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z5U4;U7#HdH1{_qm5=@972u>V-N&*dly(RmzY=?t8hV95a{Zr7tN>U<(NfAIhE5WP? z44lx@N-#HqDkqeo3M`5!{tFpuTLp%Y{c}q3cSXfnp`}$|F@#SL=+7!JKfSNN37S&}(*&*s6OjFVO!iMPcZ@$`I={vKeaq@U z4P=J@M=bNV*x&2ie`@o8`bTWzx7gpSrGJV!ll&25gjJC2?-}<$#oWmLh`}b|sQAdR UQ$9F2YS^a)1P8bH2@Fg9KOHV&CjbBd diff --git a/aio/code/aio.py b/aio/code/aio.py index 165966c..5b55662 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -35,6 +35,12 @@ 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_pr = { + 'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'}, + 'loadsel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 1, 'text': '负载选择'}, + 'actionsel': {'label': '', 'optionmenu': '', 'row': 3, 'col': 1, 'text': '动作选择'}, + 'inertiasel': {'label': '', 'optionmenu': '', 'row': 4, 'col': 1, 'text': '惯量选择'}, +} class App(customtkinter.CTk): @@ -80,6 +86,7 @@ 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("Profile Test") # 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) @@ -137,6 +144,33 @@ 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 profile tab START ===================================================================== + for widgit in widgits_pr: + if widgit == 'path': + widgits_pr[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Profile Test'), text=f'{widgit.upper()}', font=self.my_font) + widgits_pr[widgit]['label'].grid(row=widgits_pr[widgit]['row'], column=widgits_pr[widgit]['col'], sticky='e', pady=5) + widgits_pr[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Profile Test'), width=670, placeholder_text=widgits_pr[widgit]['text'], font=self.my_font) + widgits_pr[widgit]['entry'].grid(row=widgits_pr[widgit]['row'], column=widgits_pr[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we') + # widgits_pr[widgit]['entry'].configure(state='disabled') + elif widgit in ['loadsel', 'actionsel', 'inertiasel']: + match widgit: + case 'loadsel': + values = ["tool100", "inertia"] + case 'actionsel': + values = ["signle", "box", "cart"] + case 'inertiasel': + values = ["high", "middle", "low"] + + widgits_pr[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Profile Test'), button_color='#708090', fg_color='#778899', values=values, width=self.w_param, font=self.my_font) + widgits_pr[widgit]['optionmenu'].grid(row=widgits_pr[widgit]['row'], column=widgits_pr[widgit]['col'], padx=5, pady=5, sticky='we') + widgits_pr[widgit]['optionmenu'].set(widgits_pr[widgit]['text']) + # widgits_pr[widgit]['optionmenu'].configure(state='disabled') + # create progress bar + self.progressbar_pr = customtkinter.CTkProgressBar(self.tabview.tab('Profile Test')) + self.progressbar_pr.grid(row=5, column=1, padx=5, pady=5, sticky="ew") + self.progressbar_pr.configure(mode="determinnate", width=10) + self.progressbar_pr.start() + # For profile 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') @@ -193,6 +227,7 @@ class App(customtkinter.CTk): c_state = f_hb.read().strip() pb_color = 'green' if c_state == '1' else 'red' self.progressbar.configure(progress_color=pb_color) + self.progressbar_pr.configure(progress_color=pb_color) if c_state == '0': # self.textbox.delete(index1='1.0', index2='end') self.hr.t_bool = False diff --git a/aio/code/automatic_test/openapi.py b/aio/code/automatic_test/openapi.py index 703e9c7..bfac80b 100644 --- a/aio/code/automatic_test/openapi.py +++ b/aio/code/automatic_test/openapi.py @@ -216,7 +216,7 @@ class HmiRequest(object): # self.c_xs.connect(('192.168.84.129', 6666)) self.c_xs.setblocking(False) - self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name) + # self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name) with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('1') md = ModbusRequest(self.w2t, self.tab_name) @@ -226,7 +226,7 @@ class HmiRequest(object): md.write_probe(False) md.write_axis(1) except Exception as Err: - self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name) + # self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name) with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('0') @@ -268,7 +268,8 @@ class HmiRequest(object): with open(f"{current_path}/../../assets/templates/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) + # 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) + self.w2t(f"", 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: @@ -619,7 +620,8 @@ 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}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name) + self.w2t(f"", 0, 0, 'red', tab_name=self.tab_name) return req['id'] diff --git a/aio/code/profile/__init__.py b/aio/code/profile/__init__.py new file mode 100644 index 0000000..7824c48 --- /dev/null +++ b/aio/code/profile/__init__.py @@ -0,0 +1 @@ +__all__ = ['do_profile'] \ No newline at end of file diff --git a/aio/code/profile/do_profile.py b/aio/code/profile/do_profile.py new file mode 100644 index 0000000..e69de29 From a66a55bcd3f6fda39077cd4996cdc729550d21d6 Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 11:36:35 +0800 Subject: [PATCH 02/36] =?UTF-8?q?v0.1.9.2(2024/07/13)=201.=20[APIs:=20do?= =?UTF-8?q?=5Fbrake.py]=20=20=20=20-=20=E4=BF=AE=E6=94=B9ready=5Fto=5Fgo?= =?UTF-8?q?=E4=BF=A1=E5=8F=B7=E7=9A=84=E6=8E=A5=E6=94=B6=E9=80=BB=E8=BE=91?= =?UTF-8?q?=EF=BC=8C=E9=80=82=E9=85=8D=E5=A4=A7=E8=B4=9F=E8=BD=BD=E6=9C=BA?= =?UTF-8?q?=E5=9E=8B=202.=20[APIs:=20do=5Fcurrent.py]=20=20=20=20-=20?= =?UTF-8?q?=E4=BF=AE=E6=94=B9ready=5Fto=5Fgo=E4=BF=A1=E5=8F=B7=E7=9A=84?= =?UTF-8?q?=E6=8E=A5=E6=94=B6=E9=80=BB=E8=BE=91=EF=BC=8C=E9=80=82=E9=85=8D?= =?UTF-8?q?=E5=A4=A7=E8=B4=9F=E8=BD=BD=E6=9C=BA=E5=9E=8B=20=20=20=20-=20?= =?UTF-8?q?=E8=B0=83=E6=95=B4=E5=8D=95=E8=BD=B4=E6=B5=8B=E8=AF=95=E6=97=B6?= =?UTF-8?q?=E9=97=B4=E4=B8=BA35s=EF=BC=8C=E9=80=82=E9=85=8D=E5=A4=A7?= =?UTF-8?q?=E8=B4=9F=E8=BD=BD=E6=9C=BA=E5=9E=8B=EF=BC=8C=E8=B0=83=E6=95=B4?= =?UTF-8?q?=E5=A0=B5=E8=BD=AC=E7=94=B5=E6=B5=81=E6=8C=81=E7=BB=AD=E6=97=B6?= =?UTF-8?q?=E9=97=B415s=EF=BC=8C=E9=80=82=E5=BD=93=E5=87=8F=E5=B0=91?= =?UTF-8?q?=E6=B5=8B=E8=AF=95=E6=97=B6=E9=97=B4=20=20=20=20-=20=E5=B0=86ac?= =?UTF-8?q?t=E4=BF=A1=E5=8F=B7=E7=BD=AE=E4=B8=BAFalse=E7=9A=84=E5=8A=A8?= =?UTF-8?q?=E4=BD=9C=E6=94=BE=E5=9C=A8=E5=88=9D=E5=A7=8B=E5=8C=96=EF=BC=8C?= =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E7=A8=8B=E5=BA=8F=E5=81=A5=E5=A3=AE=E6=80=A7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 13 ++++++++++++- aio/code/automatic_test/do_brake.py | 11 ++++++----- aio/code/automatic_test/do_current.py | 20 ++++++++++++-------- 3 files changed, 30 insertions(+), 14 deletions(-) diff --git a/aio/README.md b/aio/README.md index ba2820e..2e2c652 100644 --- a/aio/README.md +++ b/aio/README.md @@ -132,7 +132,7 @@ 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 +1. 【重要】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，确保所有程序正常运行之后，导出工程，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 @@ -140,6 +140,8 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A 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 +9. 将autotest.xml导入到寄存器，并新建一个modbus，命名为autotest +10. 针对五轴机型，六轴数据可以填写1-5轴任意一轴的点位信息 #### 6) 电机电流自动化测试 @@ -462,3 +464,12 @@ v0.1.9.1(2024/07/12) 3. [APIs: openapi.py] - modbus类新增指示政府方向急停的信号pon，将modbus类入参中的tab_name删除，并修改tab_name的值为'openapi' - socket类种修改tab_name的值为'openapi' + +v0.1.9.2(2024/07/13) +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 + diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 171310b..b937264 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -227,15 +227,16 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): _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): + _t_start = time() + while True: if md.read_ready_to_go() == 1: md.write_act(True) 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', 'Automatic Test') + else: + sleep(1) # 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) diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index 8c81968..f57caf9 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -308,6 +308,8 @@ def run_rl(path, hr, md, loadsel, w2t): _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) md.trigger_estop() md.reset_estop() + md.write_act(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) @@ -334,19 +336,19 @@ def run_rl(path, hr, md, loadsel, w2t): # 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): + _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', 'Automatic Test') + 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 + 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 _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) display_pdo_params = [ {"name": "hw_joint_vel_feedback", "channel": 0}, @@ -365,7 +367,9 @@ def run_rl(path, hr, md, loadsel, w2t): ] _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) scenario_time = 0 - if number < 6 or number > 8: + if number < 6: + sleep(35) + elif number > 8: sleep(15) else: _t_start = time() From d76ee3d223f21e93594f6e05e50458f84fdf3ecb Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 13:40:04 +0800 Subject: [PATCH 03/36] =?UTF-8?q?1.=20[APIs:=20do=5Fbrake.py]=20=20=20=20-?= =?UTF-8?q?=20=E4=BF=AE=E6=94=B9ready=5Fto=5Fgo=E4=BF=A1=E5=8F=B7=E7=9A=84?= =?UTF-8?q?=E6=8E=A5=E6=94=B6=E9=80=BB=E8=BE=91=EF=BC=8C=E9=80=82=E9=85=8D?= =?UTF-8?q?=E5=A4=A7=E8=B4=9F=E8=BD=BD=E6=9C=BA=E5=9E=8B=202.=20[APIs:=20d?= =?UTF-8?q?o=5Fcurrent.py]=20=20=20=20-=20=E4=BF=AE=E6=94=B9ready=5Fto=5Fg?= =?UTF-8?q?o=E4=BF=A1=E5=8F=B7=E7=9A=84=E6=8E=A5=E6=94=B6=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E9=80=82=E9=85=8D=E5=A4=A7=E8=B4=9F=E8=BD=BD?= =?UTF-8?q?=E6=9C=BA=E5=9E=8B=20=20=20=20-=20=E8=B0=83=E6=95=B4=E5=8D=95?= =?UTF-8?q?=E8=BD=B4=E6=B5=8B=E8=AF=95=E6=97=B6=E9=97=B4=E4=B8=BA35s?= =?UTF-8?q?=EF=BC=8C=E9=80=82=E9=85=8D=E5=A4=A7=E8=B4=9F=E8=BD=BD=E6=9C=BA?= =?UTF-8?q?=E5=9E=8B=EF=BC=8C=E8=B0=83=E6=95=B4=E5=A0=B5=E8=BD=AC=E7=94=B5?= =?UTF-8?q?=E6=B5=81=E6=8C=81=E7=BB=AD=E6=97=B6=E9=97=B415s=EF=BC=8C?= =?UTF-8?q?=E9=80=82=E5=BD=93=E5=87=8F=E5=B0=91=E6=B5=8B=E8=AF=95=E6=97=B6?= =?UTF-8?q?=E9=97=B4=20=20=20=20-=20=E5=B0=86act=E4=BF=A1=E5=8F=B7?= =?UTF-8?q?=E7=BD=AE=E4=B8=BAFalse=E7=9A=84=E5=8A=A8=E4=BD=9C=E6=94=BE?= =?UTF-8?q?=E5=9C=A8=E5=88=9D=E5=A7=8B=E5=8C=96=EF=BC=8C=E5=A2=9E=E5=8A=A0?= =?UTF-8?q?=E7=A8=8B=E5=BA=8F=E5=81=A5=E5=A3=AE=E6=80=A7=20=20=20=20-=20?= =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=89=80=E6=9C=89=E8=BE=93=E5=87=BA=E6=96=87?= =?UTF-8?q?=E4=BB=B6=E7=9A=84=E5=91=BD=E5=90=8D=EF=BC=8C=E5=9C=A8=E6=89=A9?= =?UTF-8?q?=E5=B1=95=E5=90=8D=E4=B9=8B=E5=89=8D=E5=8A=A0=E5=85=A5=E6=97=B6?= =?UTF-8?q?=E9=97=B4=E6=88=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 2 ++ aio/assets/file_version_info.txt | 8 ++++---- aio/assets/vers | 2 +- aio/code/automatic_test/do_current.py | 18 +++++++++--------- aio/code/data_process/current.py | 6 ++++-- 5 files changed, 20 insertions(+), 16 deletions(-) diff --git a/aio/README.md b/aio/README.md index 2e2c652..47d4631 100644 --- a/aio/README.md +++ b/aio/README.md @@ -472,4 +472,6 @@ v0.1.9.2(2024/07/13) - 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 +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 diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index ca423d4..5f58e11 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, 1), - prodvers=(0, 1, 9, 1), + filevers=(0, 1, 9, 2), + prodvers=(0, 1, 9, 2), # 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', '0.1.9.1 (2024-07-12)'), + StringStruct('FileVersion', '0.1.9.2 (2024-07-13)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.1.9.1 (2024-07-12)')]) + StringStruct('ProductVersion', '0.1.9.2 (2024-07-13)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/vers b/aio/assets/vers index 282634a..ea80ca6 100644 --- a/aio/assets/vers +++ b/aio/assets/vers @@ -1 +1 @@ -0.1.9.1 @ 07/12/2024 \ No newline at end of file +0.1.9.2 @ 07/13/2024 \ No newline at end of file diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index f57caf9..583f7ae 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -129,7 +129,7 @@ def data_proc_regular(path, filename, channel, scenario_time): 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' + _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: @@ -178,37 +178,37 @@ def data_proc_regular(path, filename, channel, scenario_time): 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' + _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' + _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' + _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' + _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' + _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' + _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: @@ -227,7 +227,7 @@ def data_proc_regular(path, filename, channel, scenario_time): 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' + _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data' df.to_csv(_filename, sep='\t', index=False) @@ -248,7 +248,7 @@ def data_proc_inertia(path, filename, channel): 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' + _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data' df.to_csv(_filename, sep='\t', index=False) diff --git a/aio/code/data_process/current.py b/aio/code/data_process/current.py index 0fd3234..b7cd024 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -223,7 +223,8 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol else: return _row_s, _row_e else: - w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red') + # w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red') + w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, 0, 'red') elif flag == 'gt': while _row_e > end_point: speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean() @@ -234,7 +235,8 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol else: return _row_s, _row_e else: - 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, exitcode, 'red') + # 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, exitcode, 'red') + 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): From 718db9ec45508848fcee66c09ba8cfb45ce84fa6 Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 13:43:51 +0800 Subject: [PATCH 04/36] change version --- aio/code/aio.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aio/code/aio.py b/aio/code/aio.py index adfeca2..094f2b2 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -70,7 +70,7 @@ 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: 0.1.9.2\nDate: 07/13/2024", 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') # ===================================================================== From d35858e14eb174cd2f4f90b57b058a0ccc3466cc Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 15:40:13 +0800 Subject: [PATCH 05/36] =?UTF-8?q?v0.1.9.2(2024/07/13)=201.=20[APIs:=20do?= =?UTF-8?q?=5Fcurrent.py]=20=20=20=20-=20=E5=88=A0=E9=99=A4=E5=A4=9A?= =?UTF-8?q?=E4=BD=99=E7=9A=84=E6=97=B6=E5=BA=8F=E7=9F=AB=E6=AD=A3=E8=AF=AD?= =?UTF-8?q?=E5=8F=A5=E2=80=94=E2=80=94item['value'].reverse()=EF=BC=8C?= =?UTF-8?q?=E4=BD=BF=E8=BE=93=E5=87=BA=E7=9A=84=E6=9B=B2=E7=BA=BF=E4=B8=BA?= =?UTF-8?q?=E5=B9=B3=E6=BB=91=E7=9A=84=E8=87=AA=E7=84=B6=E9=A1=BA=E5=BA=8F?= =?UTF-8?q?=202.=20[current:=20current.py]=20=20=20=20-=20max=E5=8A=9F?= =?UTF-8?q?=E8=83=BD=E8=AE=A1=E7=AE=97=E9=80=BB=E8=BE=91=E7=9F=AB=E6=AD=A3?= =?UTF-8?q?=EF=BC=8C=E5=BA=94=E8=AF=A5=E6=98=AF=E5=8F=96=E7=BB=9D=E5=AF=B9?= =?UTF-8?q?=E5=80=BC=E7=9A=84=E6=9C=80=E5=A4=A7=E5=80=BC=20=20=20=20-=20?= =?UTF-8?q?=E6=95=B4=E4=BD=93=E6=A2=B3=E7=90=86=E4=BA=86trq/trqh=E7=9A=84?= =?UTF-8?q?=E4=BC=A0=E9=80=92=E8=B7=AF=E5=BE=84=EF=BC=8C=E7=8E=B0=E5=B7=B2?