README.md b/aio/README.md index 5a7cfc2..fecd128 100644 --- a/aio/README.md +++ b/aio/README.md @@ -8,6 +8,7 @@ 4. wavelogger 波形处理，几乎不花费时间 5. 制动自动化测试 6. 电机电流自动化测试 +7. 耐久工程曲线指标采集（仅适用于六轴） --- @@ -30,9 +31,10 @@ ### 四、打包方法 +打包时，只需要修改 clibs.py 中的 PREFIX 即可，调试时再修改回来 + ``` -pyinstaller.exe -F --version-file file_version_info.txt -i .\icon.ico .\aio.py -p .\brake.py -p .\current.py -pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --version-file ..\assets\file_version_info.txt -i ..\assets\icon.ico ..\code\aio.py -p ..\code\data_process\brake.py -p ..\code\data_process\iso.py -p ..\code\data_process\current.py -p ..\code\data_process\wavelogger.py +pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory . --upx-dir "D:/Syncthing/common/A_Program/upx-4.2.4-win64/" --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --add-data "D:/Syncthing/company/D-测试工作/X-自动化测试/01-AIO/rokae/aio/assets/templates:templates" --version-file ../assets/file_version_info.txt -i ../assets/icon.ico ../code/aio.py -p ../code/data_process/brake.py -p ../code/data_process/iso.py -p ../code/data_process/current.py -p ../code/data_process/wavelogger.py -p ../code/commons/openapi.py -p ../code/commons/clibs.py -p ../code/automatic_test/btn_functions.py -p ../code/automatic_test/do_current.py -p ../code/automatic_test/do_brake.py -p ../code/durable_action/factory_test.py ``` --- @@ -132,14 +134,18 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A > **需要注意的点** -1. 使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击之后，再进行自动化测试 -2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为 -3. 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，但不完全保证100%，大概有95%左右的准确度 -4. 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 -5. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察 -6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停 -7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页 -8. 注意观察二轴100%臂展时，是否可以获取到正确的数据 +1. 修改该文件点位信息 +2. 修改“编程”→“工具列表”中的工具信息，制动只允许使用tool33/tool66/tool100/inertia这四个工具，不可重命名 +3. 除了调试行，其他行请勿修改，包括增加空行等，尤其是有特别注释的地方 +4. stop0_related半静态任务，需要注意DO0_0的命名，不同控制柜，可能不一样 +5. 需要导入 autotest.xml 寄存器文件，以及新建modbus总线设备，命名为autotest，其他默认即可 +6. 其他无需修改，如有其他需求，可联系fanmingfu@rokae.com沟通 +7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页，其中DO0_0视硬件情况，可能为其他名称 +8. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停 +9. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察 +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 #### 6) 电机电流自动化测试 @@ -150,7 +156,16 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A > **需要注意的点** -基本同第五点 +基本同第五点，针对五轴以及以下的机型，缺失轴数据可以填写其他有效轴任意一轴的点位信息 + + +#### 7) 耐久工程曲线指标采集 + +可实现固定周期指定曲线指标的采集，用于长时间观察指标的变化情况，输入文件： +- configs.xlsx，执行之前需要手动修改好configs.xlsx中的参数，以及间隔时间 +- target.zip，需要确认工程点位和动作无问题后，保存导出 + +> 重新运行时，必须突出软件，重新运行 #### 其他 customtkinter的tabview组件不支持修改字体大小，可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现： @@ -464,4 +479,125 @@ v0.1.9.1(2024/07/12) - socket类种修改tab_name的值为'openapi' v0.1.9.2(2024/07/13) -1. [current: current.py]: 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行 +1. [APIs: do_brake.py] + - 修改ready_to_go信号的接收逻辑，适配大负载机型 +2. [APIs: do_current.py] + - 修改ready_to_go信号的接收逻辑，适配大负载机型 + - 调整单轴测试时间为35s，适配大负载机型，调整堵转电流持续时间15s，适当减少测试时间 + - 将act信号置为False的动作放在初始化，增加程序健壮性 + - 修改所有输出文件的命名，在扩展名之前加入时间戳 + - 删除多余的时序矫正语句——item['value'].reverse()，使输出的曲线为平滑的自然顺序 +3. [current: current.py] + - 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行 + - max功能计算逻辑矫正，应该是取绝对值的最大值 + - 整体梳理了trq/trqh的传递路径，现已修正完毕 + - 减速比rr数据源修改为configs.xlsx +4. 在current工程main函数增加 VelSet 100语句 + +v0.1.9.3(2024/07/15) +1. [APIs: openapi.py] + - 修改modbus连接失败报错输出形式，使之只在automatic test页面显示 + - 将该文件移动至toplevel，为后面扩展做准备 + - 修改heartbeat文件路径，使后续打包的时候更方便 +2. [APIs: aio.py] + - 修改heartbeat文件路径，使后续打包的时候更方便 + - 修改write2textbox函数的打印逻辑，先判断网络相关 + +v0.1.9.4(2024/07/15) +1. [profile: aio.py]：完善durable text相关逻辑 +2. [profile: do_brake/do_current/btn_functions.py]：删除validate_resp函数，修改execution函数 +3. [profile: factory_test.py] + - 新增耐久/老化测试程序 + - 实现六轴折线图显示 +4. [profile: openapi.py]：多次合并遗留问题处理 +5. templates文件夹组织架构调整 + +v0.2.0.0(2024/07/17) +1. [profile: aio.py] + - 增加velocity相关逻辑 + - 修改负载信息为曲线信息 +2. [profile: factory_test.py] + - 增加velocity相关逻辑 +3. [profile: current.py] + - 修正减速比获取的规则 +4. [profile: openapi.py] + - HmiRequest模块：日志取消记录move.monitor相关 + - HmiRequest模块：增加了durable_lock变量，控制文件读写互斥 + +v0.2.0.1(2024/07/19) +1. [main: aio.py] + - 修改了x轴显示，使之为时间刻度 + - 修改pre_warning函数，增加了durable test的初始化 +2. [main: factory_test.py] + - 增加了数据计算错误的判断逻辑 + - 增加了历史数据保存的逻辑 + - 增加了文件读写互斥的逻辑 + - 修改功能为输出有效电流和最大电流，并将数据结构简化 + +v0.2.0.2(2024/07/26) +1. [main: current.py] + - 修正堵转电流无法正确写入结果文件的问题 +2. [main: do_brake.py] + - 初始速度采集等待时间设置为可通过configs.xlsx配置文件调整的 + - 初次速度采集停止逻辑修改为tasks.stop指令（未验证） + - 急停信号触发前，pending时间设置为固定值10s + - 实现正负方向速度采集逻辑 + - 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件 + - 增加超差后写诊断的逻辑，并可以通过configs.xlsx配置文件调整 + - 程序输出中增加时间戳，方便调试定位日志时间 +3. [main: do_current.py] + - 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件 +4. 为工程文件添加更详细的注释 +5. 补充了do_current/do_brake的流程图 +6. [main: openapi.py] + - 将modbus motor_on/off的实现方法改为高电平脉冲触发 +7. configs.xlsx配置表新增write_diagnosis/get_init_speed两个参数 + +v0.2.0.3(2024/07/27) +1. [APIs: do_brake.py]: 精简程序，解决 OOM 问题 +2. [APIs: do_current.py]: 精简程序，解决 OOM 问题 +3. [APIs: factory_test.py]: 精简程序，解决 OOM 问题 +4. [APIsL openapi.py] + - 心跳修改为 1 s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳 + - 新增 diagnosis.save 命令，但是执行时，有问题，待解决 + +v0.2.0.4(2024/07/30) +1. [APIs: do_brake.py]: 修复制动数据处理过程中，只取曲线的最后 240 个数据 +2. [APIs: aio.py]: 判定版本处，删除 self.destroy()，因为该语句会导致异常发生 + - 心跳修改为 1s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳 + - 新增 diagnosis.save 命令，但是执行时，有问题，待解决 + +v0.2.0.5(2024/07/31) +此版本改动较大，公共部分做了规整，放置到新建文件夹 commons 当中，并所有自定义模块引入 logging 模块，记录重要信息 +1. [t_change_ui: clibs.py] + - 调整代码组织结构，新增模块，将公共函数以及类合并入此 + - 将一些常量放入该模块 + - 引入logging/concurrent_log_handler模块，并作初始化操作，供其他模块使用，按50M切割，最多保留10份 + - prj_to_xcore函数设置工程名部分重写，修复了多个prj工程可能不能执行的问题，并优化输入密码的部分 +2. [t_change_ui: openapi.py] + - 完全重写了 get_from_id 函数，使更精准 + - 在 msg_storage 函数中，增加 logger，保留所有响应消息 + - 删除 heartbeat 函数中的日志保存功能部分 + - 心跳再次修改为 2s... +3. [t_change_ui: aio.py] + - 增加了日志初始化部分 + - detect_network 函数中修改重新实例化HR间隔为 4s，对应心跳 + - create_plot 函数中增加 close('all')，解决循环画图不销毁占用内存的问题 +4. [t_change_ui: do_brake.py] + - 使用一直打开曲线的方法规避解决了 OOM 的问题，同时修改数据处理方式，只取最后 12s + - 优化 ssh 输入密码的部分 +5. [t_change_ui: do_current.py] + - 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 +10. [APIs: all]: 添加了 logger.setLevel(INFO)，只有添加这个，单个模块内才生效 + +v0.2.0.6(2024/08/09) +1. [t_change_ui: all files] + - 修改了 logger 的实现 + - 尤其是 clibs.py，使用日志字典，重写了日志记录的功能 \ No newline at end of file diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index e591d4c..16eadd3 100644 Binary files a/aio/assets/configs.xlsx and b/aio/assets/configs.xlsx differ diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index 5f58e11..ec3ed0c 100644 --- a/aio/assets/file_version_info.txt +++ b/aio/assets/file_version_info.txt @@ -6,8 +6,8 @@ VSVersionInfo( ffi=FixedFileInfo( # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4) # Set not needed items to zero 0. - filevers=(0, 1, 9, 2), - prodvers=(0, 1, 9, 2), + filevers=(0, 2, 0, 5), + prodvers=(0, 2, 0, 5), # Contains a bitmask that specifies the valid bits 'flags'r mask=0x3f, # Contains a bitmask that specifies the Boolean attributes of the file. @@ -31,12 +31,12 @@ VSVersionInfo( '040904b0', [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'), StringStruct('FileDescription', 'All in one automatic toolbox'), - StringStruct('FileVersion', '0.1.9.2 (2024-07-13)'), + StringStruct('FileVersion', '0.2.0.5 (2024-08-02)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.1.9.2 (2024-07-13)')]) + StringStruct('ProductVersion', '0.2.0.5 (2024-08-02)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/layout.xlsx b/aio/assets/layout.xlsx index c80baa4..735de05 100644 Binary files a/aio/assets/layout.xlsx and b/aio/assets/layout.xlsx differ diff --git a/aio/assets/requirements.txt b/aio/assets/requirements.txt index ad41cdf..63a94b4 100644 --- a/aio/assets/requirements.txt +++ b/aio/assets/requirements.txt @@ -1,9 +1,9 @@ -openpyxl==3.1.2 -pdfplumber==0.11.0 +concurrent_log_handler==0.9.25 customtkinter==5.2.2 -Jinja2==3.1.4 -lxml==5.2.2 -numpy==1.26.4 +matplotlib==3.9.1 +numpy==2.0.1 +openpyxl==3.1.2 pandas==2.2.2 -pillow==10.3.0 -pyinstaller==6.7.0 +paramiko==3.4.0 +pdfplumber==0.11.0 +pymodbus==3.6.9 diff --git a/aio/assets/target.zip b/aio/assets/target.zip deleted file mode 100644 index 2c9fdb7..0000000 Binary files a/aio/assets/target.zip and /dev/null differ diff --git a/aio/assets/target_brake_current.zip b/aio/assets/target_brake_current.zip new file mode 100644 index 0000000..b3d356f Binary files /dev/null and b/aio/assets/target_brake_current.zip differ diff --git a/aio/assets/target_durable.zip b/aio/assets/target_durable.zip new file mode 100644 index 0000000..695dfb5 Binary files /dev/null and b/aio/assets/target_durable.zip differ diff --git a/aio/assets/templates/controller.heart.json b/aio/assets/templates/json/controller.heart.json similarity index 100% rename from aio/assets/templates/controller.heart.json rename to aio/assets/templates/json/controller.heart.json diff --git a/aio/assets/templates/device.get_params.json b/aio/assets/templates/json/device.get_params.json similarity index 100% rename from aio/assets/templates/device.get_params.json rename to aio/assets/templates/json/device.get_params.json diff --git a/aio/assets/templates/diagnosis.get_params.json b/aio/assets/templates/json/diagnosis.get_params.json similarity index 100% rename from aio/assets/templates/diagnosis.get_params.json rename to aio/assets/templates/json/diagnosis.get_params.json diff --git a/aio/assets/templates/diagnosis.open.json b/aio/assets/templates/json/diagnosis.open.json similarity index 78% rename from aio/assets/templates/diagnosis.open.json rename to aio/assets/templates/json/diagnosis.open.json index 915ff6a..7fe21c2 100644 --- a/aio/assets/templates/diagnosis.open.json +++ b/aio/assets/templates/json/diagnosis.open.json @@ -5,8 +5,8 @@ "data": { "open": false, "display_open": false, - "overrun": true, - "turn_area": true, + "overrun": false, + "turn_area": false, "delay_motion": false } } \ No newline at end of file diff --git a/aio/assets/templates/diagnosis.save.json b/aio/assets/templates/json/diagnosis.save.json similarity index 100% rename from aio/assets/templates/diagnosis.save.json rename to aio/assets/templates/json/diagnosis.save.json diff --git a/aio/assets/templates/diagnosis.set_params.json b/aio/assets/templates/json/diagnosis.set_params.json similarity index 100% rename from aio/assets/templates/diagnosis.set_params.json rename to aio/assets/templates/json/diagnosis.set_params.json diff --git a/aio/assets/templates/overview.get_autoload.json b/aio/assets/templates/json/overview.get_autoload.json similarity index 100% rename from aio/assets/templates/overview.get_autoload.json rename to aio/assets/templates/json/overview.get_autoload.json diff --git a/aio/assets/templates/overview.get_cur_prj.json b/aio/assets/templates/json/overview.get_cur_prj.json similarity index 100% rename from aio/assets/templates/overview.get_cur_prj.json rename to aio/assets/templates/json/overview.get_cur_prj.json diff --git a/aio/assets/templates/overview.reload.json b/aio/assets/templates/json/overview.reload.json similarity index 100% rename from aio/assets/templates/overview.reload.json rename to aio/assets/templates/json/overview.reload.json diff --git a/aio/assets/templates/overview.set_autoload.json b/aio/assets/templates/json/overview.set_autoload.json similarity index 100% rename from aio/assets/templates/overview.set_autoload.json rename to aio/assets/templates/json/overview.set_autoload.json diff --git a/aio/assets/templates/register.set_value.json b/aio/assets/templates/json/register.set_value.json similarity index 100% rename from aio/assets/templates/register.set_value.json rename to aio/assets/templates/json/register.set_value.json diff --git a/aio/assets/templates/rl_task.pp_to_main.json