= =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E5=AE=8C=E6=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 6 +++++- aio/code/automatic_test/do_current.py | 2 -- aio/code/data_process/current.py | 20 +++++++++----------- 3 files changed, 14 insertions(+), 14 deletions(-) diff --git a/aio/README.md b/aio/README.md index 47d4631..c367c30 100644 --- a/aio/README.md +++ b/aio/README.md @@ -473,5 +473,9 @@ v0.1.9.2(2024/07/13) - 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 -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 + - 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 diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index 583f7ae..245fe0f 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -120,10 +120,8 @@ def data_proc_regular(path, filename, channel, scenario_time): for item in data: item['value'].reverse() if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback': - item['value'].reverse() _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) diff --git a/aio/code/data_process/current.py b/aio/code/data_process/current.py index b7cd024..cef7a6b 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -79,7 +79,7 @@ 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 +93,8 @@ 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 +118,7 @@ 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 +132,7 @@ 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() @@ -223,8 +223,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol else: return _row_s, _row_e else: - # w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red') - w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, 0, 'red') + w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red') elif flag == 'gt': while _row_e > end_point: speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean() @@ -235,8 +234,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol else: return _row_s, _row_e else: - # 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, exitcode, 'red') - 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') + 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, exitcode, 'red') def p_single(wb, single, vel, trq, rpms, w2t): @@ -395,9 +393,9 @@ def main(path, sub, dur, vel, trq, trqh, w2t): data_files = initialization(path, sub, w2t) rpms, rcs = 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) else: From 485dffdd0b235a7787646bea260a4bb5ff1dd744 Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 16:43:56 +0800 Subject: [PATCH 06/36] =?UTF-8?q?=20=20=20-=20=E5=87=8F=E9=80=9F=E6=AF=94r?= =?UTF-8?q?r=E6=95=B0=E6=8D=AE=E6=BA=90=E4=BF=AE=E6=94=B9=E4=B8=BAconfigs.?= =?UTF-8?q?xlsx=204.=20=E5=9C=A8current=E5=B7=A5=E7=A8=8Bmain=E5=87=BD?= =?UTF-8?q?=E6=95=B0=E5=A2=9E=E5=8A=A0=20VelSet=20100=E8=AF=AD=E5=8F=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 1 + aio/assets/configs.xlsx | Bin 226161 -> 226189 bytes aio/assets/target.zip | Bin 26230 -> 26247 bytes aio/code/data_process/current.py | 27 +++++++++++++++++---------- 4 files changed, 18 insertions(+), 10 deletions(-) diff --git a/aio/README.md b/aio/README.md index c367c30..60b6375 100644 --- a/aio/README.md +++ b/aio/README.md @@ -478,4 +478,5 @@ v0.1.9.2(2024/07/13) - 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 diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index e591d4c42a4a4389b655ecc44c26f0988e96652c..23e3fd2b910f41ccd9bd708d89ff5386c895109c 100644 GIT binary patch delta 3987 zcmY*c2Qb|0*Is^z-iZ=jHll=O^&TO5@6jb}!m@fvSuIK~BHFTu-bM5!2%?i%tA`-S 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=?UTF-8?q?xlsx=204.=20=E5=9C=A8current=E5=B7=A5=E7=A8=8Bmain=E5=87=BD?= =?UTF-8?q?=E6=95=B0=E5=A2=9E=E5=8A=A0=20VelSet=20100=E8=AF=AD=E5=8F=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 3 ++- aio/assets/configs.xlsx | Bin 226161 -> 226189 bytes aio/assets/target.zip | Bin 26230 -> 26247 bytes aio/code/data_process/current.py | 27 +++++++++++++++++---------- 4 files changed, 19 insertions(+), 11 deletions(-) diff --git a/aio/README.md b/aio/README.md index c367c30..b5e70d6 100644 --- a/aio/README.md +++ b/aio/README.md @@ -478,4 +478,5 @@ v0.1.9.2(2024/07/13) - 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 diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index e591d4c42a4a4389b655ecc44c26f0988e96652c..23e3fd2b910f41ccd9bd708d89ff5386c895109c 100644 GIT binary patch delta 3987 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=?UTF-8?q?=E8=B7=AF=E5=BE=84=EF=BC=8C=E4=BD=BF=E5=90=8E=E7=BB=AD=E6=89=93?= =?UTF-8?q?=E5=8C=85=E7=9A=84=E6=97=B6=E5=80=99=E6=9B=B4=E6=96=B9=E4=BE=BF?= =?UTF-8?q?=202.=20[APIs:=20aio.py]:=20=20=20=20-=20=E4=BF=AE=E6=94=B9hear?= =?UTF-8?q?tbeat=E6=96=87=E4=BB=B6=E8=B7=AF=E5=BE=84=EF=BC=8C=E4=BD=BF?= =?UTF-8?q?=E5=90=8E=E7=BB=AD=E6=89=93=E5=8C=85=E7=9A=84=E6=97=B6=E5=80=99?= =?UTF-8?q?=E6=9B=B4=E6=96=B9=E4=BE=BF=20=20=20=20-=20=E4=BF=AE=E6=94=B9wr?= =?UTF-8?q?ite2textbox=E5=87=BD=E6=95=B0=E7=9A=84=E6=89=93=E5=8D=B0?= =?UTF-8?q?=E9=80=BB=E8=BE=91=EF=BC=8C=E5=85=88=E5=88=A4=E6=96=AD=E7=BD=91?= =?UTF-8?q?=E7=BB=9C=E7=9B=B8=E5=85=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 10 ++++ aio/code/aio.py | 13 ++-- aio/code/automatic_test/__init__.py | 2 +- aio/code/{automatic_test => }/openapi.py | 75 ++++++++---------------- 4 files changed, 43 insertions(+), 57 deletions(-) rename aio/code/{automatic_test => }/openapi.py (84%) diff --git a/aio/README.md b/aio/README.md index b5e70d6..1289907 100644 --- a/aio/README.md +++ b/aio/README.md @@ -480,3 +480,13 @@ v0.1.9.2(2024/07/13) - 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 + diff --git a/aio/code/aio.py b/aio/code/aio.py index 094f2b2..fb6c984 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -9,8 +9,9 @@ from urllib.request import urlopen from socket import setdefaulttimeout from data_process import * from automatic_test import * +import openapi -current_path = dirname(__file__) +heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat' 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 @@ -166,7 +167,7 @@ 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(heartbeat, 'r', encoding='utf-8') as f_h: c_state = f_h.read().strip() if c_state == '0' and value != '功能切换': @@ -181,13 +182,13 @@ 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: + with open(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: + with open(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) @@ -333,7 +334,7 @@ class App(customtkinter.CTk): self.textbox.tag_config(tagName=color, foreground=color) tab_name_cur = self.tabview.get() - if tab_name == tab_name_cur: + if tab_name == 'openapi' and tab_name_cur == 'Automatic Test': if wait != 0: self.textbox.insert(index='end', text=text, tags=color) self.textbox.update() @@ -347,7 +348,7 @@ 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 == tab_name_cur: if wait != 0: self.textbox.insert(index='end', text=text, tags=color) self.textbox.update() diff --git a/aio/code/automatic_test/__init__.py b/aio/code/automatic_test/__init__.py index f60ee0b..5c1ee4d 100644 --- a/aio/code/automatic_test/__init__.py +++ b/aio/code/automatic_test/__init__.py @@ -1 +1 @@ -__all__ = ['openapi', 'btn_functions', 'do_brake', 'do_current'] \ No newline at end of file +__all__ = ['btn_functions', 'do_brake', 'do_current'] \ No newline at end of file diff --git a/aio/code/automatic_test/openapi.py b/aio/code/openapi.py similarity index 84% rename from aio/code/automatic_test/openapi.py rename to aio/code/openapi.py index f688694..042c4b5 100644 --- a/aio/code/automatic_test/openapi.py +++ b/aio/code/openapi.py @@ -11,6 +11,7 @@ from pymodbus.constants import Endian MAX_FRAME_SIZE = 1024 setdefaulttimeout(2) current_path = dirname(__file__) +heartbeat = f'{current_path}/../assets/templates/heartbeat' class ModbusRequest(object): @@ -27,22 +28,19 @@ class ModbusRequest(object): try: self.c.write_register(40002, 1) 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, 1) 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: @@ -54,66 +52,50 @@ class ModbusRequest(object): sleep(0.2) 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 +104,13 @@ 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 +119,14 @@ 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 +135,19 @@ 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): @@ -210,7 +185,7 @@ 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(heartbeat, "r", encoding='utf-8') as f_hb: c_state = f_hb.read().strip() if c_state == '0': try: @@ -224,7 +199,7 @@ class HmiRequest(object): 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(heartbeat, "w", encoding='utf-8') as f_hb: f_hb.write('1') md = ModbusRequest(self.w2t) md.reset_estop() @@ -234,7 +209,7 @@ 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(heartbeat, "w", encoding='utf-8') as f_hb: f_hb.write('0') def header_check(self, index, data): @@ -272,12 +247,12 @@ class HmiRequest(object): 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: + with open(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: + # 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') @@ -590,7 +565,7 @@ 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'{current_path}/../assets/templates/{command}.json', encoding='utf-8', mode='r') as f_json: req = load(f_json) except: From da5ddcea0aa1a14aad468f490bb946210ea8dc1a Mon Sep 17 00:00:00 2001 From: gitea Date: Wed, 17 Jul 2024 10:09:06 +0800 Subject: [PATCH 10/36] =?UTF-8?q?v0.1.9.4(2024/07/15)=201.=20[profile:=20a?= =?UTF-8?q?io.py]=EF=BC=9A=E5=AE=8C=E5=96=84durable=20text=E7=9B=B8?= =?UTF-8?q?=E5=85=B3=E9=80=BB=E8=BE=91=202.=20[profile:=20do=5Fbrake/do=5F?= =?UTF-8?q?current/btn=5Ffunctions.py]=EF=BC=9A=E5=88=A0=E9=99=A4validate?= =?UTF-8?q?=5Fresp=E5=87=BD=E6=95=B0=EF=BC=8C=E4=BF=AE=E6=94=B9execution?= =?UTF-8?q?=E5=87=BD=E6=95=B0=203.=20[profile:=20factory=5Ftest.py]=20=20?= =?UTF-8?q?=20=20-=20=E6=96=B0=E5=A2=9E=E8=80=90=E4=B9=85/=E8=80=81?= =?UTF-8?q?=E5=8C=96=E6=B5=8B=E8=AF=95=E7=A8=8B=E5=BA=8F=20=20=20=20-=20?= =?UTF-8?q?=E5=AE=9E=E7=8E=B0=E5=85=AD=E8=BD=B4=E6=8A=98=E7=BA=BF=E5=9B=BE?= =?UTF-8?q?=E6=98=BE=E7=A4=BA=204.=20[profile:=20openapi.py]=EF=BC=9A?= =?UTF-8?q?=E5=A4=9A=E6=AC=A1=E5=90=88=E5=B9=B6=E9=81=97=E7=95=99=E9=97=AE?= =?UTF-8?q?=E9=A2=98=E5=A4=84=E7=90=86=205.=20templates=E6=96=87=E4=BB=B6?= =?UTF-8?q?=E5=A4=B9=E7=BB=84=E7=BB=87=E6=9E=B6=E6=9E=84=E8=B0=83=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 3 +- aio/README.md | 11 +- aio/assets/layout.xlsx | Bin 1225937 -> 1226005 bytes .../durable/durable_data_current.xlsx | Bin 0 -> 6796 bytes .../durable/durable_data_velocity.xlsx | Bin 0 -> 6796 bytes aio/assets/templates/heartbeat | 2 +- .../{ => json}/controller.heart.json | 0 .../{ => json}/device.get_params.json | 0 .../{ => json}/diagnosis.get_params.json | 0 .../templates/{ => json}/diagnosis.open.json | 0 .../templates/{ => json}/diagnosis.save.json | 0 .../{ => json}/diagnosis.set_params.json | 0 .../{ => json}/overview.get_autoload.json | 0 .../{ => json}/overview.get_cur_prj.json | 0 .../templates/{ => json}/overview.reload.json | 0 .../{ => json}/overview.set_autoload.json | 0 .../{ => json}/register.set_value.json | 0 .../{ => json}/rl_task.pp_to_main.json | 0 .../templates/{ => json}/rl_task.run.json | 0 .../templates/{ => json}/rl_task.stop.json | 0 .../templates/{ => json}/state.get_state.json | 0 .../{ => json}/state.get_tp_mode.json | 0 .../{ => json}/state.set_tp_mode.json | 0 .../{ => json}/state.switch_auto.json | 0 .../{ => json}/state.switch_manual.json | 0 .../{ => json}/state.switch_motor_off.json | 0 .../{ => json}/state.switch_motor_on.json | 0 aio/code/aio.py | 164 +++++++++--- aio/code/automatic_test/btn_functions.py | 15 +- aio/code/automatic_test/do_brake.py | 15 +- aio/code/automatic_test/do_current.py | 15 +- aio/code/durable_action/__init__.py | 1 + aio/code/durable_action/factory_test.py | 252 ++++++++++++++++++ aio/code/openapi.py | 10 +- aio/code/profile/__init__.py | 1 - aio/code/profile/do_profile.py | 0 36 files changed, 402 insertions(+), 87 deletions(-) create mode 100644 aio/assets/templates/durable/durable_data_current.xlsx create mode 100644 aio/assets/templates/durable/durable_data_velocity.xlsx rename aio/assets/templates/{ => json}/controller.heart.json (100%) rename aio/assets/templates/{ => json}/device.get_params.json (100%) rename aio/assets/templates/{ => json}/diagnosis.get_params.json (100%) rename aio/assets/templates/{ => json}/diagnosis.open.json (100%) rename aio/assets/templates/{ => json}/diagnosis.save.json (100%) rename aio/assets/templates/{ => json}/diagnosis.set_params.json (100%) rename aio/assets/templates/{ => json}/overview.get_autoload.json (100%) rename aio/assets/templates/{ => json}/overview.get_cur_prj.json (100%) rename aio/assets/templates/{ => json}/overview.reload.json (100%) rename aio/assets/templates/{ => json}/overview.set_autoload.json (100%) rename aio/assets/templates/{ => json}/register.set_value.json (100%) rename aio/assets/templates/{ => json}/rl_task.pp_to_main.json (100%) rename aio/assets/templates/{ => json}/rl_task.run.json (100%) rename aio/assets/templates/{ => json}/rl_task.stop.json (100%) rename aio/assets/templates/{ => json}/state.get_state.json (100%) rename aio/assets/templates/{ => json}/state.get_tp_mode.json (100%) rename aio/assets/templates/{ => json}/state.set_tp_mode.json (100%) rename aio/assets/templates/{ => json}/state.switch_auto.json (100%) rename aio/assets/templates/{ => json}/state.switch_manual.json (100%) rename aio/assets/templates/{ => json}/state.switch_motor_off.json (100%) rename aio/assets/templates/{ => json}/state.switch_motor_on.json (100%) create mode 100644 aio/code/durable_action/__init__.py create mode 100644 aio/code/durable_action/factory_test.py delete mode 100644 aio/code/profile/__init__.py delete mode 100644 aio/code/profile/do_profile.py diff --git a/.gitignore b/.gitignore index 7eb83ee..bea7ae6 100644 --- a/.gitignore +++ b/.gitignore @@ -7,4 +7,5 @@ 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__/ \ No newline at end of file diff --git a/aio/README.md b/aio/README.md index 1289907..294c7a2 100644 --- a/aio/README.md +++ b/aio/README.md @@ -486,7 +486,16 @@ v0.1.9.3(2024/07/15) - 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]: +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. 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zKh$pE9+Rmrp;|lN-*`00q+kgUDQtjq2!AY6eMv_LS4#(1V+~IyOBci6Dk_N{`>mp0 zja~uQool~#(l_534LAT{A9zg!3X=L2fPZ>1@OwNCP42ev*j4MV-{-b zAfC=}RUUhVm1aZO1d!&_=Em9umi&nneS>pCgxT`7qS%US$7dW|@f|0Fvshg9*4n7BX#* zhOmx;pM0yubl!2iE<08`ChAAcCb|92nZG5WEO{|5^I_`{X|C;D$! z|1tcr+x-uG0CxNT;(b33@YwD6J3ws!8q5QM1^BPt$KxoEmlJ--<^6T-j1|4-FFj`O&b{)uw{ ci}PO!OH~00wmAU+pu)Z)unx}m+hPLz55<*8-T(jq literal 0 HcmV?d00001 diff --git a/aio/assets/templates/heartbeat b/aio/assets/templates/heartbeat index c227083..56a6051 100644 --- a/aio/assets/templates/heartbeat +++ b/aio/assets/templates/heartbeat @@ -1 +1 @@ -0 \ No newline at end of file +1 \ No newline at end of file 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 100% rename from aio/assets/templates/diagnosis.open.json rename to aio/assets/templates/json/diagnosis.open.json 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 diff --git a/aio/assets/templates/state.switch_motor_on.json b/aio/assets/templates/json/state.switch_motor_on.json similarity index 100% rename from aio/assets/templates/state.switch_motor_on.json rename to aio/assets/templates/json/state.switch_motor_on.json diff --git a/aio/code/aio.py b/aio/code/aio.py index c61d407..89c9406 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -7,17 +7,43 @@ import customtkinter from time import time, strftime, localtime, sleep from urllib.request import urlopen from socket import setdefaulttimeout +from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg from data_process import * from automatic_test import * +from durable_action import * import openapi +import matplotlib.pyplot as plt +import matplotlib +import pandas as pd +matplotlib.use('Agg') heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat' +durable_data_current_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current.xlsx' +durable_data_velocity_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_velocity.xlsx' 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 +durable_data_current = { + 'time': list(range(1, 26)), + 'axis1': [0 for _ in range(25)], + 'axis2': [0 for _ in range(25)], + 'axis3': [0 for _ in range(25)], + 'axis4': [0 for _ in range(25)], + 'axis5': [0 for _ in range(25)], + 'axis6': [0 for _ in range(25)], +} +durable_data_velocity = { + 'time': list(range(1, 26)), + 'axis1': [0 for _ in range(25)], + 'axis2': [0 for _ in range(25)], + 'axis3': [0 for _ in range(25)], + 'axis4': [0 for _ in range(25)], + 'axis5': [0 for _ in range(25)], + 'axis6': [0 for _ in range(25)], +} btns_func = { 'start': {'btn': '', 'row': 1, 'text': '开始运行'}, 'check': {'btn': '', 'row': 2, 'text': '检查参数'}, @@ -36,11 +62,9 @@ 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_pr = { +widgits_da = { 'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'}, - 'loadsel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 1, 'text': '负载选择'}, - 'actionsel': {'label': '', 'optionmenu': '', 'row': 3, 'col': 1, 'text': '动作选择'}, - 'inertiasel': {'label': '', 'optionmenu': '', 'row': 4, 'col': 1, 'text': '惯量选择'}, + 'loadsel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '负载选择'}, } @@ -51,6 +75,9 @@ class App(customtkinter.CTk): self.w_param = 84 self.hr = None self.md = None + self.canvas = None + self.flg = 0 + self.df_copy = None # ===================================================================== # configure window self.title("AIO - All in one automatic toolbox") @@ -86,7 +113,7 @@ 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("Profile 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) @@ -122,7 +149,7 @@ 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 @@ -134,7 +161,7 @@ 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') @@ -144,33 +171,23 @@ 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 profile tab START ===================================================================== - for widgit in widgits_pr: - if widgit == 'path': - widgits_pr[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Profile Test'), text=f'{widgit.upper()}', font=self.my_font) - widgits_pr[widgit]['label'].grid(row=widgits_pr[widgit]['row'], column=widgits_pr[widgit]['col'], sticky='e', pady=5) - widgits_pr[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Profile Test'), width=670, placeholder_text=widgits_pr[widgit]['text'], font=self.my_font) - widgits_pr[widgit]['entry'].grid(row=widgits_pr[widgit]['row'], column=widgits_pr[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we') - # widgits_pr[widgit]['entry'].configure(state='disabled') - elif widgit in ['loadsel', 'actionsel', 'inertiasel']: - match widgit: - case 'loadsel': - values = ["tool100", "inertia"] - case 'actionsel': - values = ["signle", "box", "cart"] - case 'inertiasel': - values = ["high", "middle", "low"] - - widgits_pr[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Profile Test'), button_color='#708090', fg_color='#778899', values=values, width=self.w_param, font=self.my_font) - widgits_pr[widgit]['optionmenu'].grid(row=widgits_pr[widgit]['row'], column=widgits_pr[widgit]['col'], padx=5, pady=5, sticky='we') - widgits_pr[widgit]['optionmenu'].set(widgits_pr[widgit]['text']) - # widgits_pr[widgit]['optionmenu'].configure(state='disabled') + # For durable_action tab START ===================================================================== # create progress bar - self.progressbar_pr = customtkinter.CTkProgressBar(self.tabview.tab('Profile Test')) - self.progressbar_pr.grid(row=5, column=1, padx=5, pady=5, sticky="ew") - self.progressbar_pr.configure(mode="determinnate", width=10) - self.progressbar_pr.start() - # For profile tab END ===================================================================== + 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 ['loadsel']: + widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), button_color='#708090', fg_color='#778899', values=["tool100", "inertia"], 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') @@ -188,6 +205,35 @@ 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) + self.canvas.draw() + self.canvas.get_tk_widget().configure(height=640) + self.canvas.get_tk_widget().grid(row=3, column=1, rowspan=3, columnspan=13, padx=20, pady=10, sticky="nsew") + + def create_plot(self): + plt.rcParams['font.sans-serif'] = ['SimHei'] + plt.rcParams['axes.unicode_minus'] = False + plt.rcParams['figure.dpi'] = 100 + plt.rcParams['font.size'] = 14 + plt.rcParams['lines.marker'] = 'o' + + df = pd.read_excel(durable_data_current_xlsx) + if not df.equals(self.df_copy) or self.flg == 0: + self.flg = 1 + self.df_copy = df.copy() + figure = plt.figure(frameon=True, facecolor='#E9E9E9') + plt.subplots_adjust(left=0.04, right=0.98, bottom=0.05, top=0.98) + ax = figure.add_subplot(1, 1, 1) + 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) + + 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) @@ -216,17 +262,23 @@ class App(customtkinter.CTk): # self.tabview.configure(state='normal') def detect_network(self): + df = pd.DataFrame(durable_data_current) + df.to_excel(durable_data_current_xlsx, index=False) + with open(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: + if self.tabview.get() == 'Durable Action': + self.create_plot() + with open(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_pr.configure(progress_color=pb_color) + self.progressbar_da.configure(progress_color=pb_color) if c_state == '0': self.hr.t_bool = False sleep(3) @@ -239,10 +291,22 @@ class App(customtkinter.CTk): tab_name = self.tabview.get() if tab_name == 'Data Process': + self.flg = 0 self.menu_main_dp.set("Start Here!") + try: + self.canvas.get_tk_widget().grid_forget() + except: + pass elif tab_name == 'Automatic Test': + self.flg = 0 self.menu_main_at.set("Start Here!") self.seg_button.configure(state='normal') + try: + self.canvas.get_tk_widget().grid_forget() + except: + pass + elif tab_name == 'Durable Action': + pass def initialization(self): tab_name = self.tabview.get() @@ -263,7 +327,7 @@ 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') @@ -273,6 +337,15 @@ 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 ['loadsel']: + widgits_da[widgit]['optionmenu'].configure(state='normal') + widgits_da[widgit]['optionmenu'].set(widgits_at[widgit]['text']) def func_main_callback(self, func_name): self.initialization() @@ -369,7 +442,7 @@ class App(customtkinter.CTk): self.textbox.tag_config(tagName=color, foreground=color) tab_name_cur = self.tabview.get() - if tab_name == 'openapi' and tab_name_cur == 'Automatic Test': + if tab_name == tab_name_cur: if wait != 0: self.textbox.insert(index='end', text=text, tags=color) self.textbox.update() @@ -383,7 +456,7 @@ class App(customtkinter.CTk): self.textbox.insert(index='end', text=text + '\n', tags=color) self.textbox.update() self.textbox.see('end') - elif tab_name == tab_name_cur: + 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() @@ -489,12 +562,24 @@ class App(customtkinter.CTk): return 0, 0 else: return 0, 0 + elif tab_name == 'Durable Action': + path = widgits_da['path']['entry'].get().strip() + loadsel = widgits_da['loadsel']['optionmenu'].get() + c1 = exists(path) + c2 = loadsel in ['tool100', 'inertia'] + if c1 and c2: + return 7, path, loadsel + 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: @@ -509,6 +594,9 @@ 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！", ) diff --git a/aio/code/automatic_test/btn_functions.py b/aio/code/automatic_test/btn_functions.py index 884a2b0..2f57992 100644 --- a/aio/code/automatic_test/btn_functions.py +++ b/aio/code/automatic_test/btn_functions.py @@ -2,18 +2,6 @@ from json import loads from sys import argv -def validate_resp(_id, response, w2t): - match _id: - case 'DATA ERR': - w2t(f"数据处理错误，需要确认", 0, 4, 'red', 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) @@ -21,7 +9,8 @@ def execution(cmd, hr, w2t, **kwargs): 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) + if not _response: + w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') return _response diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index b937264..408fd3e 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -101,18 +101,6 @@ def prj_to_xcore(prj_file): 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) @@ -120,7 +108,8 @@ def execution(cmd, hr, w2t, **kwargs): 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) + if not _response: + w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') return _response diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index 245fe0f..1dff222 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -86,18 +86,6 @@ def prj_to_xcore(prj_file): 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) @@ -105,7 +93,8 @@ def execution(cmd, hr, w2t, **kwargs): 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) + if not _response: + w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') return _response diff --git a/aio/code/durable_action/__init__.py b/aio/code/durable_action/__init__.py new file mode 100644 index 0000000..913ac28 --- /dev/null +++ b/aio/code/durable_action/__init__.py @@ -0,0 +1 @@ +__all__ = ['factory_test'] \ No newline at end of file diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py new file mode 100644 index 0000000..f68036f --- /dev/null +++ b/aio/code/durable_action/factory_test.py @@ -0,0 +1,252 @@ +from sys import argv +from os.path import exists, dirname +from os import scandir +from paramiko import SSHClient, AutoAddPolicy +from json import loads +from time import sleep, time +import pandas as pd +from openpyxl import load_workbook +from math import sqrt + +tab_name = 'Durable Action' +durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx' +durable_data_velocity_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_velocity.xlsx' +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}, +] +durable_data_current = { + 'time': list(range(1, 26)), + 'axis1': [0 for _ in range(25)], + 'axis2': [0 for _ in range(25)], + 'axis3': [0 for _ in range(25)], + 'axis4': [0 for _ in range(25)], + 'axis5': [0 for _ in range(25)], + 'axis6': [0 for _ in range(25)], +} +durable_data_velocity = { + 'time': list(range(1, 26)), + 'axis1': [0 for _ in range(25)], + 'axis2': [0 for _ in range(25)], + 'axis3': [0 for _ in range(25)], + 'axis4': [0 for _ in range(25)], + 'axis5': [0 for _ in range(25)], + 'axis6': [0 for _ in range(25)], +} + +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=tab_name) + else: + dirs = [] + files = [] + for item in scandir(path): + if item.is_dir(): + dirs.append(item.path) + elif item.is_file(): + files.append(item.path) + + return dirs, files + + +def check_files(data_dirs, data_files, w2t): + if len(data_dirs) != 0 or len(data_files) != 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 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 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=tab_name) + else: + _response = loads(_msg) + if not _response: + w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name=tab_name) + return _response + + +def run_rl(path, config_file, 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 + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + md.trigger_estop() + md.reset_estop() + md.write_act(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) + + # 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) + + # 3. 开始运行程序 + _response = execution('rl_task.run', hr, w2t, 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 + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + _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}", 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) # 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('diagnosis.set_params', hr, w2t, display_pdo_params=[]) + _response = execution('rl_task.stop', hr, w2t, tasks=['current']) + sleep(1) # 保证所有数据均已返回 + # 7. 保留数据并处理输出 + data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t) + df = pd.DataFrame(data) + df.to_excel(durable_data_current_xlsx, index=False) + + # 8. 继续运行 + _response = execution('rl_task.run', hr, w2t, tasks=['current']) + while True: + # 每3分钟，更新一次数据，打开曲线，获取周期内电流，关闭曲线 + sleep(180) + _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(scenario_time + 10) + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[]) + # 7. 保留数据并处理输出 + data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t) + df = pd.DataFrame(data) + df.to_excel(durable_data_current_xlsx, index=False) + + +def get_durable_data(path, config_file, data, scenario_time, hr, w2t): + _data_list = [] + for _msg in hr.c_msg: + if 'diagnosis.result' in _msg: + _data_list.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() + + # with open('log.txt', 'w', encoding='utf-8') as f_obj: + # for _ in _data_list: + # f_obj.write(f"{_}\n") + + _wb = load_workbook(config_file, read_only=True) + _ws = _wb['Target'] + rcs = [] + for i in range(6): + rcs.append(float(_ws.cell(row=6, column=i + 2).value)) + + _d2d_trq = { + 'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [], + 'device_servo_trq_feedback_3': [], 'device_servo_trq_feedback_4': [], 'device_servo_trq_feedback_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[f'device_servo_trq_feedback_{i}'].extend(item['value']) + + if len(_d2d_trq['device_servo_trq_feedback_0']) / 1000 > scenario_time + 1: + _df = pd.DataFrame(_d2d_trq) + for i in range(6): + _ = sqrt(_df[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}'])) + del data[f"axis{i + 1}"][0] + data[f"axis{i + 1}"].append(_) + break + else: + with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj: + for _ in _d2d_trq['device_servo_trq_feedback_0']: + f_obj.write(f"{_}\n") + w2t("采集的数据时间长度不够，需要确认。", 0, 2, 'red', tab_name) + + return data + + +def main(path, hr, md, w2t): + data_dirs, data_files = traversal_files(path, w2t) + config_file, prj_file = check_files(data_dirs, data_files, w2t) + prj_to_xcore(prj_file) + run_rl(path, config_file, hr, md, w2t) + + +if __name__ == '__main__': + main(*argv[1:]) diff --git a/aio/code/openapi.py b/aio/code/openapi.py index 4cb454c..4ca716b 100644 --- a/aio/code/openapi.py +++ b/aio/code/openapi.py @@ -250,9 +250,8 @@ class HmiRequest(object): with open(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) - self.w2t(f"", 0, 7, 'red', tab_name=self.tab_name) - sleep(1.5) + 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) # 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') @@ -566,7 +565,7 @@ 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'{current_path}/../assets/templates/json/{command}.json', encoding='utf-8', mode='r') as f_json: req = load(f_json) except: @@ -602,8 +601,7 @@ 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"", 0, 0, 'red', tab_name=self.tab_name) + self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name) return req['id'] diff --git a/aio/code/profile/__init__.py b/aio/code/profile/__init__.py deleted file mode 100644 index 7824c48..0000000 --- a/aio/code/profile/__init__.py +++ /dev/null @@ -1 +0,0 @@ -__all__ = ['do_profile'] \ No newline at end of file diff --git a/aio/code/profile/do_profile.py b/aio/code/profile/do_profile.py deleted file mode 100644 index e69de29..0000000 From 3010cb893141a1053659d1fc8b862d1a98401bc9 Mon Sep 17 00:00:00 2001 From: gitea Date: Wed, 17 Jul 2024 14:17:00 +0800 Subject: [PATCH 11/36] =?UTF-8?q?v0.2.0.0(2024/07/17)=201.=20[profile:=20a?= =?UTF-8?q?io.py]=20=20=20=20-=20=E5=A2=9E=E5=8A=A0velocity=E7=9B=B8?= =?UTF-8?q?=E5=85=B3=E9=80=BB=E8=BE=91=20=20=20=20-=20=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=E8=B4=9F=E8=BD=BD=E4=BF=A1=E6=81=AF=E4=B8=BA=E6=9B=B2=E7=BA=BF?= =?UTF-8?q?=E4=BF=A1=E6=81=AF=202.=20[profile:=20factory=5Ftest.py]=20=20?= =?UTF-8?q?=20=20-=20=E5=A2=9E=E5=8A=A0velocity=E7=9B=B8=E5=85=B3=E9=80=BB?= =?UTF-8?q?=E8=BE=91=203.=20[profile:=20current.py]=20=20=20=20-=20?= =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E5=87=8F=E9=80=9F=E6=AF=94=E8=8E=B7=E5=8F=96?= =?UTF-8?q?=E7=9A=84=E8=A7=84=E5=88=99=204.=20[profile:=20openapi.py]=20?= =?UTF-8?q?=20=20=20-=20HmiRequest=E6=A8=A1=E5=9D=97=EF=BC=9A=E6=97=A5?= =?UTF-8?q?=E5=BF=97=E5=8F=96=E6=B6=88=E8=AE=B0=E5=BD=95move.monitor?= =?UTF-8?q?=E7=9B=B8=E5=85=B3=20=20=20=20-=20HmiRequest=E6=A8=A1=E5=9D=97?= =?UTF-8?q?=EF=BC=9A=E5=A2=9E=E5=8A=A0=E4=BA=86durable=5Flock=E5=8F=98?= =?UTF-8?q?=E9=87=8F=EF=BC=8C=E6=8E=A7=E5=88=B6=E6=96=87=E4=BB=B6=E8=AF=BB?= =?UTF-8?q?