b/aio/assets/templates/json/rl_task.pp_to_main.json similarity index 100% rename from aio/assets/templates/rl_task.pp_to_main.json rename to aio/assets/templates/json/rl_task.pp_to_main.json diff --git a/aio/assets/templates/rl_task.run.json b/aio/assets/templates/json/rl_task.run.json similarity index 100% rename from aio/assets/templates/rl_task.run.json rename to aio/assets/templates/json/rl_task.run.json diff --git a/aio/assets/templates/rl_task.stop.json b/aio/assets/templates/json/rl_task.stop.json similarity index 100% rename from aio/assets/templates/rl_task.stop.json rename to aio/assets/templates/json/rl_task.stop.json diff --git a/aio/assets/templates/state.get_state.json b/aio/assets/templates/json/state.get_state.json similarity index 100% rename from aio/assets/templates/state.get_state.json rename to aio/assets/templates/json/state.get_state.json diff --git a/aio/assets/templates/state.get_tp_mode.json b/aio/assets/templates/json/state.get_tp_mode.json similarity index 100% rename from aio/assets/templates/state.get_tp_mode.json rename to aio/assets/templates/json/state.get_tp_mode.json diff --git a/aio/assets/templates/state.set_tp_mode.json b/aio/assets/templates/json/state.set_tp_mode.json similarity index 100% rename from aio/assets/templates/state.set_tp_mode.json rename to aio/assets/templates/json/state.set_tp_mode.json diff --git a/aio/assets/templates/state.switch_auto.json b/aio/assets/templates/json/state.switch_auto.json similarity index 100% rename from aio/assets/templates/state.switch_auto.json rename to aio/assets/templates/json/state.switch_auto.json diff --git a/aio/assets/templates/state.switch_manual.json b/aio/assets/templates/json/state.switch_manual.json similarity index 100% rename from aio/assets/templates/state.switch_manual.json rename to aio/assets/templates/json/state.switch_manual.json diff --git a/aio/assets/templates/state.switch_motor_off.json b/aio/assets/templates/json/state.switch_motor_off.json similarity index 100% rename from aio/assets/templates/state.switch_motor_off.json rename to aio/assets/templates/json/state.switch_motor_off.json 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import setdefaulttimeout -from data_process import * -from automatic_test import * +from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg +from data_process import brake, current, iso, wavelogger +from automatic_test import do_current, do_brake, btn_functions +from durable_action import factory_test +from commons import openapi, clibs +from matplotlib.pyplot import rcParams, figure, subplots_adjust, close +from matplotlib import use +from pandas import DataFrame, read_excel -current_path = dirname(__file__) +with open(clibs.log_data_hmi, 'w') as _hmi, open(clibs.log_data_debug, 'w', encoding='utf-8') as _debug: + for i in range(1, 11): + try: + remove(f'{clibs.log_data_hmi}.{i}') + except FileNotFoundError: + pass +logger = clibs.log_prod +logger.info("日志文件初始化完成...") + +use('Agg') customtkinter.set_appearance_mode("System") # Modes: "System" (standard), "Dark", "Light" customtkinter.set_default_color_theme("blue") # Themes: "blue" (standard), "green", "dark-blue" customtkinter.set_widget_scaling(1.1) # widget dimensions and text size customtkinter.set_window_scaling(1.1) # window geometry dimensions -setdefaulttimeout(3) + # global vars btns_func = { 'start': {'btn': '', 'row': 1, 'text': '开始运行'}, @@ -35,6 +49,10 @@ widgits_at = { 'path': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '数据文件夹路径'}, 'loadsel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 1, 'text': '负载信息'}, } +widgits_da = { + 'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'}, + 'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '指标选择'}, +} class App(customtkinter.CTk): @@ -44,6 +62,11 @@ class App(customtkinter.CTk): self.w_param = 84 self.hr = None self.md = None + self.canvas = None + self.flg = 0 + self.df_copy = None + self.old_curve = None + self.myThread = None # ===================================================================== # configure window self.title("AIO - All in one automatic toolbox") @@ -70,7 +93,7 @@ class App(customtkinter.CTk): btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback)) btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback)) # create version info - self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.1\nDate: 07/12/2024", font=self.my_font, text_color="#4F4F4F") + self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.5\nDate: 08/02/2024", font=self.my_font, text_color="#4F4F4F") self.frame_func.rowconfigure(6, weight=1) self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s') # ===================================================================== @@ -79,6 +102,7 @@ class App(customtkinter.CTk): self.tabview.grid(row=0, column=1, padx=10, pady=5, sticky="nsew") self.tabview.add("Data Process") self.tabview.add("Automatic Test") + self.tabview.add("Durable Action") # create main menu for data process self.menu_main_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), values=["init", "brake", "current", "iso", "wavelogger"], font=self.my_font, text_color='yellow', button_color='red', fg_color='green', command=self.func_main_callback) self.menu_main_dp.grid(row=1, column=1, sticky='we', padx=5, pady=10) @@ -114,7 +138,7 @@ class App(customtkinter.CTk): # For automatic test tab START ===================================================================== # create buttons self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), dynamic_resizing=False, font=customtkinter.CTkFont(size=16, weight='bold'), command=lambda value='机器状态': self.thread_it(self.segmented_button_callback)) - self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew") + self.seg_button.grid(row=1, column=2, columnspan=12, padx=(65, 10), pady=(10, 10), sticky="ew") self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "恢复急停", "待定功能", "功能待定", "机器状态", "告警信息"]) self.seg_button.set("功能切换") # create progress bar @@ -126,7 +150,7 @@ class App(customtkinter.CTk): for widgit in widgits_at: if widgit == 'path': widgits_at[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Automatic Test'), text=f'{widgit.upper()}', font=self.my_font) - widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', pady=5) + widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', padx=(20, 5), pady=5) widgits_at[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), width=670, placeholder_text=widgits_at[widgit]['text'], font=self.my_font) widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we') widgits_at[widgit]['entry'].configure(state='disabled') @@ -136,6 +160,23 @@ class App(customtkinter.CTk): widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text']) widgits_at[widgit]['optionmenu'].configure(state='disabled') # For automatic test tab END ===================================================================== + # For durable_action tab START ===================================================================== + # create progress bar + self.progressbar_da = customtkinter.CTkProgressBar(self.tabview.tab('Durable Action')) + self.progressbar_da.grid(row=2, column=1, padx=5, pady=5, sticky="ew") + self.progressbar_da.configure(mode="determinnate", width=self.w_param) + self.progressbar_da.start() + for widgit in widgits_da: + if widgit == 'path': + widgits_da[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Durable Action'), text=f'{widgit.upper()}', font=self.my_font) + widgits_da[widgit]['label'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], sticky='e', padx=(20, 5), pady=10) + widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font) + widgits_da[widgit]['entry'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we') + elif widgit in ['curvesel']: + widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=['device_servo_trq_feedback', '[max] device_servo_trq_feedback'], font=self.my_font) + widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we') + widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text']) + # For durable_action tab END ===================================================================== # create textbox self.textbox = customtkinter.CTkTextbox(self, wrap='none', font=customtkinter.CTkFont(family="consolas", size=14), text_color="blue", fg_color='#E9E9E9', border_width=2, border_color='#CDCDCD', border_spacing=5) self.textbox.grid(row=6, column=1, columnspan=13, ipadx=10, ipady=10, padx=10, pady=(5, 10), sticky='nsew') @@ -153,6 +194,60 @@ class App(customtkinter.CTk): tkinter.messagebox.showwarning(title="版本更新", message="连接服务器失败，无法确认当前是否是最新版本......") # functions below ↓ ---------------------------------------------------------------------------------------- + def create_canvas(self, _figure): + self.canvas = FigureCanvasTkAgg(_figure, self.tabview.tab('Durable Action')) + self.canvas.draw() + self.canvas.get_tk_widget().configure(height=600) + self.canvas.get_tk_widget().grid(row=3, column=1, rowspan=3, columnspan=13, padx=20, pady=10, sticky="nsew") + + def create_plot(self): + rcParams['font.sans-serif'] = ['SimHei'] + rcParams['axes.unicode_minus'] = False + rcParams['figure.dpi'] = 100 + rcParams['font.size'] = 14 + rcParams['lines.marker'] = 'o' + + curvesel = widgits_da['curvesel']['optionmenu'].get() + while True: + if not self.hr.durable_lock: + self.hr.durable_lock = 1 + if curvesel == 'device_servo_trq_feedback': + df = read_excel(clibs.durable_data_current_xlsx) + _title = 'device_servo_trq_feedback' + elif curvesel == '[max] device_servo_trq_feedback': + _title = '[max] device_servo_trq_feedback' + df = read_excel(clibs.durable_data_current_max_xlsx) + else: + _title = 'device_servo_trq_feedback' + df = read_excel(clibs.durable_data_current_xlsx) + self.hr.durable_lock = 0 + break + else: + sleep(1) + + if not df.equals(self.df_copy) or self.flg == 0 or curvesel != self.old_curve: + self.flg = 1 + self.df_copy = df.copy() + self.old_curve = widgits_da['curvesel']['optionmenu'].get() + close('all') + _figure = figure(frameon=True, facecolor='#E9E9E9') + subplots_adjust(left=0.04, right=0.98, bottom=0.1, top=0.95) + + _ = df['time'].to_list() + _xticks = [str(_i) for _i in _] + ax = _figure.add_subplot(1, 1, 1) + ax.set_xticks(range(len(_xticks))) + ax.set_xticklabels(_xticks) + + df.plot(grid=True, x='time', y='axis1', ax=ax) + df.plot(grid=True, x='time', y='axis2', ax=ax) + df.plot(grid=True, x='time', y='axis3', ax=ax) + df.plot(grid=True, x='time', y='axis4', ax=ax) + df.plot(grid=True, x='time', y='axis5', ax=ax) + df.plot(grid=True, x='time', y='axis6', ax=ax, title=_title, legend='upper left', rot=30) + + self.create_canvas(_figure) + def thread_it(self, func, *args): """ 将函数打包进线程 """ self.myThread = Thread(target=func, args=args) @@ -166,7 +261,7 @@ class App(customtkinter.CTk): self.seg_button.configure(state='disabled') # self.tabview.configure(state='disabled') self.textbox.delete(index1='1.0', index2='end') - with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h: + with open(clibs.heartbeat, 'r', encoding='utf-8') as f_h: c_state = f_h.read().strip() if c_state == '0' and value != '功能切换': @@ -181,32 +276,44 @@ class App(customtkinter.CTk): # self.tabview.configure(state='normal') def detect_network(self): - with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: + df = DataFrame(clibs.durable_data_current) + df.to_excel(clibs.durable_data_current_xlsx, index=False) + df = DataFrame(clibs.durable_data_current_max) + df.to_excel(clibs.durable_data_current_max_xlsx, index=False) + + with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb: f_hb.write('0') self.hr = openapi.HmiRequest(self.write2textbox) self.md = openapi.ModbusRequest(self.write2textbox) while True: - with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb: + if self.tabview.get() == 'Durable Action': + self.create_plot() + + with open(clibs.heartbeat, 'r', encoding='utf-8') as f_hb: c_state = f_hb.read().strip() pb_color = 'green' if c_state == '1' else 'red' self.progressbar.configure(progress_color=pb_color) + self.progressbar_da.configure(progress_color=pb_color) if c_state == '0': self.hr.t_bool = False - sleep(3) + sleep(4) del self.hr self.hr = openapi.HmiRequest(self.write2textbox) sleep(3) def tabview_click(self): self.initialization() - tab_name = self.tabview.get() if tab_name == 'Data Process': + self.flg = 0 self.menu_main_dp.set("Start Here!") elif tab_name == 'Automatic Test': + self.flg = 0 self.menu_main_at.set("Start Here!") self.seg_button.configure(state='normal') + elif tab_name == 'Durable Action': + pass def initialization(self): tab_name = self.tabview.get() @@ -227,7 +334,7 @@ class App(customtkinter.CTk): self.menu_sub_dp.grid_forget() 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']: + if widgit in ['path', ]: widgits_at[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black') widgits_at[widgit]['entry'].delete(0, tkinter.END) widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal') @@ -237,6 +344,15 @@ class App(customtkinter.CTk): widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text']) widgits_at[widgit]['optionmenu'].configure(state='disabled') self.seg_button.set("功能切换") + elif tab_name == 'Durable Action': + for widgit in widgits_da: + if widgit in ['path', ]: + widgits_da[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black') + widgits_da[widgit]['entry'].delete(0, tkinter.END) + widgits_da[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal') + elif widgit in ['curvesel']: + widgits_da[widgit]['optionmenu'].configure(state='normal') + widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text']) def func_main_callback(self, func_name): self.initialization() @@ -332,6 +448,7 @@ 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: @@ -347,7 +464,7 @@ class App(customtkinter.CTk): self.textbox.insert(index='end', text=text + '\n', tags=color) self.textbox.update() self.textbox.see('end') - elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test': + elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test' or tab_name_cur == 'Durable Action': if wait != 0: self.textbox.insert(index='end', text=text, tags=color) self.textbox.update() @@ -453,12 +570,24 @@ class App(customtkinter.CTk): return 0, 0 else: return 0, 0 + elif tab_name == 'Durable Action': + path = widgits_da['path']['entry'].get().strip() + curvesel = widgits_da['curvesel']['optionmenu'].get() + c1 = exists(path) + c2 = curvesel in ['device_servo_trq_feedback', '[max] device_servo_trq_feedback'] + if c1 and c2: + return 7, path, curvesel + else: + return 0, 0 def func_start_callback(self): self.textbox.delete(index1='1.0', index2='end') flag, *args = self.check_param() - func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main, 6: do_current.main} + func_dict = { + 1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main, 6: do_current.main, + 7: factory_test.main + } if flag == 1: func_dict[flag](path=args[0], vel=args[1], trq=args[2], estop=args[3], w2t=self.write2textbox) elif flag == 2: @@ -473,10 +602,19 @@ class App(customtkinter.CTk): elif flag == 6: self.pre_warning() func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox) + elif flag == 7: + self.pre_warning() + func_dict[flag](path=args[0], hr=self.hr, md=self.md, w2t=self.write2textbox) else: tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", ) def pre_warning(self): + if self.tabview.get() == 'Durable Action': + df = DataFrame(clibs.durable_data_current) + df.to_excel(clibs.durable_data_current_xlsx, index=False) + df = DataFrame(clibs.durable_data_current_max) + df.to_excel(clibs.durable_data_current_max_xlsx, index=False) + if tkinter.messagebox.askyesno(title="开始运行", message="确认机器已按照测试规范更新固件，并提按照测试机型前修改好工程？"): pass else: diff --git a/aio/code/automatic_test/__init__.py b/aio/code/automatic_test/__init__.py deleted file mode 100644 index f60ee0b..0000000 --- a/aio/code/automatic_test/__init__.py +++ /dev/null @@ -1 +0,0 @@ -__all__ = ['openapi', 'btn_functions', 'do_brake', 'do_current'] \ No newline at end of file diff --git a/aio/code/automatic_test/btn_functions.py b/aio/code/automatic_test/btn_functions.py index 884a2b0..7ac7878 100644 --- a/aio/code/automatic_test/btn_functions.py +++ b/aio/code/automatic_test/btn_functions.py @@ -1,72 +1,55 @@ -from json import loads from sys import argv +from commons import clibs - -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.execution(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 +tab_name = clibs.tab_names['at'] +logger = clibs.log_prod def trigger_estop(md, w2t): md.trigger_estop() - w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test') + w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name) def reset_estop(md, w2t): md.reset_estop() - w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test') + w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name) def get_state(hr, w2t): # 获取机器状态 - _response = execution('state.get_state', hr, w2t) + _response = clibs.execution('state.get_state', hr, w2t, tab_name) 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}", tab_name='Automatic Test') + w2t(f"{stat_desc[component]}: {state}", tab_name=tab_name) # 获取设备伺服信息 - _response = execution('device.get_params', hr, w2t) + _response = clibs.execution('device.get_params', hr, w2t, tab_name) dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'} dev_vers = {} 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]}", tab_name='Automatic Test') + w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name=tab_name) # 设置示教器模式 - _response = execution('state.set_tp_mode', hr, w2t, tp_mode='without') + _response = clibs.execution('state.set_tp_mode', hr, w2t, tab_name, tp_mode='without') def warning_info(hr, w2t): - for msg in hr.c_msg: - if 'alarm' in msg.lower(): - w2t(str(loads(msg)), tab_name='Automatic Test') - for msg in hr.c_msg_xs: - if 'alarm' in msg.lower(): - w2t(str(loads(msg)), tab_name='Automatic Test') + for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']: + log_name = clibs.log_data_hmi + postfix + try: + with open(log_name, 'r', encoding='utf-8') as f_log: + for line in f_log: + if 'alarm' in line: + w2t(line.strip(), tab_name=tab_name) + except FileNotFoundError: + pass def main(hr, md, 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', tab_name='Automatic Test') + 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) # func: get_state/ match func: case 'trigger_estop': diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 171310b..76a07e9 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -1,36 +1,20 @@ -from random import randint -from time import sleep, time +from time import sleep, time, strftime, localtime from sys import argv -from os import scandir, mkdir -from os.path import exists +from os import mkdir from paramiko import SSHClient, AutoAddPolicy from json import loads from openpyxl import load_workbook -import pandas +from pandas import DataFrame, concat +from commons import clibs -RADIAN = 57.3 # 180 / 3.1415926 - - -def traversal_files(path, w2t): - 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 +tab_name = clibs.tab_names['at'] +logger = clibs.log_prod def check_files(path, loadsel, 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') + 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) + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name) config_file = reach33 = reach66 = reach100 = prj_file = None for data_file in data_files: @@ -46,8 +30,8 @@ def check_files(path, loadsel, 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', 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') + 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) + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name) if config_file and reach33 and reach66 and reach100 and prj_file: result_dirs = [] @@ -65,74 +49,24 @@ def check_files(path, loadsel, data_dirs, data_files, w2t): if _reach == 'reach100': mkdir(f"{path}\\j3\\{dir_name}") - w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test') + w2t("数据目录合规性检查结束，未发现问题......", 0, 0, 'blue', tab_name) return config_file, reach33, reach66, reach100, prj_file, result_dirs 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() - sftp.put(prj_file, '/tmp/target.zip') - cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; ' - cmd += 'chmod 777 -R target/; 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 - - _prj_name = prj_file.split('\\')[-1].removesuffix('.zip') - cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += f'sudo mv projects/target/_build/{_prj_name}.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 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.execution(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 + 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) + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name) 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: + for data in curve_data[-240:]: # 保留最后12s的数据 dict_results = data['data'] - # dict_results.reverse() for item in dict_results: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback': @@ -140,17 +74,17 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop': _d2d_stop['device_safety_estop'].extend(item['value']) - df1 = pandas.DataFrame.from_dict(_d2d_vel) - df2 = pandas.DataFrame.from_dict(_d2d_trq) - df3 = pandas.DataFrame.from_dict(_d2d_stop) - df = pandas.concat([df1, df2, df3], axis=1) + df1 = DataFrame.from_dict(_d2d_vel) + df2 = DataFrame.from_dict(_d2d_trq) + df3 = DataFrame.from_dict(_d2d_stop) + df = concat([df1, df2, df3], axis=1) _filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data" df.to_csv(_filename, sep='\t', index=False) -def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): +def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): _count = 0 - speed_max = 0 + _total = 63 display_pdo_params = [ {"name": "hw_joint_vel_feedback", "channel": 0}, {"name": "hw_joint_vel_feedback", "channel": 1}, @@ -168,168 +102,195 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): ] wb = load_workbook(config_file, read_only=True) ws = wb['Target'] - if ws.cell(row=1, column=1).value == 'positive': - md.write_pon(True) - elif ws.cell(row=1, column=1).value == 'negative': - md.write_pon(False) - else: - w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test') + write_diagnosis = float(ws.cell(row=3, column=10).value) + get_init_speed = float(ws.cell(row=4, column=10).value) + single_brake = str(ws.cell(row=5, column=10).value) + logger.info(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}") + if ws.cell(row=1, column=1).value == 'positive': + md.write_pon(1) + elif ws.cell(row=1, column=1).value == 'negative': + md.write_pon(0) + else: + w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name) + + clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True) + clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params) for condition in result_dirs: _reach = condition.split('_')[0].removeprefix('reach') _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': continue + + w2t(f"-"*90, 0, 0, 'purple', tab_name) + for count in range(1, 4): _count += 1 - w2t(f"[{_count}/63-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test') + this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time())) + prj_path = 'target/_build/target.prj' + 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() md.reset_estop() - md.write_act(False) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 让曲线彻底关闭 - _response = execution('state.switch_manual', hr, w2t) - _response = execution('state.switch_motor_off', hr, w2t) + md.clear_alarm() + md.write_act(0) + sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置 - # 2. 