=E5=86=99=E4=BA=92=E6=96=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 12 ++++ aio/assets/file_version_info.txt | 8 +-- .../durable/durable_data_current.xlsx | Bin 6796 -> 5773 bytes .../durable/durable_data_velocity.xlsx | Bin 6796 -> 5777 bytes aio/assets/vers | 2 +- aio/code/aio.py | 59 +++++++++++------- aio/code/data_process/current.py | 4 +- aio/code/durable_action/factory_test.py | 47 +++++++++++--- aio/code/openapi.py | 8 ++- 9 files changed, 100 insertions(+), 40 deletions(-) diff --git a/aio/README.md b/aio/README.md index 294c7a2..1b75caf 100644 --- a/aio/README.md +++ b/aio/README.md @@ -499,3 +499,15 @@ v0.1.9.4(2024/07/15) 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 + diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index 5f58e11..e1ab27a 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, 0), + prodvers=(0, 2, 0, 0), # 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', '0.2.0.0 (2024-07-17)'), 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', '0.2.0.0 (2024-07-17)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/templates/durable/durable_data_current.xlsx b/aio/assets/templates/durable/durable_data_current.xlsx index f438a2ad364c7fd7e5be6d73da826901e3ad0a49..1d18002d239aa2d0537ea2ee66251bde7f961ed7 100644 GIT binary patch delta 1876 zcmZ8i3pCW}8~z!S22&W5bzPST8H`Iw$JSz+GQ?13#v(MCCD$>m%f=5&YEWB)U4xBk z5)+d9vdmD^g~3vZp{TG(HN?1t|BQ3mzxF-f`M&df=Y8MrdEaxs=gr!eZ3@RbOGA+W z0Kfn)^$NUFiAxodewqB3I3vF6lmY-HMu{pCWL@E&?LfoN`>~e(c;t$c=kZxLN_Wbb zgubJM*6qktCWq)JuG)GPgoie0Rc!Pd%9^}kO+gN&caw|N-<*y-uE7#&{Iq8dp~JK~ zs5OtNHMaYS8;t9TgjDgH59uNct2nyBY^M&RuFs)oh^&1zeP9{|L6Uw^+>xhu!G{AD 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zWSMJ;_drI09tbnuSbVdeuAo7_^!PwQ6(b4DG}M+Z!YCC}YQU|v4SH{sQKP0A>&5s> z+9}{<;sSbbF#X(Sz>3l{W-n)J-Yg}}A=w$o+JV)IE7~ab?2hfzhv9!MKRrJp%Wr(& z9F2Bc_uaoaN@`B<^f58L zKoZ{YtujhY6UYg8ETIC+$MR6X?6*XKH97tdlLS2Y((##Iuo$q9umV0Ke!TTxh+=Tm z??H~`BuGPKjxSh1#F#cggaC->u}Xx9U2Z=K0JsHv`G+Vf9M4DukO>U1lLjtKzZ`^S(`V}Rvg!Xo4p!zN8ojOm0R;k2Oav8ORZeG(*i3!Y scenario_time + 1: _df = pd.DataFrame(_d2d_trq) for i in range(6): _ = sqrt(_df[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}'])) - del data[f"axis{i + 1}"][0] - data[f"axis{i + 1}"].append(_) + del data[0][f"axis{i + 1}"][0] + data[0][f"axis{i + 1}"].append(_) + _df = pd.DataFrame(data[0]) + while True: + if not hr.durable_lock: + hr.durable_lock = 1 + _df.to_excel(durable_data_current_xlsx, index=False) + hr.durable_lock = 0 + break + else: + sleep(1) + + _df = pd.DataFrame(_d2d_vel) + for i in range(6): + _ = sqrt(_df[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}'])) + del data[1][f"axis{i + 1}"][0] + data[1][f"axis{i + 1}"].append(_) + _df = pd.DataFrame(data[1]) + while True: + if not hr.durable_lock: + hr.durable_lock = 1 + _df.to_excel(durable_data_velocity_xlsx, index=False) + hr.durable_lock = 0 + break + else: + sleep(1) break else: with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj: @@ -238,8 +267,6 @@ def get_durable_data(path, config_file, data, scenario_time, hr, w2t): f_obj.write(f"{_}\n") w2t("采集的数据时间长度不够，需要确认。", 0, 2, 'red', tab_name) - return data - def main(path, hr, md, w2t): data_dirs, data_files = traversal_files(path, w2t) diff --git a/aio/code/openapi.py b/aio/code/openapi.py index 4ca716b..9da630e 100644 --- a/aio/code/openapi.py +++ b/aio/code/openapi.py @@ -1,4 +1,4 @@ -from json import load, dumps +from json import load, dumps, loads from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM from threading import Thread import selectors @@ -171,6 +171,7 @@ 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) @@ -257,8 +258,11 @@ class HmiRequest(object): # f.write(str(loads(msg)) + '\n') 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: + if 'move.monitor' in response: + pass + elif len(messages) < 20000: messages.insert(0, response) else: messages.insert(0, response) From 9d252cc36fe77880d17615df3e0ebc9bc4965290 Mon Sep 17 00:00:00 2001 From: gitea Date: Wed, 17 Jul 2024 14:40:25 +0800 Subject: [PATCH 12/36] add projects for different conditions --- .../{target.zip => target_brake_current.zip} | Bin aio/assets/target_durable.zip | Bin 0 -> 19562 bytes .../durable/durable_data_current.xlsx | Bin 5773 -> 5540 bytes .../durable/durable_data_velocity.xlsx | Bin 5777 -> 5540 bytes 4 files 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button_color='#708090', fg_color='#778899', values=["device_servo_trq_feedback", "hw_joint_vel_feedback"], font=self.my_font) + 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", "hw_joint_vel_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 ===================================================================== @@ -207,9 +207,9 @@ class App(customtkinter.CTk): # functions below ↓ ---------------------------------------------------------------------------------------- def create_canvas(self, figure): - self.canvas = FigureCanvasTkAgg(figure, self) + self.canvas = FigureCanvasTkAgg(figure, self.tabview.tab('Durable Action')) self.canvas.draw() - self.canvas.get_tk_widget().configure(height=640) + 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): @@ -309,7 +309,6 @@ class App(customtkinter.CTk): def tabview_click(self): self.initialization() - tab_name = self.tabview.get() if tab_name == 'Data Process': self.flg = 0 @@ -323,10 +322,6 @@ class App(customtkinter.CTk): def initialization(self): tab_name = self.tabview.get() - try: - self.canvas.get_tk_widget().grid_forget() - except: - pass self.textbox.delete(index1='1.0', index2='end') if tab_name == 'Data Process': for widgit in widgits_dp: From dd0873637fd1c48ce210ab58c830b89d7d3c2e40 Mon Sep 17 00:00:00 2001 From: gitea Date: Thu, 18 Jul 2024 11:04:31 +0800 Subject: [PATCH 15/36] minor fix --- aio/README.md | 7 ++ aio/assets/configs.xlsx | Bin 224778 -> 225074 bytes .../durable/durable_data_current.xlsx | Bin 5541 -> 7127 bytes .../durable/durable_data_velocity.xlsx | Bin 5541 -> 7143 bytes aio/code/durable_action/factory_test.py | 61 +++++++++--------- 5 files changed, 38 insertions(+), 30 deletions(-) diff --git a/aio/README.md b/aio/README.md index 1b75caf..1398488 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） --- @@ -154,6 +155,12 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A 基本同第五点 +#### 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 + #### 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： a. 运行 `pip show customtkinter`，获取到库的路径 diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index e59ffbb9cb652c1aa13e9dbb8c630b831bc4d68c..158cdf5ec5b2084be44eac15bed6e88ac7a8d790 100644 GIT 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strftime, localtime import pandas as pd from openpyxl import load_workbook from math import sqrt tab_name = 'Durable Action' +count = 0 durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx' durable_data_velocity_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_velocity.xlsx' display_pdo_params = [ @@ -170,26 +171,32 @@ def run_rl(path, config_file, hr, md, w2t): # 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('diagnosis.set_params', hr, w2t, display_pdo_params=[]) - _response = execution('rl_task.stop', hr, w2t, tasks=['current']) sleep(1) # 保证所有数据均已返回 # 7. 保留数据并处理输出 - get_durable_data(path, config_file, data_all, scenario_time, hr, w2t) + _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, w2t) # 8. 继续运行 - _response = execution('rl_task.run', hr, w2t, tasks=['current']) while True: # 每3分钟，更新一次数据，打开曲线，获取周期内电流，关闭曲线 - sleep(180) + sleep(wait_time) _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(scenario_time + 10) + sleep(scenario_time+5) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[]) + sleep(2) # 7. 保留数据并处理输出 - get_durable_data(path, config_file, data_all, scenario_time, hr, w2t) + get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, w2t) -def get_durable_data(path, config_file, data, scenario_time, hr, w2t): +def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): _data_list = [] for _msg in hr.c_msg: if 'diagnosis.result' in _msg: @@ -207,12 +214,6 @@ def get_durable_data(path, config_file, data, scenario_time, hr, w2t): # for _ in _data_list: # f_obj.write(f"{_}\n") - _wb = load_workbook(config_file, read_only=True) - _ws = _wb['Target'] - rcs = [] - for i in range(6): - rcs.append(float(_ws.cell(row=6, column=i + 2).value)) - _d2d_trq = { 'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [], 'device_servo_trq_feedback_3': [], 'device_servo_trq_feedback_4': [], 'device_servo_trq_feedback_5': [], @@ -231,35 +232,35 @@ def get_durable_data(path, config_file, data, scenario_time, hr, w2t): _d2d_vel[f'hw_joint_vel_feedback_{i}'].extend(item['value']) if len(_d2d_trq['device_servo_trq_feedback_0']) / 1000 > scenario_time + 1: - _df = pd.DataFrame(_d2d_trq) + # ========= for trq ========= + _df_1 = pd.DataFrame(_d2d_trq) for i in range(6): - _ = sqrt(100*_df[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}'])) + _ = sqrt(100*_df_1[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}'])) del data[0][f"axis{i + 1}"][0] data[0][f"axis{i + 1}"].append(_) - _df = pd.DataFrame(data[0]) - while True: - if not hr.durable_lock: - hr.durable_lock = 1 - _df.to_excel(durable_data_current_xlsx, index=False) - hr.durable_lock = 0 - break - else: - sleep(1) - - _df = pd.DataFrame(_d2d_vel) + _df_1 = pd.DataFrame(data[0]) + # ========= for vel ========= + _df_2 = pd.DataFrame(_d2d_vel) for i in range(6): - _ = sqrt(100*_df[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}'])) + _ = sqrt(100*_df_2[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}'])) del data[1][f"axis{i + 1}"][0] data[1][f"axis{i + 1}"].append(_) - _df = pd.DataFrame(data[1]) + _df_2 = pd.DataFrame(data[1]) + while True: if not hr.durable_lock: hr.durable_lock = 1 - _df.to_excel(durable_data_velocity_xlsx, index=False) + _df_1.to_excel(durable_data_current_xlsx, index=False) + _df_2.to_excel(durable_data_velocity_xlsx, index=False) hr.durable_lock = 0 break else: sleep(1) + global count + count += 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] + 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: with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj: From 1cefe4a16b7ae84bcbb89acdb0ed8e309bf5504e Mon Sep 17 00:00:00 2001 From: gitea Date: Thu, 18 Jul 2024 14:59:20 +0800 Subject: [PATCH 16/36] minor modifications --- .../durable/durable_data_current.xlsx | Bin 7127 -> 6104 bytes .../durable/durable_data_current_max.xlsx | Bin 0 -> 5758 bytes 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in range(6): - _ = sqrt(100*_df_1[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}'])) + _ = sqrt(100*_df[i].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[i])) del data[0][f"axis{i + 1}"][0] data[0][f"axis{i + 1}"].append(_) - _df_1 = pd.DataFrame(data[0]) - # ========= for vel ========= - _df_2 = pd.DataFrame(_d2d_vel) - for i in range(6): - _ = sqrt(100*_df_2[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}'])) + _ = rcs[i] * _df[i].abs().max() / 1000 del data[1][f"axis{i + 1}"][0] data[1][f"axis{i + 1}"].append(_) - _df_2 = pd.DataFrame(data[1]) + _df_1 = DataFrame(data[0]) + _df_2 = DataFrame(data[1]) while True: if not hr.durable_lock: hr.durable_lock = 1 _df_1.to_excel(durable_data_current_xlsx, index=False) - _df_2.to_excel(durable_data_velocity_xlsx, index=False) + _df_2.to_excel(durable_data_current_max_xlsx, index=False) hr.durable_lock = 0 break else: From e1866758b717991ae2f63bb320b705e8f785eab1 Mon Sep 17 00:00:00 2001 From: gitea Date: Thu, 18 Jul 2024 16:50:50 +0800 Subject: [PATCH 17/36] change x-axis content --- .../durable/durable_data_current.xlsx | Bin 6104 -> 5623 bytes .../durable/durable_data_current_max.xlsx | Bin 5758 -> 5578 bytes aio/code/durable_action/factory_test.py | 18 +++++++++++++----- 3 files changed, 13 insertions(+), 5 deletions(-) diff --git a/aio/assets/templates/durable/durable_data_current.xlsx b/aio/assets/templates/durable/durable_data_current.xlsx index 0cb184a948742e0cb38ceebcc63d3187925432fb..7a7f763507aa7a181777b344fe44aecace7d5726 100644 GIT binary patch delta 1624 zcmZ8hdpOg39R6)aBWx~HW*u}+#*$0K^tfb^+-8_kE2$7C=4ewc$42B5sZ8RyL@t?I zPZ3%?D?&F$Mwv51LPmAAhSE5k=izkD_n*)6d7t<5em?K_kN2(d!cIkks|-XP001ap zlzd&W4r-Jv@{K-q40XK?O`mCvbE737;U&Y3dM29AP<|{lHVx2Xho9>|19ye7xx%g$%Z%Bb8p%^|c zXL!%zk3AV}-0sea8guMUeoDArf_-ta;RBQo=UnrBw~=H!t%?A>6gq)J6f7KJ7c@6} 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a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index cb6e157..3dc30e6 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -7,6 +7,7 @@ from time import sleep, time, strftime, localtime from pandas import DataFrame from openpyxl import load_workbook from math import sqrt +from numpy import power tab_name = 'Durable Action' count = 0 @@ -215,7 +216,6 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): # f_obj.write(f"{_}\n") _d2d_trq = {0: [], 1: [], 2: [], 3: [], 4: [], 5: []} - _d2d_trq_max = {0: [], 1: [], 2: [], 3: [], 4: [], 5: []} for line in _data_list: for item in line['data']: @@ -225,14 +225,24 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): _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) for i in range(6): - _ = sqrt(100*_df[i].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[i])) + try: + _ = sqrt(_df[i].apply(lambda x: power((rcs[i]*x/1000), 2)).sum()/len(_df[i])) + except: + _df.to_excel(path+"\\err_data.xlsx") + w2t(f"{i}calculate error", 0, 11, 'red', tab_name) del data[0][f"axis{i + 1}"][0] data[0][f"axis{i + 1}"].append(_) + del data[0]['time'][0] + data[0]['time'].append(next_time) _ = rcs[i] * _df[i].abs().max() / 1000 del data[1][f"axis{i + 1}"][0] data[1][f"axis{i + 1}"].append(_) + del data[1]['time'][0] + data[1]['time'].append(this_time.split()[-1]) _df_1 = DataFrame(data[0]) _df_2 = DataFrame(data[1]) @@ -247,13 +257,11 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): sleep(1) global count count += 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] 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: with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj: - for _ in _d2d_trq['device_servo_trq_feedback_0']: + 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, 2, 'red', tab_name) From 370fa051aee15ed1be4b01ba0e3134ab97c0a394 Mon Sep 17 00:00:00 2001 From: gitea Date: Thu, 18 Jul 2024 17:45:40 +0800 Subject: [PATCH 18/36] change axis x to time --- .../durable/durable_data_current.xlsx | Bin 5623 -> 5473 bytes .../durable/durable_data_current_max.xlsx | Bin 5578 -> 5429 bytes aio/code/aio.py | 38 +++++++++------- aio/code/durable_action/factory_test.py | 42 ++++++++++-------- 4 files changed, 46 insertions(+), 34 deletions(-) diff --git a/aio/assets/templates/durable/durable_data_current.xlsx b/aio/assets/templates/durable/durable_data_current.xlsx index 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=?UTF-8?q?=E6=96=B0=E5=A2=9E=E4=BF=9D=E7=95=99?= =?UTF-8?q?=E5=8E=86=E5=8F=B2=E6=95=B0=E6=8D=AE=E5=8A=9F=E8=83=BD=EF=BC=8C?= =?UTF-8?q?=E4=BF=AE=E6=94=B9x=E8=BD=B4=E5=9D=90=E6=A0=87=E5=88=BB?= =?UTF-8?q?=E5=BA=A6=E6=98=BE=E7=A4=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/code/aio.py | 2 +- aio/code/durable_action/factory_test.py | 45 +++++++++++++++++++++---- 2 files changed, 40 insertions(+), 7 deletions(-) diff --git a/aio/code/aio.py b/aio/code/aio.py index 4ffc610..565fa86 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -247,7 +247,7 @@ class App(customtkinter.CTk): _ = df['time'].to_list() _xticks = [str(_i) for _i in _] ax = figure.add_subplot(1, 1, 1) - ax.set_xticks(range(1, len(_xticks)+1)) + ax.set_xticks(range(len(_xticks))) ax.set_xticklabels(_xticks) df.plot(grid=True, x='time', y='axis1', ax=ax) diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index d114912..17b7d3f 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -8,6 +8,7 @@ from pandas import DataFrame from openpyxl import load_workbook from math import sqrt from numpy import power +from csv import writer tab_name = 'Durable Action' count = 0 @@ -46,6 +47,10 @@ durable_data_current_max = { 'axis6': [0 for _ in range(18)], } data_all = [durable_data_current, durable_data_current_max] +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 traversal_files(path, w2t): @@ -174,6 +179,9 @@ def run_rl(path, config_file, hr, md, w2t): _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[]) sleep(1) # 保证所有数据均已返回 # 7. 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) @@ -229,28 +237,53 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): 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: + 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, 0, 'red', tab_name) + try: _ = sqrt(_df[i].apply(lambda x: power((rcs[i]*x/1000), 2)).sum()/len(_df[i])) except: _df.to_excel(path+"\\err_data.xlsx") w2t(f"{i}calculate error", 0, 11, 'red', tab_name) - del data[0][f"axis{i + 1}"][0] - data[0][f"axis{i + 1}"].append(_) - - _ = rcs[i] * _df[i].abs().max() / 1000 - del data[1][f"axis{i + 1}"][0] - data[1][f"axis{i + 1}"].append(_) 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: From 97cb4fe1d4cd73a9641dfc29c1c28eeb43f68dd2 Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 19 Jul 2024 11:13:51 +0800 Subject: [PATCH 20/36] minor modification --- aio/code/durable_action/factory_test.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index 17b7d3f..05b80ab 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -71,13 +71,13 @@ def traversal_files(path, w2t): 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, + 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) + 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 From 73230a7133c763b49d4038ddf6921a4031688027 Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 19 Jul 2024 11:21:27 +0800 Subject: [PATCH 21/36] remove durable folder --- .gitignore | 3 ++- .../templates/durable/durable_data_current.xlsx | Bin 5473 -> 0 bytes .../durable/durable_data_current_max.xlsx | Bin 5429 -> 0 bytes 3 files changed, 2 insertions(+), 1 deletion(-) delete mode 100644 aio/assets/templates/durable/durable_data_current.xlsx delete mode 100644 aio/assets/templates/durable/durable_data_current_max.xlsx diff --git a/.gitignore b/.gitignore index bea7ae6..89a9f58 100644 --- a/.gitignore +++ b/.gitignore @@ -8,4 +8,5 @@ aio/__pycache__/ aio/code/automatic_test/__pycache__/ aio/code/data_process/__pycache__/ aio/assets/templates/c_msg.log -aio/code/durable_action/__pycache__/ \ No newline at end of file +aio/code/durable_action/__pycache__/ +aio/assets/templates/durable/ \ No newline at end of file diff --git a/aio/assets/templates/durable/durable_data_current.xlsx 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z5q#+@p*tf%d~C-uVAH!x3&@k8CR3dLM9LC#n){jFA5Uvrt{U5(dbyqM-uu2-4PCA~ zHw^Oy+d|T%0k1?433>fW=-w(=vp-k|t(kT>oe8&_#IeEh*>+4X-)rRs4H5%+FzsJe zZpR1u&mQ_KJsGi$%_6>5y zTwH5~{z2SU%FtVZlrB_uDk$DK3_FAIxr!F?O+k8uUbP$6=YV=Yq6c26+8C#l7e3X& zCi`4ABQ)S#oR$F+;}4aEd=<6^_0eOL%#o{~S567l4i(wz-TK;l{xWry&xovyU^wCU zq<`)cln@=}#6i-m(rceniMnlvGB`+S+kpSvnRF}bELL4D8Yiy@GboKqd90gE@DTR+ zYH7&D5>~IWHtCEDoU29;+)Q`cE{^JxhxM6?twF8#=2)Ri&j>CJMYYcv^E?jFyURb& z9eZZ7UV|vT3A3-i`c5PA<9oCTB0fnWWROiQ3Mwh!e@k4*fd2gpLPq%i3tqR;w*{wP zSO6dhrTkCyKl0OU_-#?ZQws!^xIZ$w-f(Z2|`Im z)?%a^znhEO(A#zUH`L+IzpD6c;O#p28~6}e7LnilGi7gsZ|C`Ma5++@M1ucE*59^s jJC%OhNkqzr|B+Za>KI534FJGFUed@4{s}n@0RaC84*QIB From 2f782c9693c31446fe0ef3be446ea53179ad05be Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 19 Jul 2024 16:32:31 +0800 Subject: [PATCH 22/36] another try --- aio/README.md | 11 ++++ aio/code/aio.py | 6 ++ aio/code/durable_action/factory_test.py | 86 ++++++++++++------------- 3 files changed, 58 insertions(+), 45 deletions(-) diff --git a/aio/README.md b/aio/README.md index 1398488..42a9985 100644 --- a/aio/README.md +++ b/aio/README.md @@ -161,6 +161,8 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A - 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： a. 运行 `pip show customtkinter`，获取到库的路径 @@ -518,3 +520,12 @@ v0.2.0.0(2024/07/17) - 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 \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 565fa86..37556fb 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -619,6 +619,12 @@ class App(customtkinter.CTk): 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(durable_data_current) + df.to_excel(durable_data_current_xlsx, index=False) + df = DataFrame(durable_data_current_max) + df.to_excel(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/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index 05b80ab..23f77b8 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -11,7 +11,6 @@ from numpy import power from csv import writer tab_name = 'Durable Action' -count = 0 durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx' durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx' display_pdo_params = [ @@ -28,25 +27,6 @@ display_pdo_params = [ {"name": "device_servo_trq_feedback", "channel": 4}, {"name": "device_servo_trq_feedback", "channel": 5}, ] -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)], -} -data_all = [durable_data_current, durable_data_current_max] 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' @@ -71,8 +51,7 @@ def traversal_files(path, w2t): 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) + 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() @@ -124,16 +103,13 @@ def execution(cmd, hr, w2t, **kwargs): return _response -def run_rl(path, config_file, hr, md, w2t): +def run_rl(path, config_file, data_all, count, 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 _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[]) md.trigger_estop() md.reset_estop() md.write_act(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) # 2. reload工程后，pp2main，并且自动模式和上电 prj_path = 'target/_build/target.prj' @@ -163,7 +139,7 @@ def run_rl(path, config_file, hr, md, w2t): while True: scenario_time = md.read_scenario_time() if float(scenario_time) > 1: - w2t(f"场景的周期时间：{scenario_time}", 0, 0, 'green', tab_name) + 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: @@ -172,13 +148,9 @@ def run_rl(path, config_file, hr, md, w2t): 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) # 再运行周期的20%即可 + sleep(scenario_time*0.2) - # 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('diagnosis.set_params', hr, w2t, display_pdo_params=[]) - sleep(1) # 保证所有数据均已返回 - # 7. 保留数据并处理输出 + # 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) @@ -189,23 +161,24 @@ def run_rl(path, config_file, hr, md, w2t): 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, w2t) + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + sleep(1) # 保证所有数据均已返回 + get_durable_data(path, data_all, scenario_time, wait_time, count, rcs, hr, md, w2t) - # 8. 继续运行 + # 7. 继续运行 while True: - # 每3分钟，更新一次数据，打开曲线，获取周期内电流，关闭曲线 + # 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) _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(scenario_time+5) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[]) sleep(2) - # 7. 保留数据并处理输出 - get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, w2t) + # 保留数据并处理输出 + get_durable_data(path, data_all, scenario_time, wait_time, count, rcs, hr, md, w2t) -def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): +def get_durable_data(path, data, scenario_time, wait_time, count, rcs, hr, md, w2t): _data_list = [] for _msg in hr.c_msg: if 'diagnosis.result' in _msg: @@ -219,7 +192,7 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): del hr.c_msg[_index:] hr.c_msg_xs.clear() - # with open('log.txt', 'w', encoding='utf-8') as f_obj: + # with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj: # for _ in _data_list: # f_obj.write(f"{_}\n") @@ -241,12 +214,15 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): 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, 0, 'red', tab_name) + 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) @@ -294,22 +270,42 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t): 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, 2, 'red', tab_name) + 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): + count = 0 + 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)], + } + data_all = [durable_data_current, durable_data_current_max] data_dirs, data_files = traversal_files(path, w2t) config_file, prj_file = check_files(data_dirs, data_files, w2t) prj_to_xcore(prj_file) - run_rl(path, config_file, hr, md, w2t) + run_rl(path, config_file, data_all, count, hr, md, w2t) if __name__ == '__main__': From 8b49d3b6e4acb704f2e9f79d600d9af4f8587435 Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 19 Jul 2024 17:19:19 +0800 Subject: [PATCH 23/36] =?UTF-8?q?=E5=B0=86count=E6=81=A2=E5=A4=8D=E4=B8=BA?= =?UTF-8?q?=E5=85=A8=E5=B1=80=E6=A0=87=E9=87=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/code/durable_action/factory_test.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index 23f77b8..c596ad5 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -11,6 +11,7 @@ from numpy import power from csv import writer tab_name = 'Durable Action' +count = 0 durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx' durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx' display_pdo_params = [ @@ -103,7 +104,7 @@ def execution(cmd, hr, w2t, **kwargs): return _response -def run_rl(path, config_file, data_all, count, hr, md, w2t): +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 _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) md.trigger_estop() @@ -163,7 +164,7 @@ def run_rl(path, config_file, data_all, count, hr, md, w2t): _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) sleep(1) # 保证所有数据均已返回 - get_durable_data(path, data_all, scenario_time, wait_time, count, rcs, hr, md, w2t) + get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t) # 7. 继续运行 while True: @@ -175,10 +176,10 @@ def run_rl(path, config_file, data_all, count, hr, md, w2t): _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) sleep(2) # 保留数据并处理输出 - get_durable_data(path, data_all, scenario_time, wait_time, count, rcs, hr, md, w2t) + get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t) -def get_durable_data(path, data, scenario_time, wait_time, count, rcs, hr, md, w2t): +def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t): _data_list = [] for _msg in hr.c_msg: if 'diagnosis.result' in _msg: @@ -270,6 +271,7 @@ def get_durable_data(path, data, scenario_time, wait_time, count, rcs, hr, md, w 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 @@ -282,7 +284,6 @@ def get_durable_data(path, data, scenario_time, wait_time, count, rcs, hr, md, w def main(path, hr, md, w2t): - count = 0 durable_data_current = { 'time': list(range(1, 19)), 'axis1': [0 for _ in range(18)], @@ -305,7 +306,7 @@ def main(path, hr, md, w2t): data_dirs, data_files = traversal_files(path, w2t) config_file, prj_file = check_files(data_dirs, data_files, w2t) prj_to_xcore(prj_file) - run_rl(path, config_file, data_all, count, hr, md, w2t) + run_rl(path, 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=?UTF-8?q?i.py]=20=20=20=20-=20=C2=BD=C2=ABmodbus=20motor=5Fon/off=C2=B5?= =?UTF-8?q?=C3=84=C2=B5=C3=8F=C2=B7=C2=BD=C2=B7=C2=A8=C2=B8=C3=84=C2=AA?= =?UTF-8?q?=C2=B8=DF=B5=C3=A7=C3=82=C2=B3=E5=B4=A5=C2=B7=C2=A2=207.=20conf?= =?UTF-8?q?igs.xlsx=E9=85=8D=E7=BD=AE=E8=A1=A8=E6=96=B0=E5=A2=9Ewrite=5Fdi?= =?UTF-8?q?agnosis/get=5Finit=5Fspeed=E4=B8=A4=E4=B8=AA=E5=8F=82=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 46 +- aio/assets/configs.xlsx | Bin 225074 -> 225318 bytes aio/assets/file_version_info.txt | 8 +- aio/assets/target_brake_current.zip | Bin 26247 -> 27698 bytes aio/assets/vers | 2 +- aio/assets/workflow/brake.excalidraw | 1063 +++++---- aio/assets/workflow/do_brake.excalidraw | 2584 +++++++++++++++++++++ aio/assets/workflow/do_current.excalidraw | 1666 +++++++++++++ aio/code/automatic_test/do_brake.py | 192 +- aio/code/automatic_test/do_current.py | 4 +- aio/code/data_process/current.py | 2 +- aio/code/openapi.py | 15 +- 12 files changed, 4976 insertions(+), 606 deletions(-) create mode 100644 aio/assets/workflow/do_brake.excalidraw create mode 100644 aio/assets/workflow/do_current.excalidraw diff --git a/aio/README.md b/aio/README.md index 42a9985..3919528 100644 --- a/aio/README.md +++ b/aio/README.md @@ -133,16 +133,18 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A > **需要注意的点** -1. 【重要】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，确保所有程序正常运行之后，导出工程，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 -9. 将autotest.xml导入到寄存器，并新建一个modbus，命名为autotest -10. 针对五轴机型，六轴数据可以填写1-5轴任意一轴的点位信息 +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 @@ -153,7 +155,8 @@ 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 @@ -528,4 +531,23 @@ v0.2.0.1(2024/07/19) - 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 \ No newline at end of file + - 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. 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z0MyUxQd{`C6HoyG24`>v3M0O@fm=EQB@jQ@!1JAf{AB-ahW;h{kFXhj<_wfa0Kf%Y zfC7k2%y3s1AOqRI?^FQbuVVjS?Vms*@ER8&6Z!uwQ~V1&5y8)0fWin zHm*Ph^1q)u1OR~M*^H;8j~a0|ERi{s@C#D%|b0OCFu zL;iyz!_D1*0_6X?c7IvB|FnNbNA)5(5uE@&kh<4X#_u~ H4#58a_5b}Z diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index e1ab27a..56adeda 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, 2, 0, 0), - prodvers=(0, 2, 0, 0), + filevers=(0, 2, 0, 2), + prodvers=(0, 2, 0, 2), # 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', '0.2.0.0 (2024-07-17)'), + StringStruct('FileVersion', '0.2.0.2 (2024-07-26)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.2.0.0 (2024-07-17)')]) + StringStruct('ProductVersion', '0.2.0.2 (2024-07-26)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/target_brake_current.zip b/aio/assets/target_brake_current.zip index 7b11793a1e66ea427b34b81d35f9c1723fddae0c..7f9f06e57e1beb64d286caf013fe239d377acfe3 100644 GIT binary patch delta 16730 zcmeHubyQtTv**Fx-Q8V-OM+W)cXxsYKe+n=f(3W?;O;H~f`udy2p-&%IgsyuH@WlP zdh^!2`EPo$S95lE*Y2*auIlRgb@(Ji{RapXWqBxQYydm}0C2FqO+?{@dd!~lJ!O7N zj~Pe{;u8>@YmXyL7c;^F0JEq701mi;k*T|ly*Znyi;0~Dn}dmsBdddxd8d}cOI=y) 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0, 1, 'red', tab_name) else: dirs = [] files = [] @@ -29,8 +29,8 @@ def traversal_files(path, w2t): 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 +46,8 @@ 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 = [] @@ -65,11 +65,11 @@ 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') + 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 prj_to_xcore(prj_file): @@ -90,9 +90,9 @@ def prj_to_xcore(prj_file): 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') + # _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' + cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -105,11 +105,11 @@ 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') + w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name) else: _response = loads(_msg) if not _response: - w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') + w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name) return _response @@ -119,7 +119,6 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): _d2d_stop = {'device_safety_estop': []} for data in curve_data: dict_results = data['data'] - # dict_results.reverse() for item in dict_results: item['value'].reverse() if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback': @@ -137,9 +136,8 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): 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 display_pdo_params = [ {"name": "hw_joint_vel_feedback", "channel": 0}, {"name": "hw_joint_vel_feedback", "channel": 1}, @@ -157,82 +155,94 @@ 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'] + write_diagnosis = float(ws.cell(row=3, column=10).value) + get_init_speed = float(ws.cell(row=4, column=10).value) if ws.cell(row=1, column=1).value == 'positive': - md.write_pon(True) + md.write_pon(1) elif ws.cell(row=1, column=1).value == 'negative': - md.write_pon(False) + 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', '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) for condition in result_dirs: _reach = condition.split('_')[0].removeprefix('reach') _load = condition.split('_')[1].removeprefix('load') _speed = condition.split('_')[2].removeprefix('speed') - + # if _speed != '100' or _reach != '100': + # continue for axis in range(1, 4): 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}/63] 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) + md.clear_alarm() + md.write_act(0) + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置 _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) - # 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']) - _t_start = time() - while True: - 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: - 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', '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') + 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 + _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']) + _t_start = time() + while True: + if md.read_ready_to_go() == 1: + md.write_act(True) + break else: - sleep(1) - # 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: + 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. 