修改未要执行的场景 - ssh = SSHClient() - ssh.set_missing_host_key_policy(AutoAddPolicy()) - ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') - if ws.cell(row=1, column=1).value == 'positive': - _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)" - elif ws.cell(row=1, column=1).value == 'negative': - _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" - else: - w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test') - _rl_speed = f"VelSet {_speed}" - cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; ' - cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; ' - cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; ' - cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod' - 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 - - # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序 - prj_path = 'target/_build/target.prj' - _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related']) - _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related']) - _response = execution('state.switch_auto', hr, w2t) - _response = execution('state.switch_motor_on', hr, w2t) - _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related']) - for i in range(3): - if md.read_ready_to_go() == 1: - md.write_act(True) - break + while count == 1: + # 2. 修改未要执行的场景 + ssh = SSHClient() + ssh.set_missing_host_key_policy(AutoAddPolicy()) + ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') + if ws.cell(row=1, column=1).value == 'positive': + _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)" + elif ws.cell(row=1, column=1).value == 'negative': + _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" else: - sleep(1) - else: - w2t("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', 'Automatic Test') + w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name) + _rl_speed = f"VelSet {_speed}" + _rl_tool = f"tool p_tool = tool{loadsel.removeprefix('tool')}" + cmd = 'cd /home/luoshi/bin/controller/; ' + cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; ' + cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; ' + cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; ' + cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod; ' + cmd += 'sudo sed -i "/tool p_tool/d" projects/target/_build/brake/main.mod; ' + cmd += f'sudo sed -i "/VelSet/i {_rl_tool}" projects/target/_build/brake/main.mod; ' + stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) + stdin.write('luoshi2019' + '\n') + stdout.read().decode() # 需要read一下才能正常执行 + stderr.read().decode() - # 4. 第一次打开诊断曲线，并执行采集8s，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 - if count == 1: - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - sleep(10) # 前10秒获取实际最大速度 - - md.trigger_estop() - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序 + clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related']) + 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.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related']) + _t_start = time() + while True: + if md.read_ready_to_go() == 1: + md.write_act(True) + break + else: + if (time() - _t_start) // 20 > 1: + 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. 找出最大速度，传递给RL程序，最后清除相关记录 + 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 - for _msg in hr.c_msg: + _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': - _ = abs(RADIAN*sum(item['value'])/len(item['value'])) - speed_max = max(_, speed_max) + _ = clibs.RADIAN * sum(item['value']) / len(item['value']) + if ws.cell(row=1, column=1).value == 'positive': + speed_max = max(_, speed_max) + elif ws.cell(row=1, column=1).value == 'negative': + speed_max = min(_, 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: - w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', 'Automatic Test') + w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', tab_name) md.write_speed_max(speed_max) - sleep(1) - for _msg in hr.c_msg: - if 'diagnosis.result' in _msg: - _index = hr.c_msg.index(_msg) - del hr.c_msg[_index:] - hr.c_msg_xs.clear() - break + hr.c_msg_xs.clear() + if len(hr.c_msg) > 270: + del hr.c_msg[270:] + + if speed_max < 10: + md.clear_alarm() + w2t("未获取到正确的速度，即将重新获取...", 0, 0, 'red', tab_name) + continue + else: + break # 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停 - md.reset_estop() - _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related']) - _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related']) - _response = execution('state.switch_auto', hr, w2t) - _response = execution('state.switch_motor_on', hr, w2t) - _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related']) + md.reset_estop() # 其实没必要 + md.clear_alarm() + + clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related']) + 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.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related']) for i in range(3): if md.read_ready_to_go() == 1: - md.write_act(True) + md.write_act(1) break else: sleep(1) else: - w2t("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', 'Automatic Test') + w2t("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) - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - sleep(randint(3, 6)) - md.write_probe(True) + sleep(10) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间 + md.write_probe(1) _t_start = time() while True: if md.read_brake_done() == 1: - sleep(1) # 保证所有数据均已返回 - md.write_probe(False) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 保证所有数据均已返回 + sleep(1) # 保证速度归零 + md.write_probe(0) break else: if (time() - _t_start) > 30: - w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题...", 0, 0, 'red', 'Automatic Test') - md.write_probe(False) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 保证所有数据均已返回 + w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题，比如正负方向速度是否一致...", 0, 0, 'red', tab_name) + md.write_probe(0) break else: sleep(1) # 6. 保留数据并处理输出 curve_data = [] - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: curve_data.insert(0, loads(_msg)) else: - for _msg in hr.c_msg: - if 'diagnosis.result' in _msg: - _index = hr.c_msg.index(_msg) - del hr.c_msg[_index:] - hr.c_msg_xs.clear() - break + hr.c_msg_xs.clear() + if len(hr.c_msg) > 270: + del hr.c_msg[270:] gen_result_file(path, curve_data, axis, _reach, _load, _speed, count) else: - w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', 'Automatic Test') + w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', tab_name) def main(path, hr, md, loadsel, w2t): _s_time = time() - data_dirs, data_files = traversal_files(path, w2t) + data_dirs, data_files = clibs.traversal_files(path, w2t) config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t) - prj_to_xcore(prj_file) - run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t) + clibs.prj_to_xcore(prj_file) + run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t) _e_time = time() time_total = _e_time - _s_time - w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', 'Automatic Test') + w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', tab_name) if __name__ == '__main__': diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index 8c81968..0d15ab8 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -1,33 +1,33 @@ -import os +from os import mkdir from time import sleep, time from sys import argv -from os import scandir -from os.path import exists from paramiko import SSHClient, AutoAddPolicy from json import loads -import pandas +from pandas import DataFrame, concat +from commons import clibs - -def traversal_files(path, w2t): - 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 +logger = clibs.log_prod +tab_name = clibs.tab_names['at'] +display_pdo_params = [ + {"name": "hw_joint_vel_feedback", "channel": 0}, + {"name": "hw_joint_vel_feedback", "channel": 1}, + {"name": "hw_joint_vel_feedback", "channel": 2}, + {"name": "hw_joint_vel_feedback", "channel": 3}, + {"name": "hw_joint_vel_feedback", "channel": 4}, + {"name": "hw_joint_vel_feedback", "channel": 5}, + {"name": "device_servo_trq_feedback", "channel": 0}, + {"name": "device_servo_trq_feedback", "channel": 1}, + {"name": "device_servo_trq_feedback", "channel": 2}, + {"name": "device_servo_trq_feedback", "channel": 3}, + {"name": "device_servo_trq_feedback", "channel": 4}, + {"name": "device_servo_trq_feedback", "channel": 5}, +] def check_files(path, loadsel, data_dirs, data_files, w2t): if len(data_dirs) != 0 or len(data_files) != 3: - 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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') - w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') + 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三个文件，确认后重新运行！', 0, 0, 'red', tab_name) + w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name) config_file = current_file = prj_file = None for data_file in data_files: @@ -39,74 +39,22 @@ def check_files(path, loadsel, 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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') - w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') + 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三个文件，确认后重新运行！', 0, 0, 'red', tab_name) + w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name) if config_file and current_file and prj_file: - w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test') + w2t("数据目录合规性检查结束，未发现问题......", tab_name=tab_name) if loadsel == 'tool100': - os.mkdir(f"{path}\\single") - os.mkdir(f"{path}\\s_1") - os.mkdir(f"{path}\\s_2") - os.mkdir(f"{path}\\s_3") + mkdir(f"{path}\\single") + mkdir(f"{path}\\s_1") + mkdir(f"{path}\\s_2") + mkdir(f"{path}\\s_3") elif loadsel == 'inertia': - os.mkdir(f"{path}\\inertia") + mkdir(f"{path}\\inertia") return config_file, current_file, 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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') - w2t(' 1. configs.xlsx\n 2. T_电机电流.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() - sftp.put(prj_file, '/tmp/target.zip') - cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; ' - cmd += 'chmod 777 -R target/; 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 - - _prj_name = prj_file.split('\\')[-1].removesuffix('.zip') - cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += f'sudo mv projects/target/_build/{_prj_name}.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 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.execution(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, 7, 'red', tab_name='Automatic Test') - else: - _response = loads(_msg) - validate_resp(_id, _response, w2t) - return _response + 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三个文件，确认后重新运行！', 0, 0, 'red', tab_name) + w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name) def data_proc_regular(path, filename, channel, scenario_time): @@ -115,21 +63,22 @@ 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: - item['value'].reverse() - if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback': + try: item['value'].reverse() + except KeyError: + continue + if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback': - item['value'].reverse() _d2d_trq['device_servo_trq_feedback'].extend(item['value']) - df1 = pandas.DataFrame.from_dict(_d2d_vel) - df2 = pandas.DataFrame.from_dict(_d2d_trq) - df = pandas.concat([df1, df2], axis=1) - _filename = f'{path}\\single\\j{channel+1}_single.data' + df1 = DataFrame.from_dict(_d2d_vel) + df2 = DataFrame.from_dict(_d2d_trq) + df = concat([df1, df2], axis=1) + _filename = f'{path}\\single\\j{channel+1}_single_{time()}.data' df.to_csv(_filename, sep='\t', index=False) elif channel in list(range(6, 9)): with open(filename, 'r', encoding='utf-8') as f_obj: @@ -149,7 +98,10 @@ def data_proc_regular(path, filename, channel, scenario_time): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback': @@ -175,59 +127,62 @@ def data_proc_regular(path, filename, channel, scenario_time): elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback': _d2d_trq_5['device_servo_trq_feedback'].extend(item['value']) - df_01 = pandas.DataFrame.from_dict(_d2d_vel_0) - df_02 = pandas.DataFrame.from_dict(_d2d_trq_0) - df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}.data' + df_01 = DataFrame.from_dict(_d2d_vel_0) + df_02 = DataFrame.from_dict(_d2d_trq_0) + df = concat([df_01, df_02], axis=1) + _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) - df_01 = pandas.DataFrame.from_dict(_d2d_vel_1) - df_02 = pandas.DataFrame.from_dict(_d2d_trq_1) - df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}.data' + df_01 = DataFrame.from_dict(_d2d_vel_1) + df_02 = DataFrame.from_dict(_d2d_trq_1) + df = concat([df_01, df_02], axis=1) + _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) - df_01 = pandas.DataFrame.from_dict(_d2d_vel_2) - df_02 = pandas.DataFrame.from_dict(_d2d_trq_2) - df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}.data' + df_01 = DataFrame.from_dict(_d2d_vel_2) + df_02 = DataFrame.from_dict(_d2d_trq_2) + df = concat([df_01, df_02], axis=1) + _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) - df_01 = pandas.DataFrame.from_dict(_d2d_vel_3) - df_02 = pandas.DataFrame.from_dict(_d2d_trq_3) - df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}.data' + df_01 = DataFrame.from_dict(_d2d_vel_3) + df_02 = DataFrame.from_dict(_d2d_trq_3) + df = concat([df_01, df_02], axis=1) + _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) - df_01 = pandas.DataFrame.from_dict(_d2d_vel_4) - df_02 = pandas.DataFrame.from_dict(_d2d_trq_4) - df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}.data' + df_01 = DataFrame.from_dict(_d2d_vel_4) + df_02 = DataFrame.from_dict(_d2d_trq_4) + df = concat([df_01, df_02], axis=1) + _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) - df_01 = pandas.DataFrame.from_dict(_d2d_vel_5) - df_02 = pandas.DataFrame.from_dict(_d2d_trq_5) - df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}.data' + df_01 = DataFrame.from_dict(_d2d_vel_5) + df_02 = DataFrame.from_dict(_d2d_trq_5) + df = concat([df_01, df_02], axis=1) + _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) elif channel in list(range(9, 15)): with open(filename, 'r', encoding='utf-8') as f_obj: lines = f_obj.readlines() _d2d_vel = {'hw_joint_vel_feedback': []} _d2d_trq = {'device_servo_trq_feedback': []} - for line in lines: + for line in lines[-300:]: # 保留最后15s的数据 data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback': _d2d_trq['device_servo_trq_feedback'].extend(item['value']) - df1 = pandas.DataFrame.from_dict(_d2d_vel) - df2 = pandas.DataFrame.from_dict(_d2d_trq) - df = pandas.concat([df1, df2], axis=1) - _filename = f'{path}\\single\\j{channel-8}_hold.data' + df1 = DataFrame.from_dict(_d2d_vel) + df2 = DataFrame.from_dict(_d2d_trq) + df = concat([df1, df2], axis=1) + _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data' df.to_csv(_filename, sep='\t', index=False) @@ -239,16 +194,19 @@ def data_proc_inertia(path, filename, channel): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback': _d2d_trq['device_servo_trq_feedback'].extend(item['value']) - df1 = pandas.DataFrame.from_dict(_d2d_vel) - df2 = pandas.DataFrame.from_dict(_d2d_trq) - df = pandas.concat([df1, df2], axis=1) - _filename = f'{path}\\inertia\\j{channel+4}_inertia.data' + df1 = DataFrame.from_dict(_d2d_vel) + df2 = DataFrame.from_dict(_d2d_trq) + df = concat([df1, df2], axis=1) + _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data' df.to_csv(_filename, sep='\t', index=False) @@ -300,119 +258,95 @@ def run_rl(path, hr, md, loadsel, w2t): conditions = c_inertia disc = disc_inertia + # preparation 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 + clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True) + clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params) + # clibs.execution('diagnosis.save', hr, w2t, tab_name, save=True) # 这条命令有问题 + md.trigger_estop() + md.reset_estop() + for condition in conditions: number = conditions.index(condition) - w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test') + w2t(f"正在执行{disc[number][0]}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 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - md.trigger_estop() - md.reset_estop() - _response = execution('state.switch_manual', hr, w2t) - _response = execution('state.switch_motor_off', hr, w2t) - - # 2. 修改未要执行的场景 + # 1. 将act重置为False，并修改未要执行的场景 + md.write_act(False) ssh = SSHClient() ssh.set_missing_host_key_policy(AutoAddPolicy()) - ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') + ssh.connect(clibs.ip_addr, 22, username='luoshi', password='luoshi2019') cmd = 'cd /home/luoshi/bin/controller/; ' cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; ' cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod' 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 + stdout.read().decode() # 需要read一下才能正常执行 + stderr.read().decode() - # 3. reload工程后，pp2main，并且自动模式和上电 + # 2. reload工程后，pp2main，并且自动模式和上电 prj_path = 'target/_build/target.prj' - _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current']) - _response = execution('overview.get_cur_prj', hr, w2t) - _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current']) - _response = execution('state.switch_auto', hr, w2t) - _response = execution('state.switch_motor_on', hr, w2t) + clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current']) + clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current']) + clibs.execution('state.switch_auto', hr, w2t, tab_name) + clibs.execution('state.switch_motor_on', hr, w2t, tab_name) - # 4. 开始运行程序，单轴运行15s - _response = execution('rl_task.run', hr, w2t, tasks=['current']) - for i in range(3): + # 3. 开始运行程序，单轴运行35s + clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current']) + _t_start = time() + while True: if md.read_ready_to_go() == 1: md.write_act(True) - sleep(1) - md.write_act(False) break else: - sleep(1) - else: - w2t("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', 'Automatic Test') + if (time() - _t_start) // 20 > 1: + 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) - # 5. 打开诊断曲线，并执行采集 - sleep(7) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定 - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - display_pdo_params = [ - {"name": "hw_joint_vel_feedback", "channel": 0}, - {"name": "hw_joint_vel_feedback", "channel": 1}, - {"name": "hw_joint_vel_feedback", "channel": 2}, - {"name": "hw_joint_vel_feedback", "channel": 3}, - {"name": "hw_joint_vel_feedback", "channel": 4}, - {"name": "hw_joint_vel_feedback", "channel": 5}, - {"name": "device_servo_trq_feedback", "channel": 0}, - {"name": "device_servo_trq_feedback", "channel": 1}, - {"name": "device_servo_trq_feedback", "channel": 2}, - {"name": "device_servo_trq_feedback", "channel": 3}, - {"name": "device_servo_trq_feedback", "channel": 4}, - {"name": "device_servo_trq_feedback", "channel": 5}, - {"name": "device_safety_estop", "channel": 0}, - ] - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + # 4. 打开诊断曲线，并执行采集 + sleep(10) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定 scenario_time = 0 - if number < 6 or number > 8: + if number < 6: + sleep(35) + elif number > 8: sleep(15) else: _t_start = time() while True: scenario_time = md.read_scenario_time() if float(scenario_time) > 1: - w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', 'Automatic Test') + w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', tab_name) break else: if (time()-_t_start)//60 > 3: - w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test') + w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name) else: sleep(5) sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确 scenario_time = md.read_scenario_time() sleep(float(scenario_time)*0.2) # 再运行周期的20%即可 - # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - _response = execution('rl_task.stop', hr, w2t, tasks=['current']) - _response = execution('state.switch_motor_off', hr, w2t) - _response = execution('state.switch_manual', hr, w2t) - sleep(1) # 保证所有数据均已返回 - # 7. 保留数据并处理输出 - for _msg in hr.c_msg: + # 5.停止程序运行，保留数据并处理输出 + clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['current']) + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: disc[number][1].insert(0, loads(_msg)) else: - _index = 210 - for _msg in hr.c_msg: - if 'diagnosis.result' in _msg: - _index = hr.c_msg.index(_msg) - break - del hr.c_msg[_index:] hr.c_msg_xs.clear() + if len(hr.c_msg) > 270: + del hr.c_msg[270:] gen_result_file(path, loadsel, disc, number, scenario_time) else: if loadsel == 'tool100': - w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。", 0, 0, 'green', 'Automatic Test') + w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。", 0, 0, 'green', tab_name) elif loadsel == 'inertia': - w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。", 0, 0, 'green', 'Automatic Test') + w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。", 0, 0, 'green', tab_name) def main(path, hr, md, loadsel, w2t): - data_dirs, data_files = traversal_files(path, w2t) + data_dirs, data_files = clibs.traversal_files(path, w2t) config_file, current_file, prj_file = check_files(path, loadsel, data_dirs, data_files, w2t) - prj_to_xcore(prj_file) + clibs.prj_to_xcore(prj_file) run_rl(path, hr, md, loadsel, w2t) diff --git a/aio/code/commons/clibs.py b/aio/code/commons/clibs.py new file mode 100644 index 0000000..32f4d1a --- /dev/null +++ b/aio/code/commons/clibs.py @@ -0,0 +1,191 @@ +from os import scandir +from threading import Thread +from time import sleep +from os.path import exists +from paramiko import SSHClient, AutoAddPolicy +from socket import setdefaulttimeout +from logging import getLogger +from logging.config import dictConfig +import concurrent_log_handler + +ip_addr = '192.168.0.160' # for product +# ip_addr = '192.168.84.129' # for test +RADIAN = 57.3 # 180 / 3.1415926 +MAX_FRAME_SIZE = 1024 +TIMEOUT = 5 +setdefaulttimeout(TIMEOUT) +tab_names = {'dp': 'Data Process', 'at': 'Automatic Test', 'da': 'Duration Action', 'op': 'openapi'} +# PREFIX = '' # for pyinstaller packaging +PREFIX = '../assets/' # for source code debug +log_data_hmi = f'{PREFIX}templates/c_msg.log' +log_data_debug = f'{PREFIX}templates/debug.log' +heartbeat = f'{PREFIX}templates/heartbeat' +durable_data_current_xlsx = f'{PREFIX}templates/durable/durable_data_current.xlsx' +durable_data_current_max_xlsx = f'{PREFIX}templates/durable/durable_data_current_max.xlsx' +durable_data_current = { + 'time': list(range(1, 19)), + 'axis1': [0 for _ in range(18)], + 'axis2': [0 for _ in range(18)], + 'axis3': [0 for _ in range(18)], + 'axis4': [0 for _ in range(18)], + 'axis5': [0 for _ in range(18)], + 'axis6': [0 for _ in range(18)], +} +durable_data_current_max = { + 'time': list(range(1, 19)), + 'axis1': [0 for _ in range(18)], + 'axis2': [0 for _ in range(18)], + 'axis3': [0 for _ in range(18)], + 'axis4': [0 for _ in range(18)], + 'axis5': [0 for _ in range(18)], + 'axis6': [0 for _ in range(18)], +} + +# version：表示版本，该键值为从1开始的整数。该key必选，除此之外，其它key都是可选。 +# formatters：日志格式化器，其value值为一个字典，该字典的每个键值对都代表一个Formatter，键值对中，key代表Formatter ID(自定义ID)，value为字典，描述如何配置相应的Formatter实例。默认格式为 ‘%(message)s’ +# filters：日志过滤器，其value值为一个字典，该字典的每个键值对都代表一个Filter，键值对中，key代表Filter ID(自定义ID)，value为字典，描述如何配置相应的Filter实例。 +# handlers：日志处理器，其value值为一个字典，该字典的每个键值对都代表一个Handler，键值对中，key代表Handler ID(自定义ID)，value为字典，描述如何配置相应的Handler实例，包含以下配置key： +# class (必选)：日志处理器类全称 +# level (可选)：指定该日志处理器需要处理哪些级别的日志，低于该级别的日志将不被该handler处理。level可以为代表日志级别的整数或者表大写字符串，字符串日志级别和数字日志级别对应关系如下： +# CRITICAL 50 +# ERROR 40 +# WARNING 30 +# INFO 20 +# DEBUG 10 +# NOTSET 0 +f_complex = '%(asctime)s # %(name)s-%(levelname)s-%(module)s-%(funcName)s-%(lineno)d # %(message)s' +f_simple = '%(levelname)s-%(module)s-%(funcName)s-%(lineno)d: %(message)s' +log_dicts = { + 'version': 1, + 'disable_existing_loggers': True, + 'formatters': { + 'standard': { + 'format': f_complex, + 'style': '%', + 'datefmt': '%Y-%m-%dT%H:%M:%S', + }, + 'test': { + 'format': f_simple, + 'style': '%', + 'datefmt': '%Y-%m-%dT%H:%M:%S', + }, + }, + 'filters': {}, + 'handlers': { + 'console': { + 'level': 'DEBUG', + 'class': 'logging.StreamHandler', + 'formatter': 'test', + }, + 'hmi.log': { + 'level': 'DEBUG', + 'class': 'concurrent_log_handler.ConcurrentRotatingFileHandler', + 'filename': log_data_hmi, + 'maxBytes': 1024*1024*50, + 'backupCount': 10, + 'encoding': 'utf-8', + 'formatter': 'standard', + }, + 'debug.log': { + 'level': 'INFO', + 'class': 'logging.FileHandler', + 'filename': log_data_debug, + 'encoding': 'utf-8', + 'formatter': 'standard', + }, + }, + 'loggers': { + 'normal': { + 'handlers': ['hmi.log', 'debug.log'], + 'level': 'DEBUG', + 'propagate': False + }, + 'debug': { + 'handlers': ['console'], + 'level': 'DEBUG', + 'propagate': False + }, + '': { + 'handlers': ['hmi.log', 'debug.log'], + 'level': 'DEBUG', + 'propagate': False + }, + } +} +dictConfig(log_dicts) +log_prod = getLogger('normal') +log_debug = getLogger('debug') + + +class GetThreadResult(Thread): + def __init__(self, func, args=()): + super(GetThreadResult, self).