打开诊断曲线，并执行采集，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录 _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() + sleep(get_init_speed) # 获取实际最大速度，可通过configs.xlsx配置 + _response = execution('rl_task.stop', hr, w2t, tasks=['brake']) + sleep(1) + _response = execution('state.switch_motor_off', hr, w2t) + _response = execution('state.switch_manual', hr, w2t) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) # 找出最大速度 for _msg in hr.c_msg: @@ -240,11 +250,16 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): 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) + _ = 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) + print(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) @@ -256,8 +271,17 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): hr.c_msg_xs.clear() break + 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() + md.reset_estop() # 其实没必要 + md.clear_alarm() + _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) @@ -265,31 +289,29 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, 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) + 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) + sleep(1) # 保证速度归零 + md.write_probe(0) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 保证所有数据均已返回 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) + 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) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 保证所有数据均已返回 break else: sleep(1) @@ -308,7 +330,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): break 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): @@ -316,10 +338,10 @@ def main(path, hr, md, loadsel, w2t): data_dirs, data_files = 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) + 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 1dff222..d46e0e0 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -75,9 +75,9 @@ def prj_to_xcore(prj_file): 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') + # _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' + cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() diff --git a/aio/code/data_process/current.py b/aio/code/data_process/current.py index 52c65ea..78771f7 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -189,7 +189,7 @@ def current_cycle(dur, data_files, rcs, rrs, 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 diff --git a/aio/code/openapi.py b/aio/code/openapi.py index 9da630e..fd86742 100644 --- a/aio/code/openapi.py +++ b/aio/code/openapi.py @@ -21,18 +21,27 @@ class ModbusRequest(object): self.tab_name = 'openapi' self.host = '192.168.0.160' 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}\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}\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) @@ -45,11 +54,11 @@ class ModbusRequest(object): 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}\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) From 0d814d384d3c897933d4b1b67ad140a8ccbce499 Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 26 Jul 2024 13:33:19 +0800 Subject: [PATCH 25/36] fix version and will exit if not the latest one --- aio/assets/templates/heartbeat | 2 +- aio/code/aio.py | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/aio/assets/templates/heartbeat b/aio/assets/templates/heartbeat index 56a6051..c227083 100644 --- a/aio/assets/templates/heartbeat +++ b/aio/assets/templates/heartbeat @@ -1 +1 @@ -1 \ No newline at end of file +0 \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 37556fb..0fc6ec9 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -1,3 +1,4 @@ +import sys import tkinter from os.path import exists, dirname from os import getcwd @@ -105,7 +106,7 @@ 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: 0.2.0.0\nDate: 07/17/2024", font=self.my_font, text_color="#4F4F4F") + self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.2\nDate: 07/26/2024", 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') # ===================================================================== @@ -202,6 +203,7 @@ class App(customtkinter.CTk): if cur_vers.strip() != new_vers.strip(): msg = f"""当前版本：{cur_vers}\n更新版本：{new_vers}\n\n请及时前往钉盘更新~~~""" tkinter.messagebox.showwarning(title="版本更新", message=msg) + self.destroy() except: 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 ↓ ---------------------------------------------------------------------------------------- From d2794b2de7e63d15dc8f34e272ed2623ef8f0cce Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 26 Jul 2024 13:38:39 +0800 Subject: [PATCH 26/36] remove sys module --- aio/code/aio.py | 1 - 1 file changed, 1 deletion(-) diff --git a/aio/code/aio.py b/aio/code/aio.py index 0fc6ec9..71d38ea 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -1,4 +1,3 @@ -import sys import tkinter from os.path import exists, dirname from os import getcwd From b01f8dc19cfd9b4c9d567eee4d6efe0d0e70c22f Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 27 Jul 2024 21:31:09 +0800 Subject: [PATCH 27/36] =?UTF-8?q?v0.2.0.3(2024/07/27)=201.=20[APIs:=20do?= =?UTF-8?q?=5Fbrake.py]:=20=E7=B2=BE=E7=AE=80=E7=A8=8B=E5=BA=8F=EF=BC=8C?= =?UTF-8?q?=E8=A7=A3=E5=86=B3=20OOM=20=E9=97=AE=E9=A2=98=202.=20[APIs:=20d?= =?UTF-8?q?o=5Fcurrent.py]:=20=E7=B2=BE=E7=AE=80=E7=A8=8B=E5=BA=8F?= =?UTF-8?q?=EF=BC=8C=E8=A7=A3=E5=86=B3=20OOM=20=E9=97=AE=E9=A2=98=203.=20[?= =?UTF-8?q?APIs:=20factory=5Ftest.py]:=20=E7=B2=BE=E7=AE=80=E7=A8=8B?= =?UTF-8?q?=E5=BA=8F=EF=BC=8C=E8=A7=A3=E5=86=B3=20OOM=20=E9=97=AE=E9=A2=98?= =?UTF-8?q?=204.=20[APIsL=20openapi.py]=20=20=20=20-=20=E5=BF=83=E8=B7=B3?= =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=B8=BA=201=20s=EF=BC=8C=E5=9B=A0=E4=B8=BA?= =?UTF-8?q?=20OOM=20=E9=97=AE=E9=A2=98=E7=9A=84=E8=A7=A3=E5=86=B3=E4=BE=9D?= =?UTF-8?q?=E8=B5=96=E4=BA=8E=E9=95=BF=E4=B9=85=E7=9A=84=E6=89=93=E5=BC=80?= =?UTF-8?q?=E6=9B=B2=E7=BA=BF=E5=BC=80=E5=85=B3=EF=BC=8C=E6=AD=A4=E6=97=B6?= =?UTF-8?q?=E5=AF=B9=E4=BA=8E=20hr.c=5Fmsg=20=E7=9A=84=E5=AE=9A=E6=97=B6?= =?UTF-8?q?=E6=B8=85=E7=90=86=E6=98=AF=E4=B8=AA=E6=8C=91=E6=88=98=EF=BC=8C?= =?UTF-8?q?=E5=B0=86=E5=BF=83=E8=B7=B3=E7=BC=A9=E7=9F=AD=EF=BC=8C=E6=9C=89?= =?UTF-8?q?=E5=88=A9=E4=BA=8E=E6=B8=85=E7=90=86=E6=97=A5=E5=BF=97=E5=90=8E?= =?UTF-8?q?=EF=BC=8C=E9=81=BF=E5=85=8D=E4=B8=A2=E5=A4=B1=E5=BF=83=E8=B7=B3?= =?UTF-8?q?=20=20=20=20-=20=E6=96=B0=E5=A2=9E=20diagnosis.save=20=E5=91=BD?= =?UTF-8?q?=E4=BB=A4=EF=BC=8C=E4=BD=86=E6=98=AF=E6=89=A7=E8=A1=8C=E6=97=B6?= =?UTF-8?q?=EF=BC=8C=E6=9C=89=E9=97=AE=E9=A2=98=EF=BC=8C=E5=BE=85=E8=A7=A3?= =?UTF-8?q?=E5=86=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 10 +- aio/assets/configs.xlsx | Bin 225318 -> 226625 bytes aio/assets/file_version_info.txt | 8 +- aio/assets/target_brake_current.zip | Bin 27698 -> 27713 bytes aio/assets/target_durable.zip | Bin 19562 -> 19875 bytes aio/assets/templates/heartbeat | 2 +- aio/assets/templates/json/diagnosis.open.json | 4 +- aio/code/aio.py | 2 +- aio/code/automatic_test/do_brake.py | 50 ++++----- aio/code/automatic_test/do_current.py | 96 +++++++++--------- aio/code/durable_action/factory_test.py | 30 ++---- aio/code/openapi.py | 12 ++- 12 files changed, 101 insertions(+), 113 deletions(-) diff --git a/aio/README.md b/aio/README.md index 3919528..0bf3d67 100644 --- a/aio/README.md +++ b/aio/README.md @@ -550,4 +550,12 @@ v0.2.0.2(2024/07/26) 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 \ No newline at end of file +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 \ No newline at end of file diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index 8cb640c66f9c4683c6eb9dc28e66e6ddfd5fcc3b..c35dab9d5040a37a0945b415e3a87e9516f78df3 100644 GIT binary patch delta 12703 zcmZ8n1yo$g(gp^1cb5c*;O-8=NpN=!4nZy+2(E*>1$TD{F2OChL(t&*limNkef#d5 z>A9z?s;j!IyQixAD_lqEK17M(L_k29p?wbt0r5Fjhy=h7z6o&0uW?Y*!JuQO3;0S@ z9X{zZ`Zx`19vAb7TF%h!hgU^}2jf5ve`uC|_-=GmBt!1w$!gY(hc_B#l({D^wqeE$ zJ*C$QDS`+>h74!epqcj)FSWmT1!krd3`R;I6;(qkR#Z8cp-KRfcd!#i3S}xqfuaJ% zUd55!P6nX9oSr9q9CXN$2o+V|G$cxKeDfI&+Z>+WKi_07INypG_jYYcBK+%w-goCM ze=QGFg*PzLopBlRM)lKluy5HRwPcpfJz(1ig?Fd;aB+DUMY0?G;~RZ_v!LgHifRzW z2Ivgo+~3pB5!a7Lh>r||clMSy9}al)R~=TZ7o!Xt>VH}U@~wY2ucEi)X{(mSmmlrY z%QvxiL^{hx(PigoLK#1_*IH%yfHqP&AAND&j?y9(MZrxVyU zzNTAfSC!1g}e~R1eTZlt}u16WtLRzo$9Vul_N;j0*sjv5J^&xmgskZ z-dX!9Bkut&Kj|QaYN!e5-^h(!3zrfuVu-6$V@2hBe(U)3%GvF`R&kqT<#44xvp{+l 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z+QxZkF91YF_=O**gnOOv`@vdJ(*`Yhn>{PaEBr@lw!3mMM*x6x^ILiZH-|xn{X4}2 K07GmY0Q?6#pDauO diff --git a/aio/assets/templates/heartbeat b/aio/assets/templates/heartbeat index c227083..56a6051 100644 --- a/aio/assets/templates/heartbeat +++ b/aio/assets/templates/heartbeat @@ -1 +1 @@ -0 \ No newline at end of file +1 \ No newline at end of file diff --git a/aio/assets/templates/json/diagnosis.open.json b/aio/assets/templates/json/diagnosis.open.json index 915ff6a..7fe21c2 100644 --- a/aio/assets/templates/json/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/code/aio.py b/aio/code/aio.py index 71d38ea..e90793b 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -105,7 +105,7 @@ 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: 0.2.0.2\nDate: 07/26/2024", font=self.my_font, text_color="#4F4F4F") + self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.3\nDate: 07/27/2024", 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') # ===================================================================== diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 28469e7..33868d5 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -90,9 +90,8 @@ def prj_to_xcore(prj_file): 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 projects/target/_build/target.prj' + cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -120,13 +119,18 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): for data in curve_data: dict_results = data['data'] 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': _d2d_trq['device_servo_trq_feedback'].extend(item['value']) elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop': _d2d_stop['device_safety_estop'].extend(item['value']) + if len(_d2d_trq['device_servo_trq_feedback']) / 1000 > 10: + break df1 = pandas.DataFrame.from_dict(_d2d_vel) df2 = pandas.DataFrame.from_dict(_d2d_trq) @@ -164,6 +168,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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) + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) for condition in result_dirs: _reach = condition.split('_')[0].removeprefix('reach') _load = condition.split('_')[1].removeprefix('load') @@ -189,9 +195,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): md.reset_estop() md.clear_alarm() md.write_act(0) - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) while count == 1: # 2. 修改未要执行的场景 @@ -236,16 +240,12 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): else: sleep(1) # 4. 打开诊断曲线，并执行采集，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录 - _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(get_init_speed) # 获取实际最大速度，可通过configs.xlsx配置 _response = execution('rl_task.stop', hr, w2t, tasks=['brake']) - sleep(1) - _response = execution('state.switch_motor_off', hr, w2t) - _response = execution('state.switch_manual', hr, w2t) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + # sleep(1) # 找出最大速度 - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: dict_results = loads(_msg)['data'] for item in dict_results: @@ -262,14 +262,10 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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) > 240: + del hr.c_msg[240:] if speed_max < 10: md.clear_alarm() @@ -296,8 +292,6 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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', 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(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() @@ -305,29 +299,25 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): if md.read_brake_done() == 1: sleep(1) # 保证速度归零 md.write_probe(0) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) 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，比如正负方向速度是否一致...", 0, 0, 'red', tab_name) md.write_probe(0) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) 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) > 240: + del hr.c_msg[240:] 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', tab_name) diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index d46e0e0..b47a77d 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -7,6 +7,20 @@ from paramiko import SSHClient, AutoAddPolicy from json import loads import pandas +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 traversal_files(path, w2t): if not exists(path): @@ -75,9 +89,8 @@ def prj_to_xcore(prj_file): 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 projects/target/_build/target.prj' + cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -107,7 +120,10 @@ 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) == 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': @@ -136,7 +152,10 @@ 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': @@ -205,7 +224,10 @@ 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) == 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': @@ -226,7 +248,10 @@ 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': @@ -287,20 +312,19 @@ 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 + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + # _response = execution('diagnosis.save', hr, w2t, 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') - # 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() + # 1. 将act重置为False，并修改未要执行的场景 md.write_act(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) - - # 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') @@ -313,15 +337,14 @@ def run_rl(path, hr, md, loadsel, w2t): 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 + # 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) - # 4. 开始运行程序，单轴运行15s + # 3. 开始运行程序，单轴运行35s _response = execution('rl_task.run', hr, w2t, tasks=['current']) _t_start = time() while True: @@ -334,25 +357,8 @@ def run_rl(path, hr, md, loadsel, w2t): else: sleep(1) - # 5. 打开诊断曲线，并执行采集 + # 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 - _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) scenario_time = 0 if number < 6: sleep(35) @@ -374,24 +380,16 @@ def run_rl(path, hr, md, loadsel, w2t): 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) + # 5.停止程序运行，保留数据并处理输出 _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: + _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) > 240: + del hr.c_msg[240:] gen_result_file(path, loadsel, disc, number, scenario_time) else: if loadsel == 'tool100': diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index c596ad5..094b416 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -81,9 +81,8 @@ def prj_to_xcore(prj_file): 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' + cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -106,7 +105,8 @@ def execution(cmd, hr, w2t, **kwargs): 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 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) md.trigger_estop() md.reset_estop() md.write_act(False) @@ -115,7 +115,6 @@ def run_rl(path, config_file, data_all, hr, md, w2t): # 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) @@ -134,8 +133,7 @@ def run_rl(path, config_file, data_all, hr, md, w2t): 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 - _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(20) # 初始化 scenario time 为 0 _t_start = time() while True: scenario_time = md.read_scenario_time() @@ -162,36 +160,26 @@ def run_rl(path, config_file, data_all, hr, md, w2t): for i in range(6): rcs.append(float(_ws.cell(row=6, column=i + 2).value)) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 保证所有数据均已返回 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) - _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(scenario_time+5) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(2) + 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 = [] - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: _data_list.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) > 240: + del hr.c_msg[240:] # with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj: # for _ in _data_list: diff --git a/aio/code/openapi.py b/aio/code/openapi.py index fd86742..ed70430 100644 --- a/aio/code/openapi.py +++ b/aio/code/openapi.py @@ -261,10 +261,12 @@ class HmiRequest(object): 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(2) - # 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') + t = time() + 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(t) + '-' + str(loads(msg)) + '\n') + sleep(1) + def msg_storage(self, response, flag=0): # response是解码后的字符串 @@ -604,6 +606,8 @@ 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 From af68f19d537fd0a6bc12ff6e0b368d7133868bdc Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 27 Jul 2024 21:32:02 +0800 Subject: [PATCH 28/36] vers info --- aio/assets/vers | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aio/assets/vers b/aio/assets/vers index e78860d..81dc3db 100644 --- a/aio/assets/vers +++ b/aio/assets/vers @@ -1 +1 @@ -0.2.0.2 @ 07/26/2024 \ No newline at end of file +0.2.0.3 @ 07/27/2024 \ No newline at end of file From a7984a613dd9199a4684f9f233b1a4313dee54b2 Mon Sep 17 00:00:00 2001 From: gitea Date: Tue, 30 Jul 2024 12:30:37 +0800 Subject: [PATCH 29/36] =?UTF-8?q?v0.2.0.4(2024/07/30)=201.=20[APIs:=20do?= =?UTF-8?q?=5Fbrake.py]:=20=E4=BF=AE=E5=A4=8D=E5=88=B6=E5=8A=A8=E6=95=B0?= =?UTF-8?q?=E6=8D=AE=E5=A4=84=E7=90=86=E8=BF=87=E7=A8=8B=E4=B8=AD=EF=BC=8C?= =?UTF-8?q?=E5=8F=AA=E5=8F=96=E6=9B=B2=E7=BA=BF=E7=9A=84=E6=9C=80=E5=90=8E?= =?UTF-8?q?=20240=20=E4=B8=AA=E6=95=B0=E6=8D=AE=202.=20[APIs:=20aio.py]:?= =?UTF-8?q?=20=E5=88=A4=E5=AE=9A=E7=89=88=E6=9C=AC=E5=A4=84=EF=BC=8C?= =?UTF-8?q?=E5=88=A0=E9=99=A4=20self.destroy()=EF=BC=8C=E5=9B=A0=E4=B8=BA?= =?UTF-8?q?=E8=AF=A5=E8=AF=AD=E5=8F=A5=E4=BC=9A=E5=AF=BC=E8=87=B4=E5=BC=82?= =?UTF-8?q?