__init__() + self.func = func + self.args = args + self.result = 0 + + def run(self): + sleep(1) + self.result = self.func(*self.args) + + def get_result(self): + Thread.join(self) # 等待线程执行完毕 + try: + return self.result + except Exception as Err: + return None + + +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') + 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 prj_to_xcore(prj_file): + ssh = SSHClient() + ssh.set_missing_host_key_policy(AutoAddPolicy()) + ssh.connect(ip_addr, 22, username='luoshi', password='luoshi2019') + sftp = ssh.open_sftp() + sftp.put(prj_file, '/tmp/target.zip') + cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; ' + cmd += 'chmod 777 -R target/; 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') + stdout.read().decode() # 需要read一下才能正常执行 + stderr.read().decode() + + cmd = 'cd /home/luoshi/bin/controller/; ' + cmd += 'sudo chmod -R 755 projects; rm /tmp/*.prj; sudo mv projects/target/_build/*.prj /tmp; cd /tmp; ' + cmd += 'prj=($(ls *.prj)); sudo mv ${prj[0]} /home/luoshi/bin/controller/projects/target/_build/target.prj; ' + stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) + stdin.write('luoshi2019' + '\n') + stdout.read().decode() # 需要read一下才能正常执行 + stderr.read().decode() + ssh.close() + + +def execution(cmd, hr, w2t, tab_name, **kwargs): + _id = hr.execution(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) + else: + return eval(_msg.split('#')[2]) diff --git a/aio/code/automatic_test/openapi.py b/aio/code/commons/openapi.py similarity index 78% rename from aio/code/automatic_test/openapi.py rename to aio/code/commons/openapi.py index f688694..7e458e0 100644 --- a/aio/code/automatic_test/openapi.py +++ b/aio/code/commons/openapi.py @@ -1,16 +1,14 @@ -from json import load, dumps -from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM +from json import load, dumps, loads +from socket import socket, AF_INET, SOCK_STREAM from threading import Thread import selectors from time import time, sleep -from os.path import dirname from pymodbus.client.tcp import ModbusTcpClient from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder from pymodbus.constants import Endian +from commons import clibs -MAX_FRAME_SIZE = 1024 -setdefaulttimeout(2) -current_path = dirname(__file__) +logger = clibs.log_prod class ModbusRequest(object): @@ -18,102 +16,92 @@ class ModbusRequest(object): super().__init__() self.w2t = w2t self.tab_name = 'openapi' - self.host = '192.168.0.160' + self.host = clibs.ip_addr self.port = 502 + self.interval = 0.3 self.c = ModbusTcpClient(self.host, self.port) self.c.connect() def motor_off(self): try: + self.c.write_register(40002, 0) + sleep(self.interval) self.c.write_register(40002, 1) + sleep(self.interval) + self.c.write_register(40002, 0) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def motor_on(self): try: + self.c.write_register(40003, 0) + sleep(self.interval) self.c.write_register(40003, 1) + sleep(self.interval) + self.c.write_register(40003, 0) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def trigger_estop(self): try: self.c.write_register(40012, 0) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法触发软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法触发软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def reset_estop(self): try: self.c.write_register(40012, 1) - sleep(0.2) + sleep(self.interval) self.c.write_register(40001, 0) - sleep(0.2) + sleep(self.interval) self.c.write_register(40001, 1) - sleep(0.2) + sleep(self.interval) self.c.write_register(40001, 0) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def clear_alarm(self): try: self.c.write_register(40000, 1) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法清除告警，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法清除告警，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def get_cart_vel(self): try: results = self.c.read_holding_registers(40537, 7) - print(f"cart vel: {results.registers}") - except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法读取笛卡尔速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法读取笛卡尔速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def get_jnt_vel(self): try: results = self.c.read_holding_registers(40579, 7) - print(f"joint vel: {results.registers}") - except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法读取关节速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法读取关节速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def get_tcp_vel(self): try: results = self.c.read_holding_registers(40607, 7) - print(f"tcp vel: {results.registers}") - except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法读取TCP速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法读取TCP速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def get_tcp_mag_vel(self): try: results = self.c.read_holding_registers(40621, 1) - print(f"tcp mag: {results.registers}") - except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法读取TCP合成速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法读取TCP合成速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def write_act(self, number): try: self.c.write_register(41000, number) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法发送执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法发送执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def read_ready_to_go(self): try: results = self.c.read_holding_registers(41001, 1) return results.registers[0] except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def read_scenario_time(self): try: @@ -122,15 +110,13 @@ class ModbusRequest(object): result = f"{result.decode_32bit_float():.3f}" return result except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def write_stop0(self, number): try: self.c.write_register(41004, number) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法通过IO操作stop0急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法通过IO操作stop0急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def write_speed_max(self, speed): try: @@ -139,16 +125,14 @@ class ModbusRequest(object): payload = builder.build() self.c.write_registers(41005, payload, skip_encode=True) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def read_brake_done(self): try: results = self.c.read_holding_registers(41007, 1) return results.registers[0] except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法读取制动已执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法读取制动已执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def write_axis(self, axis): try: @@ -157,22 +141,19 @@ class ModbusRequest(object): payload = builder.to_registers() self.c.write_registers(41008, payload) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def write_probe(self, probe): try: self.c.write_register(41010, probe) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) def write_pon(self, pon): # positive or negative try: self.c.write_register(41011, pon) except Exception as Err: - self.w2t(f"{Err}") - self.w2t("无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + self.w2t(f"{Err}\n无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) class HmiRequest(object): @@ -196,6 +177,7 @@ class HmiRequest(object): self.half_length = 0 self.index = 0 self.reset_index = 0 + self.durable_lock = 0 self.sock_conn() self.t_heartbeat = Thread(target=self.heartbeat) @@ -210,21 +192,19 @@ class HmiRequest(object): def sock_conn(self): # while True: - with open(f"{current_path}/../../assets/templates/heartbeat", "r", encoding='utf-8') as f_hb: + with open(clibs.heartbeat, "r", encoding='utf-8') as f_hb: c_state = f_hb.read().strip() if c_state == '0': try: 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.connect((clibs.ip_addr, 5050)) self.c.setblocking(False) 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.connect((clibs.ip_addr, 6666)) self.c_xs.setblocking(False) 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: + with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb: f_hb.write('1') md = ModbusRequest(self.w2t) md.reset_estop() @@ -234,7 +214,7 @@ class HmiRequest(object): md.write_axis(1) except Exception as Err: 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: + with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb: f_hb.write('0') def header_check(self, index, data): @@ -262,28 +242,29 @@ class HmiRequest(object): # print(f"in head check data: {data}") self.broke = 100 - index += MAX_FRAME_SIZE + index += clibs.MAX_FRAME_SIZE return index, 0, 0 def heartbeat(self): while self.t_bool: _id = self.execution('controller.heart') _flag = '0' if self.get_from_id(_id) is None else '1' - print(f"hb = {_flag}", end=' ') - print(f"len(c_msg) = {len(self.c_msg)}", end=' ') - print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n') - with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: + # print(f"hb = {_flag}", end=' ') + # print(f"len(c_msg) = {len(self.c_msg)}", end=' ') + # print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n') + with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb: f_hb.write(_flag) - if _flag == '0': - self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name) - sleep(1.5) - # with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f: - # for msg in self.c_msg: - # f.write(str(loads(msg)) + '\n') + if _flag == '0': + self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name) + sleep(2) def msg_storage(self, response, flag=0): + # response是解码后的字符串 messages = self.c_msg if flag == 0 else self.c_msg_xs - if len(messages) < 20000: + logger.debug(f"{loads(response)}") + if 'move.monitor' in response: + pass + elif len(messages) < 10000: messages.insert(0, response) else: messages.insert(0, response) @@ -327,7 +308,7 @@ class HmiRequest(object): # print(f"broke == 0 index = {self.index-8}") # print(f"broke == 0 INIT pkg size = {self.pkg_size}") # print(f"broke == 0 data = {data}") - if self.index > MAX_FRAME_SIZE: + if self.index > clibs.MAX_FRAME_SIZE: break # 详见解包原理数据.txt，self.pkg_size 永远是除了当前data之外剩余未处理的数据大小 if self.pkg_size <= len(data) - self.index: @@ -371,15 +352,15 @@ class HmiRequest(object): # print('flag = 0 encounter broke == 3') self.broke = 3 - self.index += MAX_FRAME_SIZE + self.index += clibs.MAX_FRAME_SIZE self.reset_index = 1 - break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE + break # 因为 index + 2 的大小超过 clibs.MAX_FRAME_SIZE elif self.index+_frame_size-6 > len(data): self.response = data[self.index:].decode() self.pkg_size -= (len(data) - self.index) # 详见解包原理数据.txt，self.pkg_size self.leftover = (_frame_size-6-(len(data)-self.index)) - self.index += MAX_FRAME_SIZE + self.index += clibs.MAX_FRAME_SIZE self.reset_index = 1 # print(f"in flag=0 else data = {data}") @@ -448,9 +429,9 @@ class HmiRequest(object): # print('flag = 1 encounter broke == 3') self.broke = 3 - self.index += MAX_FRAME_SIZE + self.index += clibs.MAX_FRAME_SIZE self.reset_index = 1 - break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE + break # 因为 index + 2 的大小超过 clibs.MAX_FRAME_SIZE # print(f"in pkg size > 0 loop after if data = {data}") # print(f"in pkg size > 0 loop after if index = {self.index}") # print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}") @@ -467,7 +448,7 @@ class HmiRequest(object): self.response += data[self.index:].decode() self.leftover -= (len(data) - self.index) self.pkg_size -= (len(data) - self.index) - self.index += MAX_FRAME_SIZE + self.index += clibs.MAX_FRAME_SIZE self.reset_index = 1 # print(f"in pkg size > 0 loop after else data = {data}") # print(f"in pkg size > 0 loop after else index = {self.index}") @@ -521,15 +502,21 @@ class HmiRequest(object): def get_from_id(self, msg_id, flag=0): for i in range(3): - messages = self.c_msg if flag == 0 else self.c_msg_xs - for msg in messages: - if msg_id is None: - return None - elif msg_id in msg: - return msg + with open(clibs.log_data_hmi, mode='r', encoding='utf-8') as f_log: + for line in f_log: + if msg_id in line.strip(): + return line sleep(1) - else: - return None + else: # 尝试在上一次分割的日志中查找，只做一次 + sleep(1) + try: + with open(clibs.log_data_hmi+'.1', mode='r', encoding='utf-8') as f_log: + for line in f_log: + if msg_id in line.strip(): + return line + except FileNotFoundError: + pass + return None def package(self, cmd): _frame_head = (len(cmd) + 6).to_bytes(length=2, byteorder='big') @@ -543,7 +530,7 @@ class HmiRequest(object): def unpackage(self, sock): def to_read(conn, mask): - data = conn.recv(MAX_FRAME_SIZE) + data = conn.recv(clibs.MAX_FRAME_SIZE) if data: # print(data) self.get_response(data) @@ -590,7 +577,7 @@ class HmiRequest(object): if flg == 0: # for old protocols req = None try: - with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8', + with open(f'{clibs.PREFIX}templates/json/{command}.json', encoding='utf-8', mode='r') as f_json: req = load(f_json) except: @@ -616,6 +603,8 @@ class HmiRequest(object): req['data']['type'] = kwargs['type'] req['data']['bias'] = kwargs['bias'] req['data']['value'] = kwargs['value'] + case 'diagnosis.save': + req['data']['save'] = kwargs['save'] case _: pass @@ -626,7 +615,7 @@ class HmiRequest(object): self.c.send(self.package(cmd)) sleep(0.5) except Exception as Err: - self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name) + self.w2t(f"{cmd}: 请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name) return req['id'] diff --git a/aio/code/data_process/__init__.py b/aio/code/data_process/__init__.py deleted file mode 100644 index 3913f0e..0000000 --- a/aio/code/data_process/__init__.py +++ /dev/null @@ -1 +0,0 @@ -__all__ = ['brake', 'current', 'iso', 'wavelogger'] \ No newline at end of file diff --git a/aio/code/data_process/brake.py b/aio/code/data_process/brake.py index 233e0c6..28192b4 100644 --- a/aio/code/data_process/brake.py +++ b/aio/code/data_process/brake.py @@ -1,49 +1,12 @@ -# coding: utf-8 -from os import scandir -from os.path import isfile, exists +from os.path import isfile from sys import argv from openpyxl import load_workbook from time import time, sleep, strftime, localtime from threading import Thread from pandas import read_csv +from commons import clibs - -class GetThreadResult(Thread): - def __init__(self, func, args=()): - super(GetThreadResult, self).__init__() - self.func = func - self.args = args - self.result = 0 - - def run(self): - sleep(1) - self.result = self.func(*self.args) - - def get_result(self): - Thread.join(self) # 等待线程执行完毕 - try: - return self.result - except Exception as Err: - return None - - -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') - 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 +logger = clibs.log_prod def check_files(path, raw_data_dirs, result_files, w2t): @@ -83,7 +46,7 @@ def check_files(path, raw_data_dirs, result_files, w2t): 规则解释：AA/BB/CC 指的是臂展/负载/速度的比例，例如reach66_load100_speed33：66%臂展，100%负载以及33%速度情况下的测试结果文件夹""" w2t(msg, 0, 4, 'red') - _, raw_data_files = traversal_files(raw_data_dir, w2t) + _, raw_data_files = clibs.traversal_files(raw_data_dir, w2t) if len(raw_data_files) != 3: msg = f"数据目录 {raw_data_dir} 下数据文件个数错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件" w2t(msg, 0, 5, 'red') @@ -109,6 +72,7 @@ def get_configs(configfile, w2t): return av, rr + def now_doing_msg(docs, flag, w2t): # 功能：输出正在处理的文件或目录 # 参数：文件或目录，start 或 done 标识 @@ -228,7 +192,7 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t): global stop stop = 0 - t_excel = GetThreadResult(load_workbook, args=(result_file, )) + t_excel = clibs.GetThreadResult(load_workbook, args=(result_file, )) t_wait = Thread(target=w2t_local, args=('.', 1, w2t)) t_excel.start() t_wait.start() @@ -242,7 +206,7 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t): for raw_data_dir in raw_data_dirs: if raw_data_dir.split('\\')[-1].split('_')[0] == prefix: now_doing_msg(raw_data_dir, 'start', w2t) - _, data_files = traversal_files(raw_data_dir, w2t) + _, data_files = clibs.traversal_files(raw_data_dir, w2t) # 数据文件串行处理模式--------------------------------- # count = 1 # for data_file in data_files: @@ -280,7 +244,7 @@ def main(path, vel, trq, estop, w2t): # 参数：initialization函数的返回值 # 返回值：- time_start = time() - raw_data_dirs, result_files = traversal_files(path, w2t) + raw_data_dirs, result_files = clibs.traversal_files(path, w2t) try: # threads = [] diff --git a/aio/code/data_process/current.py b/aio/code/data_process/current.py index b7cd024..92fda5d 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -1,31 +1,13 @@ from openpyxl import load_workbook -from os import scandir -from os.path import exists from sys import argv from pandas import read_csv, concat, set_option from re import match from threading import Thread from time import sleep from csv import reader, writer +from commons import clibs - -class GetThreadResult(Thread): - def __init__(self, func, args=()): - super(GetThreadResult, self).__init__() - self.func = func - self.args = args - self.result = 0 - - def run(self): - sleep(1) - self.result = self.func(*self.args) - - def get_result(self): - Thread.join(self) # 等待线程执行完毕 - try: - return self.result - except Exception as Err: - return None +logger = clibs.log_prod def w2t_local(msg, wait, w2t): @@ -38,27 +20,8 @@ def w2t_local(msg, wait, w2t): break -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, 8, 'red') - 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 initialization(path, sub, w2t): - _, data_files = traversal_files(path, w2t) + _, data_files = clibs.traversal_files(path, w2t) count = 0 for data_file in data_files: @@ -69,8 +32,8 @@ def initialization(path, sub, w2t): count += 1 else: if not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)): - print(f"不合规 {data_file}") - msg = f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。" + msg = f"不合规 {data_file}\n" + msg += f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。" w2t(msg, 0, 6, 'red') if not ((sub == 'cycle' and count == 2) or (sub != 'cycle' and count == 1)): @@ -79,7 +42,7 @@ def initialization(path, sub, w2t): return data_files -def current_max(data_files, rcs, trqh, w2t): +def current_max(data_files, rcs, trq, w2t): current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []} for data_file in data_files: if data_file.endswith('.data'): @@ -93,8 +56,8 @@ def current_max(data_files, rcs, trqh, w2t): axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j')) rca = rcs[axis-1] - col = df.columns.values[trqh-1] - c_max = df[col].max() + col = df.columns.values[trq-1] + c_max = df[col].abs().max() scale = 1 if data_file.endswith('.csv') else 1000 _ = abs(c_max/scale*rca) @@ -118,7 +81,7 @@ def current_max(data_files, rcs, trqh, w2t): return current -def current_avg(data_files, rcs, trqh, w2t): +def current_avg(data_files, rcs, trq, w2t): current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []} for data_file in data_files: if data_file.endswith('.data'): @@ -132,7 +95,7 @@ def current_avg(data_files, rcs, trqh, w2t): axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j')) rca = rcs[axis-1] - col = df.columns.values[trqh - 1] + col = df.columns.values[trq-1] c_std = df[col].std() c_avg = df[col].mean() @@ -158,7 +121,7 @@ def current_avg(data_files, rcs, trqh, w2t): return current -def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t): +def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t): result = None hold = [] single = [] @@ -174,7 +137,7 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t): w2t(f"正在打开文件 {result}，需要 10s 左右", 1, 0, 'orange') global stop stop = 0 - t_excel = GetThreadResult(load_workbook, args=(result, )) + t_excel = clibs.GetThreadResult(load_workbook, args=(result, )) t_wait = Thread(target=w2t_local, args=('.', 1, w2t)) t_excel.start() t_wait.start() @@ -189,14 +152,14 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t): for axis, cur_value in avg.items(): try: shtname = f"J{axis}" - wb[shtname]["J4"].value = float(cur_value) + wb[shtname]["J4"].value = float(cur_value[0]) except: pass if dur == 0: - p_single(wb, single, vel, trq, rpms, w2t) + p_single(wb, single, vel, trq, rpms, rrs, w2t) else: - p_scenario(wb, single, vel, trq, rpms, dur, w2t) + p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t) w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange') stop = 0 @@ -239,7 +202,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, 0, 'red') -def p_single(wb, single, vel, trq, rpms, w2t): +def p_single(wb, single, vel, trq, rpms, rrs, w2t): # 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑 # 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑 # 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置 @@ -253,7 +216,7 @@ def p_single(wb, single, vel, trq, rpms, w2t): set_option("display.precision", 2) if data_file.endswith('.data'): df = read_csv(data_file, sep='\t') - rr = float(wb['统计'].cell(row=2, column=axis+1).value) + rr = rrs[axis-1] addition = 180 / 3.1415926 * 60 / 360 * rr elif data_file.endswith('.csv'): df = read_csv(data_file, sep=',', encoding='gbk', header=8) @@ -270,6 +233,7 @@ def p_single(wb, single, vel, trq, rpms, w2t): col_names = list(df.columns) df_1 = df[col_names[vel-1]].multiply(rpm*addition) df_2 = df[col_names[trq-1]].multiply(scale) + # print(df_1.abs().max()) df = concat([df_1, df_2], axis=1) _step = 5 if data_file.endswith('.csv') else 50 @@ -320,7 +284,7 @@ def p_single(wb, single, vel, trq, rpms, w2t): cell.value = None -def p_scenario(wb, single, vel, trq, rpms, dur, w2t): +def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t): for data_file in single: cycle = 0.001 axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j')) @@ -332,7 +296,7 @@ def p_scenario(wb, single, vel, trq, rpms, dur, w2t): set_option("display.precision", 2) if data_file.endswith('.data'): df = read_csv(data_file, sep='\t') - rr = float(wb['统计'].cell(row=2, column=axis+1).value) + rr = rrs[axis-1] addition = 180 / 3.1415926 * 60 / 360 * rr elif data_file.endswith('.csv'): df = read_csv(data_file, sep=',', encoding='gbk', header=8) @@ -376,6 +340,7 @@ def get_configs(configfile, w2t): _wb = load_workbook(configfile, read_only=True) _ws = _wb['Target'] rcs = [] + rrs = [] rpms = [] for i in range(2, 9): try: @@ -388,18 +353,23 @@ def get_configs(configfile, w2t): except: rcs.append(0.0) - return rpms, rcs + try: + rrs.append(float(_ws.cell(row=2, column=i).value)) + except: + rrs.append(0.0) + + return rpms, rcs, rrs def main(path, sub, dur, vel, trq, trqh, w2t): data_files = initialization(path, sub, w2t) - rpms, rcs = get_configs(path + '\\configs.xlsx', w2t) + rpms, rcs, rrs = get_configs(path + '\\configs.xlsx', w2t) if sub == 'max': - current_max(data_files, rcs, trqh, w2t) + current_max(data_files, rcs, trq, w2t) elif sub == 'avg': - current_avg(data_files, rcs, trqh, w2t) + current_avg(data_files, rcs, trq, w2t) elif sub == 'cycle': - current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t) + current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t) else: pass diff --git a/aio/code/data_process/iso.py b/aio/code/data_process/iso.py index a6be621..8c13c02 100644 --- a/aio/code/data_process/iso.py +++ b/aio/code/data_process/iso.py @@ -1,27 +1,10 @@ -# _*_ encoding：utf-8 _*_ import pdfplumber from openpyxl import load_workbook -from os import scandir, remove -from os.path import exists +from os import remove from sys import argv +from commons import clibs - -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') - 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 +logger = clibs.log_prod def p_iso(file, p_files, ws, tmpfile): @@ -153,7 +136,7 @@ def p_iso_1000(file, p_files, ws, tmpfile): def main(path, w2t): - dirs, files = traversal_files(path, 1) + dirs, files = clibs.traversal_files(path, 1) try: wb = load_workbook(path + "/iso-results.xlsx") diff --git a/aio/code/data_process/wavelogger.py b/aio/code/data_process/wavelogger.py index 730d276..b1e53cf 100644 --- a/aio/code/data_process/wavelogger.py +++ b/aio/code/data_process/wavelogger.py @@ -1,31 +1,10 @@ -import os -import random - from pandas import read_csv from csv import reader from sys import argv -from os.path import exists -from os import scandir, remove from openpyxl import Workbook -from