=E5=B8=B8=E5=8F=91=E7=94=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 6 +++++- aio/code/aio.py | 1 - aio/code/automatic_test/do_brake.py | 4 +--- 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/aio/README.md b/aio/README.md index 0bf3d67..906fcf2 100644 --- a/aio/README.md +++ b/aio/README.md @@ -558,4 +558,8 @@ v0.2.0.3(2024/07/27) 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 \ No newline at end of file + - 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 \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index e90793b..979c7a3 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -202,7 +202,6 @@ class App(customtkinter.CTk): if cur_vers.strip() != new_vers.strip(): msg = f"""当前版本：{cur_vers}\n更新版本：{new_vers}\n\n请及时前往钉盘更新~~~""" tkinter.messagebox.showwarning(title="版本更新", message=msg) - self.destroy() except: 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 ↓ ---------------------------------------------------------------------------------------- diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 33868d5..223b6e3 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -116,7 +116,7 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): _d2d_vel = {'hw_joint_vel_feedback': []} _d2d_trq = {'device_servo_trq_feedback': []} _d2d_stop = {'device_safety_estop': []} - for data in curve_data: + for data in curve_data[-240:]: dict_results = data['data'] for item in dict_results: try: @@ -129,8 +129,6 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): _d2d_trq['device_servo_trq_feedback'].extend(item['value']) elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop': _d2d_stop['device_safety_estop'].extend(item['value']) - if len(_d2d_trq['device_servo_trq_feedback']) / 1000 > 10: - break df1 = pandas.DataFrame.from_dict(_d2d_vel) df2 = pandas.DataFrame.from_dict(_d2d_trq) From 04bd1238d213e9edfbda8f9b6572d25105fc57b8 Mon Sep 17 00:00:00 2001 From: gitea Date: Wed, 31 Jul 2024 08:05:36 +0800 Subject: [PATCH 30/36] =?UTF-8?q?v0.2.0.5(2024/07/31)=20=E6=AD=A4=E7=89=88?= =?UTF-8?q?=E6=9C=AC=E6=94=B9=E5=8A=A8=E8=BE=83=E5=A4=A7=EF=BC=8C=E5=85=AC?= =?UTF-8?q?=E5=85=B1=E9=83=A8=E5=88=86=E5=81=9A=E4=BA=86=E8=A7=84=E6=95=B4?= =?UTF-8?q?=EF=BC=8C=E6=94=BE=E7=BD=AE=E5=88=B0=E6=96=B0=E5=BB=BA=E6=96=87?= =?UTF-8?q?=E4=BB=B6=E5=A4=B9=20commons=20=E5=BD=93=E4=B8=AD=EF=BC=8C?= =?UTF-8?q?=E5=B9=B6=E6=89=80=E6=9C=89=E8=87=AA=E5=AE=9A=E4=B9=89=E6=A8=A1?= =?UTF-8?q?=E5=9D=97=E5=BC=95=E5=85=A5=20logging=20=E6=A8=A1=E5=9D=97?= =?UTF-8?q?=EF=BC=8C=E8=AE=B0=E5=BD=95=E9=87=8D=E8=A6=81=E4=BF=A1=E6=81=AF?= =?UTF-8?q?=201.=20[t=5Fchange=5Fui:=20clibs.py]=20=20=20=20-=20=E8=B0=83?= =?UTF-8?q?=E6=95=B4=E4=BB=A3=E7=A0=81=E7=BB=84=E7=BB=87=E7=BB=93=E6=9E=84?= =?UTF-8?q?=EF=BC=8C=E6=96=B0=E5=A2=9E=E6=A8=A1=E5=9D=97=EF=BC=8C=E5=B0=86?= =?UTF-8?q?=E5=85=AC=E5=85=B1=E5=87=BD=E6=95=B0=E4=BB=A5=E5=8F=8A=E7=B1=BB?= =?UTF-8?q?=E5=90=88=E5=B9=B6=E5=85=A5=E6=AD=A4=20=20=20=20-=20=E5=B0=86?= =?UTF-8?q?=E4=B8=80=E4=BA=9B=E5=B8=B8=E9=87=8F=E6=94=BE=E5=85=A5=E8=AF=A5?= =?UTF-8?q?=E6=A8=A1=E5=9D=97=20=20=20=20-=20=E5=BC=95=E5=85=A5logging/con?= =?UTF-8?q?current=5Flog=5Fhandler=E6=A8=A1=E5=9D=97=EF=BC=8C=E5=B9=B6?= =?UTF-8?q?=E4=BD=9C=E5=88=9D=E5=A7=8B=E5=8C=96=E6=93=8D=E4=BD=9C=EF=BC=8C?= =?UTF-8?q?=E4=BE=9B=E5=85=B6=E4=BB=96=E6=A8=A1=E5=9D=97=E4=BD=BF=E7=94=A8?= =?UTF-8?q?=EF=BC=8C=E6=8C=8950M=E5=88=87=E5=89=B2=EF=BC=8C=E6=9C=80?= =?UTF-8?q?=E5=A4=9A=E4=BF=9D=E7=95=9910=E4=BB=BD=20=20=20=20-=20prj=5Fto?= =?UTF-8?q?=5Fxcore=E5=87=BD=E6=95=B0=E8=AE=BE=E7=BD=AE=E5=B7=A5=E7=A8=8B?= =?UTF-8?q?=E5=90=8D=E9=83=A8=E5=88=86=E9=87=8D=E5=86=99=EF=BC=8C=E4=BF=AE?= =?UTF-8?q?=E5=A4=8D=E4=BA=86=E5=A4=9A=E4=B8=AAprj=E5=B7=A5=E7=A8=8B?= =?UTF-8?q?=E5=8F=AF=E8=83=BD=E4=B8=8D=E8=83=BD=E6=89=A7=E8=A1=8C=E7=9A=84?= =?UTF-8?q?=E9=97=AE=E9=A2=98=202.=20[t=5Fchange=5Fui:=20openapi.py]=20=20?= =?UTF-8?q?=20=20-=20=E5=AE=8C=E5=85=A8=E9=87=8D=E5=86=99=E4=BA=86=20get?= =?UTF-8?q?=5Ffrom=5Fid=20=E5=87=BD=E6=95=B0=EF=BC=8C=E4=BD=BF=E6=9B=B4?= =?UTF-8?q?=E7=B2=BE=E5=87=86=20=20=20=20-=20=E5=9C=A8=20msg=5Fstorage=20?= =?UTF-8?q?=E5=87=BD=E6=95=B0=E4=B8=AD=EF=BC=8C=E5=A2=9E=E5=8A=A0=20logger?= =?UTF-8?q?=EF=BC=8C=E4=BF=9D=E7=95=99=E6=89=80=E6=9C=89=E5=93=8D=E5=BA=94?= =?UTF-8?q?=E6=B6=88=E6=81=AF=20=20=20=20-=20=E5=88=A0=E9=99=A4=20heartbea?= =?UTF-8?q?t=20=E5=87=BD=E6=95=B0=E4=B8=AD=E7=9A=84=E6=97=A5=E5=BF=97?= =?UTF-8?q?=E4=BF=9D=E5=AD=98=E5=8A=9F=E8=83=BD=E9=83=A8=E5=88=86=20=20=20?= =?UTF-8?q?=20-=20=E5=BF=83=E8=B7=B3=E5=86=8D=E6=AC=A1=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=E4=B8=BA=202s...=203.=20[t=5Fchange=5Fui:=20aio.py]=20=20=20?= =?UTF-8?q?=20-=20=E5=A2=9E=E5=8A=A0=E4=BA=86=E6=97=A5=E5=BF=97=E5=88=9D?= =?UTF-8?q?=E5=A7=8B=E5=8C=96=E9=83=A8=E5=88=86=20=20=20=20-=20detect=5Fne?= =?UTF-8?q?twork=20=E5=87=BD=E6=95=B0=E4=B8=AD=E4=BF=AE=E6=94=B9=E9=87=8D?= =?UTF-8?q?=E6=96=B0=E5=AE=9E=E4=BE=8B=E5=8C=96HR=E9=97=B4=E9=9A=94?= =?UTF-8?q?=E4=B8=BA=204s=EF=BC=8C=E5=AF=B9=E5=BA=94=E5=BF=83=E8=B7=B3=204?= =?UTF-8?q?.=20[t=5Fchange=5Fui:=20do=5Fbrake.py]=20=20=20=20-=20=E4=BD=BF?= =?UTF-8?q?=E7=94=A8=E4=B8=80=E7=9B=B4=E6=89=93=E5=BC=80=E6=9B=B2=E7=BA=BF?= =?UTF-8?q?=E7=9A=84=E6=96=B9=E6=B3=95=E8=A7=84=E9=81=BF=E8=A7=A3=E5=86=B3?= =?UTF-8?q?=E4=BA=86=20OOM=20=E7=9A=84=E9=97=AE=E9=A2=98=EF=BC=8C=E5=90=8C?= =?UTF-8?q?=E6=97=B6=E4=BF=AE=E6=94=B9=E6=95=B0=E6=8D=AE=E5=A4=84=E7=90=86?= =?UTF-8?q?=E6=96=B9=E5=BC=8F=EF=BC=8C=E5=8F=AA=E5=8F=96=E6=9C=80=E5=90=8E?= =?UTF-8?q?=2012s=205.=20[t=5Fchange=5Fui:=20do=5Fcurrent.py]=20=20=20=20-?= =?UTF-8?q?=20=E4=BF=9D=E6=8C=81=E7=94=B5=E6=B5=81=EF=BC=8C=E5=8F=AA?= =?UTF-8?q?=E5=8F=96=E6=9C=80=E5=90=8E=2015s=206.=20[t=5Fchange=5Fui:=20al?= =?UTF-8?q?l=20the=20part]:=20=E5=BC=95=E5=85=A5=20commons=20=E5=8C=85?= =?UTF-8?q?=EF=BC=8C=E5=B9=B6=E5=AE=9A=E5=88=B6=E4=BA=86=20logging=20?= =?UTF-8?q?=E8=BE=93=E5=87=BA=EF=BC=8C=E5=90=8E=E7=BB=AD=E6=8C=81=E7=BB=AD?= =?UTF-8?q?=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 6 +- aio/README.md | 32 +++- aio/assets/file_version_info.txt | 8 +- aio/assets/requirements.txt | 14 +- aio/assets/vers | 2 +- aio/code/__init__.py | 1 - aio/code/aio.py | 102 ++++++------- aio/code/automatic_test/__init__.py | 1 - aio/code/automatic_test/btn_functions.py | 35 ++--- aio/code/automatic_test/do_brake.py | 123 ++++----------- aio/code/automatic_test/do_current.py | 185 ++++++++--------------- aio/code/commons/clibs.py | 131 ++++++++++++++++ aio/code/{ => commons}/openapi.py | 89 ++++++----- aio/code/data_process/__init__.py | 1 - aio/code/data_process/brake.py | 52 ++----- aio/code/data_process/current.py | 52 +------ aio/code/data_process/iso.py | 25 +-- aio/code/data_process/wavelogger.py | 38 ++--- aio/code/durable_action/__init__.py | 1 - aio/code/durable_action/factory_test.py | 112 +++----------- 20 files changed, 424 insertions(+), 586 deletions(-) delete mode 100644 aio/code/__init__.py delete mode 100644 aio/code/automatic_test/__init__.py create mode 100644 aio/code/commons/clibs.py rename aio/code/{ => commons}/openapi.py (92%) delete mode 100644 aio/code/data_process/__init__.py delete mode 100644 aio/code/durable_action/__init__.py diff --git a/.gitignore b/.gitignore index 89a9f58..d0af568 100644 --- a/.gitignore +++ b/.gitignore @@ -7,6 +7,8 @@ aio/venv aio/__pycache__/ aio/code/automatic_test/__pycache__/ aio/code/data_process/__pycache__/ -aio/assets/templates/c_msg.log +aio/assets/templates/c_msg.log* aio/code/durable_action/__pycache__/ -aio/assets/templates/durable/ \ No newline at end of file +aio/assets/templates/durable/ +aio/assets/templates/.__c_msg.lock +aio/code/commons/__pycache__/ \ No newline at end of file diff --git a/aio/README.md b/aio/README.md index 0bf3d67..4d1469d 100644 --- a/aio/README.md +++ b/aio/README.md @@ -31,9 +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 ``` --- @@ -557,5 +558,28 @@ v0.2.0.3(2024/07/27) 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 \ No newline at end of file + - 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 +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 +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 +5. [t_change_ui: do_current.py] + - 保持电流，只取最后 15s +6. [t_change_ui: all the part]: 引入 commons 包，并定制了 logging 输出，后续持续优化 + + diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index a4ff150..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, 2, 0, 3), - prodvers=(0, 2, 0, 3), + 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', '0.2.0.3 (2024-07-27)'), + 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', '0.2.0.3 (2024-07-27)')]) + StringStruct('ProductVersion', '0.2.0.5 (2024-08-02)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] 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/vers b/aio/assets/vers index 81dc3db..4f1ec33 100644 --- a/aio/assets/vers +++ b/aio/assets/vers @@ -1 +1 @@ -0.2.0.3 @ 07/27/2024 \ No newline at end of file +0.2.0.5 @ 08/02/2024 \ No newline at end of file diff --git a/aio/code/__init__.py b/aio/code/__init__.py deleted file mode 100644 index e6e51aa..0000000 --- a/aio/code/__init__.py +++ /dev/null @@ -1 +0,0 @@ -__all__ = ['automatic_test', 'data_process'] \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index e90793b..a535af9 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -1,49 +1,37 @@ import tkinter -from os.path import exists, dirname -from os import getcwd +from os.path import exists +from os import getcwd, remove from threading import Thread import tkinter.messagebox import customtkinter from time import time, strftime, localtime, sleep from urllib.request import urlopen -from socket import setdefaulttimeout from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg -from data_process import * -from automatic_test import * -from durable_action import * -import openapi -import matplotlib.pyplot as plt +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 from matplotlib import use from pandas import DataFrame, read_excel +import logging + +with open(clibs.log_data, 'w') as _: + for i in range(1, 11): + try: + remove(f'{clibs.log_data}.{i}') + except FileNotFoundError: + pass +logger = logging.getLogger(__file__) +logger.info("日志文件初始化完成...") use('Agg') -heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat' -durable_data_current_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current.xlsx' -durable_data_current_max_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current_max.xlsx' 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 -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)], -} btns_func = { 'start': {'btn': '', 'row': 1, 'text': '开始运行'}, 'check': {'btn': '', 'row': 2, 'text': '检查参数'}, @@ -79,6 +67,7 @@ class App(customtkinter.CTk): self.flg = 0 self.df_copy = None self.old_curve = None + self.myThread = None # ===================================================================== # configure window self.title("AIO - All in one automatic toolbox") @@ -202,37 +191,36 @@ class App(customtkinter.CTk): if cur_vers.strip() != new_vers.strip(): msg = f"""当前版本：{cur_vers}\n更新版本：{new_vers}\n\n请及时前往钉盘更新~~~""" tkinter.messagebox.showwarning(title="版本更新", message=msg) - self.destroy() except: 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')) + 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): - plt.rcParams['font.sans-serif'] = ['SimHei'] - plt.rcParams['axes.unicode_minus'] = False - plt.rcParams['figure.dpi'] = 100 - plt.rcParams['font.size'] = 14 - plt.rcParams['lines.marker'] = 'o' + 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(durable_data_current_xlsx) + 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(durable_data_current_max_xlsx) + df = read_excel(clibs.durable_data_current_max_xlsx) else: _title = 'device_servo_trq_feedback' - df = read_excel(durable_data_current_xlsx) + df = read_excel(clibs.durable_data_current_xlsx) self.hr.durable_lock = 0 break else: @@ -242,12 +230,12 @@ class App(customtkinter.CTk): self.flg = 1 self.df_copy = df.copy() self.old_curve = widgits_da['curvesel']['optionmenu'].get() - figure = plt.figure(frameon=True, facecolor='#E9E9E9') - plt.subplots_adjust(left=0.04, right=0.98, bottom=0.1, top=0.95) + _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 = _figure.add_subplot(1, 1, 1) ax.set_xticks(range(len(_xticks))) ax.set_xticklabels(_xticks) @@ -258,7 +246,7 @@ class App(customtkinter.CTk): 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) + self.create_canvas(_figure) def thread_it(self, func, *args): """ 将函数打包进线程 """ @@ -273,7 +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(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': @@ -288,12 +276,12 @@ class App(customtkinter.CTk): # self.tabview.configure(state='normal') def detect_network(self): - df = DataFrame(durable_data_current) - df.to_excel(durable_data_current_xlsx, index=False) - df = DataFrame(durable_data_current_max) - df.to_excel(durable_data_current_max_xlsx, index=False) + 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(heartbeat, "w", encoding='utf-8') as f_hb: + 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) @@ -302,14 +290,14 @@ class App(customtkinter.CTk): if self.tabview.get() == 'Durable Action': self.create_plot() - with open(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() 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) @@ -621,10 +609,10 @@ class App(customtkinter.CTk): def pre_warning(self): if self.tabview.get() == 'Durable Action': - df = DataFrame(durable_data_current) - df.to_excel(durable_data_current_xlsx, index=False) - df = DataFrame(durable_data_current_max) - df.to_excel(durable_data_current_max_xlsx, index=False) + 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 diff --git a/aio/code/automatic_test/__init__.py b/aio/code/automatic_test/__init__.py deleted file mode 100644 index 5c1ee4d..0000000 --- a/aio/code/automatic_test/__init__.py +++ /dev/null @@ -1 +0,0 @@ -__all__ = ['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 2f57992..a5271dc 100644 --- a/aio/code/automatic_test/btn_functions.py +++ b/aio/code/automatic_test/btn_functions.py @@ -1,61 +1,54 @@ from json import loads from sys import argv +from logging import getLogger +from commons import clibs - -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) - if not _response: - w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') - return _response +tab_name = clibs.tab_names['at'] +logger = getLogger(__file__) 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') + w2t(str(loads(msg)), tab_name=tab_name) for msg in hr.c_msg_xs: if 'alarm' in msg.lower(): - w2t(str(loads(msg)), tab_name='Automatic Test') + w2t(str(loads(msg)), tab_name=tab_name) 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 33868d5..6a79748 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -1,30 +1,15 @@ 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 logging import getLogger +from commons import clibs -RADIAN = 57.3 # 180 / 3.1415926 -tab_name = 'Automatic Test' - - -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) - 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 = getLogger(__file__) def check_files(path, loadsel, data_dirs, data_files, w2t): @@ -72,51 +57,11 @@ def check_files(path, loadsel, data_dirs, data_files, w2t): w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name) -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 - - cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' - stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) - stdin.write('luoshi2019' + '\n') - stdin.flush() - print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo - print(stderr.read().decode()) # 顺便也执行以下stderr - ssh.close() - - -def 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) - else: - _response = loads(_msg) - if not _response: - w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name) - return _response - - 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:]: dict_results = data['data'] for item in dict_results: try: @@ -129,13 +74,11 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): _d2d_trq['device_servo_trq_feedback'].extend(item['value']) elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop': _d2d_stop['device_safety_estop'].extend(item['value']) - if len(_d2d_trq['device_servo_trq_feedback']) / 1000 > 10: - break - 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) @@ -168,14 +111,13 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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) - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + 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') - # if _speed != '100' or _reach != '100': - # continue + for axis in range(1, 4): md.write_axis(axis) speed_max = 0 @@ -224,11 +166,11 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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 - _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']) + 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: @@ -241,8 +183,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): sleep(1) # 4. 