random import randint +from commons import clibs -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') - 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 +logger = clibs.log_prod def find_point(bof, step, pos, data_file, flag, df, row, w2t): @@ -95,7 +74,7 @@ def get_cycle_info(data_file, df, row, step, w2t): def initialization(path, w2t): - _, data_files = traversal_files(path, w2t) + _, data_files = clibs.traversal_files(path, w2t) for data_file in data_files: if not data_file.lower().endswith('.csv'): @@ -126,7 +105,7 @@ def single_file_proc(ws, data_file, df, low, high, cycle, w2t): _step = 5 _data = {} row_max = df.index[-1]-100 - print(data_file) + # print(data_file) while _row < row_max: if count not in _data.keys(): _data[count] = [] @@ -149,7 +128,7 @@ def single_file_proc(ws, data_file, df, low, high, cycle, w2t): ws.cell(row=1, column=i).value = f"第{i-1}次测试" ws.cell(row=i, column=1).value = f"第{i-1}次精度变化" - print(_data) + # print(_data) for i in sorted(_data.keys()): _row = 2 _column = i + 1 @@ -162,9 +141,9 @@ def execution(data_files, w2t): wb = Workbook() for data_file in data_files: ws, df, low, high, cycle = preparation(data_file, wb, w2t) - print(f"low = {low}") - print(f"high = {high}") - print(f"cycle = {cycle}") + # print(f"low = {low}") + # print(f"high = {high}") + # print(f"cycle = {cycle}") single_file_proc(ws, data_file, df, low, high, cycle, w2t) wd = data_files[0].split('\\') diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py new file mode 100644 index 0000000..b9c0d71 --- /dev/null +++ b/aio/code/durable_action/factory_test.py @@ -0,0 +1,224 @@ +from sys import argv +from json import loads +from time import sleep, time, strftime, localtime +from pandas import DataFrame +from openpyxl import load_workbook +from math import sqrt +from numpy import power +from csv import writer +from commons import clibs + +logger = clibs.log_prod +tab_name = clibs.tab_names['da'] +count = 0 +display_pdo_params = [ + # {"name": "hw_joint_vel_feedback", "channel": 0}, + # {"name": "hw_joint_vel_feedback", "channel": 1}, + # {"name": "hw_joint_vel_feedback", "channel": 2}, + # {"name": "hw_joint_vel_feedback", "channel": 3}, + # {"name": "hw_joint_vel_feedback", "channel": 4}, + # {"name": "hw_joint_vel_feedback", "channel": 5}, + {"name": "device_servo_trq_feedback", "channel": 0}, + {"name": "device_servo_trq_feedback", "channel": 1}, + {"name": "device_servo_trq_feedback", "channel": 2}, + {"name": "device_servo_trq_feedback", "channel": 3}, + {"name": "device_servo_trq_feedback", "channel": 4}, + {"name": "device_servo_trq_feedback", "channel": 5}, +] +title = [ + 'time', 'trq-1', 'trq-2', 'trq-3', 'trq-4', 'trq-5', 'trq-6', 'trq-max-1', 'trq-max-2', 'trq-max-3', 'trq-max-4', + 'trq-max-5', 'trq-max-6' +] + + +def check_files(data_dirs, data_files, w2t): + if len(data_dirs) != 0 or len(data_files) != 2: + 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文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, 10, 'red', tab_name) + + _files = [data_files[0].split('\\')[-1], data_files[1].split('\\')[-1]] + _files.sort() + if _files != ['configs.xlsx', 'target.zip']: + w2t('初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, 10, 'red', tab_name) + + data_files.sort() + return data_files + + +def run_rl(path, config_file, data_all, hr, md, w2t): + # 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 + clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True) + clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params) + md.trigger_estop() + md.reset_estop() + md.write_act(False) + sleep(1) # 让曲线彻底关闭 + + # 2. reload工程后，pp2main，并且自动模式和上电 + prj_path = 'target/_build/target.prj' + clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current']) + clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current']) + clibs.execution('state.switch_auto', hr, w2t, tab_name) + clibs.execution('state.switch_motor_on', hr, w2t, tab_name) + + # 3. 开始运行程序 + clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current']) + _t_start = time() + while True: + if md.read_ready_to_go() == 1: + md.write_act(True) + break + else: + if (time() - _t_start) // 20 > 1: + 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. 获取初始数据，周期时间，首次的各轴平均电流值，打开诊断曲线，并执行采集 + sleep(20) # 初始化 scenario time 为 0 + _t_start = time() + while True: + scenario_time = md.read_scenario_time() + if float(scenario_time) > 1: + w2t(f"场景的周期时间：{scenario_time}s", 0, 0, 'green', tab_name) + break + else: + if (time() - _t_start) // 60 > 3: + w2t(f"未收到场景的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name) + else: + sleep(5) + sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确 + scenario_time = float(md.read_scenario_time()) + sleep(scenario_time*0.2) + + # 6. 准备初始数据，关闭诊断曲线，保留数据并处理输出 + with open(f'{path}\\results.csv', mode='a+', newline='') as f_csv: + csv_writer = writer(f_csv) + csv_writer.writerow(title) + _wb = load_workbook(config_file, read_only=True) + _ws = _wb['Target'] + wait_time = float(_ws.cell(row=2, column=10).value) + rcs = [] + for i in range(6): + rcs.append(float(_ws.cell(row=6, column=i + 2).value)) + + get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t) + + # 7. 继续运行 + while True: + # 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线 + sleep(wait_time+scenario_time+7) + # 保留数据并处理输出 + get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t) + + +def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t): + _data_list = [] + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: + if 'diagnosis.result' in _msg: + _data_list.insert(0, loads(_msg)) + else: + hr.c_msg_xs.clear() + if len(hr.c_msg) > 270: + del hr.c_msg[270:] + + # with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj: + # for _ in _data_list: + # f_obj.write(f"{_}\n") + + _d2d_trq = {0: [], 1: [], 2: [], 3: [], 4: [], 5: []} + + for line in _data_list: + for item in line['data']: + for i in range(6): + item['value'].reverse() + if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback': + _d2d_trq[i].extend(item['value']) + + if len(_d2d_trq[0]) / 1000 > scenario_time + 1: + this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time())) + next_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()+wait_time+10+scenario_time)).split()[-1] + _df = DataFrame(_d2d_trq) + _flg = 0 + _res = [] + for i in range(6): + def overmax_data(df, index, number, flag): + if number > 100: + md.trigger_estop() + hr.durable_quit = 1 + df.to_excel(f'{path}\\{this_time}.xlsx') + w2t(f"[{this_time}] {flag}-axis-{index} 数据过大错误，需要检查确定。", 0, 10, 'red', tab_name) + + try: + _ = sqrt(_df[i].apply(lambda x: power((rcs[i]*x/1000), 2)).sum()/len(_df[i])) + except: + md.trigger_estop() + _df.to_excel(path+"\\err_data.xlsx") + w2t(f"{i}calculate error", 0, 11, 'red', tab_name) + + if not _flg: + del data[0]['time'][0] + data[0]['time'].append(this_time.split()[-1]) + del data[1]['time'][0] + data[1]['time'].append(this_time.split()[-1]) + _res.append(this_time) + _flg = 1 + + del data[0][f"axis{i + 1}"][0] + overmax_data(_df, i, _, 'trq') + data[0][f"axis{i + 1}"].append(_) + _res.append(_) + + _ = rcs[i] * _df[i].abs().max() / 1000 + overmax_data(_df, i, _, 'trq-max') + del data[1][f"axis{i + 1}"][0] + data[1][f"axis{i + 1}"].append(_) + _res.append(_) + + _df_1 = DataFrame(data[0]) + _df_2 = DataFrame(data[1]) + with open(f'{path}\\results.csv', mode='a+', newline='') as f_csv: + def change_order(res): + _time = res[0:1] + _trq = [] + _trq_max = [] + for _item in res[1::2]: + _trq.append(_item) + for _item in res[2::2]: + _trq_max.append(_item) + return _time + _trq + _trq_max + + csv_writer = writer(f_csv) + csv_writer.writerow(change_order(_res)) + + while True: + if not hr.durable_lock: + hr.durable_lock = 1 + _df_1.to_excel(clibs.durable_data_current_xlsx, index=False) + _df_2.to_excel(clibs.durable_data_current_max_xlsx, index=False) + hr.durable_lock = 0 + break + else: + sleep(1) + global count + count += 1 + w2t(f"[{this_time}] 当前次数：{count:09d} | 预计下次数据更新时间：{next_time}", 0, 0, '#008B8B', tab_name) + break + else: + md.trigger_estop() + with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj: + for _ in _d2d_trq[0]: + f_obj.write(f"{_}\n") + w2t("采集的数据时间长度不够，需要确认。", 0, 10, 'red', tab_name) + + +def main(path, hr, md, w2t): + data_all = [clibs.durable_data_current, clibs.durable_data_current_max] + data_dirs, data_files = clibs.traversal_files(path, w2t) + config_file, prj_file = check_files(data_dirs, data_files, w2t) + clibs.prj_to_xcore(prj_file) + run_rl(path, config_file, data_all, hr, md, w2t) + + +if __name__ == '__main__': + main(*argv[1:]) diff --git a/dial_gauge/README.md b/dial_gauge/README.md new file mode 100644 index 0000000..b16f45a --- /dev/null +++ b/dial_gauge/README.md @@ -0,0 +1,2 @@ +## 千分表数据自动采集 + diff --git a/dial_gauge/conf.ini b/dial_gauge/conf.ini new file mode 100644 index 0000000..295d61a --- /dev/null +++ b/dial_gauge/conf.ini @@ -0,0 +1,6 @@ +[md_rtu] +port = COM10 + +[md_tcp] +addr = 192.168.0.160 +port = 502 diff --git a/dial_gauge/gauge.py b/dial_gauge/gauge.py new file mode 100644 index 0000000..0f44f30 --- /dev/null +++ b/dial_gauge/gauge.py @@ -0,0 +1,99 @@ +from configparser import ConfigParser +from pymodbus.client import ModbusSerialClient, ModbusTcpClient +from time import sleep, strftime, localtime, time +from openpyxl import load_workbook, Workbook +from os import rename +# import pymodbus +# pymodbus.pymodbus_apply_logging_config("DEBUG") + + +def initializations(): + try: + now = strftime("%Y%m%d%H%M%S", localtime(time())) + rename('results.xlsx', f'results_{now}.xlsx') + except FileNotFoundError: + pass + + wb = Workbook() + ws = wb.active + ws.title = 'results' + ws['A1'].value = '时间' + ws['B1'].value = '次数' + ws['C1'].value = '结果' + wb.save('results.xlsx') + wb.close() + + +def do_connections(): + configs = ConfigParser() + configs.read('conf.ini') + + # ================ 配置Modbus TCP客户端 ================ + tcp_host = configs.get('md_tcp', 'addr') + tcp_port = configs.getint('md_tcp', 'port') + + client_tcp = ModbusTcpClient(tcp_host, tcp_port) + if client_tcp.connect(): + print(f"Modbus TCP已连接到{tcp_host}:{tcp_port}...") + else: + raise Exception(f"Modbus TCP无法连接到{tcp_host}:{tcp_port}...") + + # ================ 配置Modbus RTU客户端 ================ + rtu_port = configs.get('md_rtu', 'port') + + client_rtu = ModbusSerialClient( + method='rtu', + port=rtu_port, # 根据实际情况调整端口，Windows上可能是 'COM3' + baudrate=38400, # 根据协议设定波特率为38400 + timeout=1, + parity='N', # 无奇偶校验 + stopbits=2, # 2个停止位 + bytesize=8 # 8个数据位 + ) + if client_rtu.connect(): + print(f"Modbus RTU已连接到系统{rtu_port}端口...") + else: + raise Exception(f"Modbus RTU无法连接到系统{rtu_port}端口...") + + return client_tcp, client_rtu + + +def get_gauge_data(client_tcp, client_rtu): + count = 2 + client_tcp.write_register(41000, 1) # 将 act 信号置为 True + # ================ 功能实现 ================ + while True: + while True: + res_tcp = client_tcp.read_holding_registers(41001, 1) # 获取 time_to_go 的值 + sleep(0.5) + if not res_tcp.registers[0]: + continue + else: + break + try: + res_rtu = client_rtu.read_holding_registers(0x0000, 2, slave=1) + plus_or_minus = 1 if res_rtu.registers[0] == 0 else -1 + result = res_rtu.registers[1] * plus_or_minus / 10000 + now = strftime("%Y-%m-%d %H:%M:%S", localtime(time())) + wb = load_workbook('results.xlsx') + ws = wb['results'] + ws[f'A{count}'].value = now + ws[f'B{count}'].value = count-1 + ws[f'C{count}'].value = float(result) + wb.save('results.xlsx') + wb.close() + count += 1 + except: + client_tcp.write_register(41000, 0) # 将 act 信号置为 False + + sleep(2) # + + +def main(): + initializations() + client_tcp, client_rtu = do_connections() + get_gauge_data(client_tcp, client_rtu) + + +if __name__ == '__main__': + main() diff --git a/dial_gauge/gauge.xml b/dial_gauge/gauge.xml new file mode 100644 index 0000000..4a8fe65 --- /dev/null +++ b/dial_gauge/gauge.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dial_gauge/target_dial_gauge.zip b/dial_gauge/target_dial_gauge.zip new file mode 100644 index 0000000..27ee435 Binary files /dev/null and b/dial_gauge/target_dial_gauge.zip differ