打开诊断曲线，并执行采集，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录 sleep(get_init_speed) # 获取实际最大速度，可通过configs.xlsx配置 - _response = execution('rl_task.stop', hr, w2t, tasks=['brake']) - # sleep(1) + clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['brake']) # 找出最大速度 _c_msg = hr.c_msg.copy() for _msg in _c_msg: @@ -250,7 +191,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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': - _ = RADIAN * sum(item['value']) / len(item['value']) + _ = 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': @@ -264,8 +205,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): md.write_speed_max(speed_max) hr.c_msg_xs.clear() - if len(hr.c_msg) > 240: - del hr.c_msg[240:] + if len(hr.c_msg) > 270: + del hr.c_msg[270:] if speed_max < 10: md.clear_alarm() @@ -278,11 +219,11 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): md.reset_estop() # 其实没必要 md.clear_alarm() - _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']) + 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(1) @@ -316,8 +257,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): curve_data.insert(0, loads(_msg)) else: hr.c_msg_xs.clear() - if len(hr.c_msg) > 240: - del hr.c_msg[240:] + 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', tab_name) @@ -325,9 +266,9 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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) + 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 diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index b47a77d..ac528ba 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -1,12 +1,14 @@ -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 logging import getLogger +from commons import clibs +logger = getLogger(__file__) +tab_name = clibs.tab_names['at'] display_pdo_params = [ {"name": "hw_joint_vel_feedback", "channel": 0}, {"name": "hw_joint_vel_feedback", "channel": 1}, @@ -22,26 +24,11 @@ display_pdo_params = [ {"name": "device_servo_trq_feedback", "channel": 5}, ] -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 - 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: @@ -53,62 +40,22 @@ 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 - - cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' - stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) - stdin.write('luoshi2019' + '\n') - stdin.flush() - print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo - print(stderr.read().decode()) # 顺便也执行以下stderr - ssh.close() - - -def 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) - if not _response: - w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') - 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): @@ -129,9 +76,9 @@ def data_proc_regular(path, filename, channel, scenario_time): elif item.get('channel', None) == channel 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) + 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)): @@ -181,39 +128,39 @@ 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) + 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) + 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) + 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) + 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) + 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) + 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)): @@ -221,7 +168,7 @@ def data_proc_regular(path, filename, channel, scenario_time): lines = f_obj.readlines() _d2d_vel = {'hw_joint_vel_feedback': []} _d2d_trq = {'device_servo_trq_feedback': []} - for line in lines: + for line in lines[-300:]: data = eval(line.strip())['data'] for item in data: try: @@ -233,9 +180,9 @@ def data_proc_regular(path, filename, channel, scenario_time): 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) + 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) @@ -257,9 +204,9 @@ def data_proc_inertia(path, filename, channel): 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) + 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) @@ -313,21 +260,21 @@ def run_rl(path, hr, md, loadsel, w2t): 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 - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - # _response = execution('diagnosis.save', hr, w2t, save=True) # 这条命令有问题 + 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. 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' @@ -339,13 +286,13 @@ def run_rl(path, hr, md, loadsel, w2t): # 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('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) # 3. 开始运行程序，单轴运行35s - _response = execution('rl_task.run', hr, w2t, tasks=['current']) + clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current']) _t_start = time() while True: if md.read_ready_to_go() == 1: @@ -353,7 +300,7 @@ def run_rl(path, hr, md, loadsel, w2t): 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', 'Automatic Test') + 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) @@ -369,11 +316,11 @@ def run_rl(path, hr, md, loadsel, w2t): 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 @@ -381,27 +328,27 @@ def run_rl(path, hr, md, loadsel, w2t): sleep(float(scenario_time)*0.2) # 再运行周期的20%即可 # 5.停止程序运行，保留数据并处理输出 - _response = execution('rl_task.stop', hr, w2t, tasks=['current']) + 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: hr.c_msg_xs.clear() - if len(hr.c_msg) > 240: - del hr.c_msg[240:] + 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..8876185 --- /dev/null +++ b/aio/code/commons/clibs.py @@ -0,0 +1,131 @@ +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 DEBUG, INFO, WARNING, ERROR, CRITICAL, Formatter, StreamHandler, basicConfig +from concurrent_log_handler import ConcurrentRotatingFileHandler + +ip_addr = '192.168.0.160' +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 = f'{PREFIX}templates/c_msg.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)], +} + +fmt = Formatter('%(asctime)s # %(levelname)s-%(filename)s-%(funcName)s # %(message)s') +# file_handler = logging.FileHandler(log_data) +# file_handler = RotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8') +file_handler = ConcurrentRotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8') +file_handler.setFormatter(fmt) +file_handler.setLevel(INFO) +console_handler = StreamHandler() +console_handler.setFormatter(fmt) +console_handler.setLevel(ERROR) + +# basicConfig(level=WARNING, # for product +basicConfig(level=WARNING, + datefmt='%Y-%m-%dT%H:%M:%S', + # handlers=[file_handler]) # for product + handlers=[file_handler, console_handler]) + + +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') + stdin.flush() + print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo + print(stderr.read().decode()) # 顺便也执行以下stderr + + cmd = 'cd /home/luoshi/bin/controller/; ' + 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') + 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 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/openapi.py b/aio/code/commons/openapi.py similarity index 92% rename from aio/code/openapi.py rename to aio/code/commons/openapi.py index ed70430..95b422e 100644 --- a/aio/code/openapi.py +++ b/aio/code/commons/openapi.py @@ -1,25 +1,22 @@ from json import load, dumps, loads -from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM +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 logging import getLogger +from commons import clibs -MAX_FRAME_SIZE = 1024 -setdefaulttimeout(2) -current_path = dirname(__file__) -heartbeat = f'{current_path}/../assets/templates/heartbeat' - +logger = getLogger(__file__) class ModbusRequest(object): def __init__(self, w2t): 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) @@ -195,21 +192,19 @@ class HmiRequest(object): def sock_conn(self): # while True: - with open(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(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() @@ -219,7 +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(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): @@ -247,33 +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(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) - t = time() - 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(t) + '-' + str(loads(msg)) + '\n') - sleep(1) - + 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 + logger.warning(f"{loads(response)}") if 'move.monitor' in response: pass - elif len(messages) < 20000: + elif len(messages) < 10000: messages.insert(0, response) else: messages.insert(0, response) @@ -317,7 +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: @@ -361,15 +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}") @@ -438,9 +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}") @@ -457,7 +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}") @@ -511,15 +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, 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+'.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') @@ -533,7 +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) @@ -580,7 +577,7 @@ class HmiRequest(object): if flg == 0: # for old protocols req = None try: - with open(f'{current_path}/../assets/templates/json/{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: 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..b2f1333 100644 --- a/aio/code/data_process/brake.py +++ b/aio/code/data_process/brake.py @@ -1,49 +1,14 @@ # 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 logging import getLogger +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 = getLogger(__file__) def check_files(path, raw_data_dirs, result_files, w2t): @@ -83,7 +48,7 @@ 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 +74,7 @@ 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 +194,7 @@ 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 +208,7 @@ 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 +246,7 @@ 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 78771f7..19f5876 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -1,31 +1,14 @@ 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 logging import getLogger +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 = getLogger(__file__) def w2t_local(msg, wait, w2t): @@ -38,27 +21,8 @@ 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 +33,8 @@ 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)): @@ -174,7 +138,7 @@ def current_cycle(dur, data_files, rcs, rrs, 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() @@ -268,7 +232,7 @@ def p_single(wb, single, vel, trq, rpms, rrs, 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()) + # print(df_1.abs().max()) df = concat([df_1, df_2], axis=1) _step = 5 if data_file.endswith('.csv') else 50 diff --git a/aio/code/data_process/iso.py b/aio/code/data_process/iso.py index a6be621..5318d64 100644 --- a/aio/code/data_process/iso.py +++ b/aio/code/data_process/iso.py @@ -1,27 +1,12 @@ # _*_ 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 logging import getLogger +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 = getLogger(__file__) def p_iso(file, p_files, ws, tmpfile): @@ -153,7 +138,7 @@ 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..625b2a5 100644 --- a/aio/code/data_process/wavelogger.py +++ b/aio/code/data_process/wavelogger.py @@ -1,31 +1,11 @@ -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 logging import getLogger +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 = getLogger(__file__) def find_point(bof, step, pos, data_file, flag, df, row, w2t): @@ -95,7 +75,7 @@ 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 +106,7 @@ 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 +129,7 @@ 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 +142,9 @@ 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/__init__.py b/aio/code/durable_action/__init__.py deleted file mode 100644 index 913ac28..0000000 --- a/aio/code/durable_action/__init__.py +++ /dev/null @@ -1 +0,0 @@ -__all__ = ['factory_test'] \ No newline at end of file diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index 094b416..930a1d2 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -1,7 +1,4 @@ from sys import argv -from os.path import exists, dirname -from os import scandir -from paramiko import SSHClient, AutoAddPolicy from json import loads from time import sleep, time, strftime, localtime from pandas import DataFrame @@ -9,11 +6,12 @@ from openpyxl import load_workbook from math import sqrt from numpy import power from csv import writer +from logging import getLogger +from commons import clibs -tab_name = 'Durable Action' +logger = getLogger(__file__) +tab_name = clibs.tab_names['da'] count = 0 -durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx' -durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx' display_pdo_params = [ # {"name": "hw_joint_vel_feedback", "channel": 0}, # {"name": "hw_joint_vel_feedback", "channel": 1}, @@ -34,22 +32,6 @@ title = [ ] -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=tab_name) - else: - dirs = [] - files = [] - for item in scandir(path): - if item.is_dir(): - dirs.append(item.path) - elif item.is_file(): - files.append(item.path) - - return dirs, files - - def check_files(data_dirs, data_files, w2t): if len(data_dirs) != 0 or len(data_files) != 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) @@ -63,50 +45,10 @@ def check_files(data_dirs, data_files, w2t): return data_files -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 - - cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' - stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) - stdin.write('luoshi2019' + '\n') - stdin.flush() - print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo - print(stderr.read().decode()) # 顺便也执行以下stderr - ssh.close() - - -def 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=tab_name) - else: - _response = loads(_msg) - if not _response: - w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name=tab_name) - return _response - - 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 - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + 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) @@ -114,13 +56,13 @@ def run_rl(path, config_file, data_all, hr, md, w2t): # 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('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) # 3. 开始运行程序 - _response = execution('rl_task.run', hr, w2t, tasks=['current']) + clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current']) _t_start = time() while True: if md.read_ready_to_go() == 1: @@ -178,8 +120,8 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t): _data_list.insert(0, loads(_msg)) else: hr.c_msg_xs.clear() - if len(hr.c_msg) > 240: - del hr.c_msg[240:] + 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: @@ -253,8 +195,8 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t): while True: if not hr.durable_lock: hr.durable_lock = 1 - _df_1.to_excel(durable_data_current_xlsx, index=False) - _df_2.to_excel(durable_data_current_max_xlsx, index=False) + _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: @@ -272,28 +214,10 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t): def main(path, hr, md, w2t): - 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)], - } - data_all = [durable_data_current, durable_data_current_max] - data_dirs, data_files = traversal_files(path, 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) - prj_to_xcore(prj_file) + clibs.prj_to_xcore(prj_file) run_rl(path, config_file, data_all, hr, md, w2t) From 924fad09e0e5dc482b43046a321b36ae3d62839f Mon Sep 17 00:00:00 2001 From: gitea Date: Wed, 31 Jul 2024 08:28:39 +0800 Subject: [PATCH 31/36] fix version again... --- aio/code/aio.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aio/code/aio.py b/aio/code/aio.py index a535af9..47c8f3e 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -94,7 +94,7 @@ 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: 0.2.0.3\nDate: 07/27/2024", 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') # ===================================================================== From 25fc43be81ec506792c7ab1496a132c5186b89f3 Mon Sep 17 00:00:00 2001 From: gitea Date: Wed, 31 Jul 2024 11:21:24 +0800 Subject: [PATCH 32/36] =?UTF-8?q?=E4=BC=98=E5=8C=96=20ssh=20=E8=BE=93?= =?UTF-8?q?=E5=85=A5=E5=AF=86=E7=A0=81=E7=9A=84=E9=83=A8=E5=88=86=20create?= =?UTF-8?q?=5Fplot=20=E5=87=BD=E6=95=B0=E4=B8=AD=E5=A2=9E=E5=8A=A0=20close?= =?UTF-8?q?('all')=EF=BC=8C=E8=A7=A3=E5=86=B3=E5=BE=AA=E7=8E=AF=E7=94=BB?= =?UTF-8?q?=E5=9B=BE=E4=B8=8D=E9=94=80=E6=AF=81=E5=8D=A0=E7=94=A8=E5=86=85?= =?UTF-8?q?=E5=AD=98=E7=9A=84=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 5 ++++- aio/code/aio.py | 3 ++- aio/code/automatic_test/do_brake.py | 5 ++--- aio/code/automatic_test/do_current.py | 5 ++--- aio/code/commons/clibs.py | 10 ++++------ 5 files changed, 14 insertions(+), 14 deletions(-) diff --git a/aio/README.md b/aio/README.md index 4d1469d..cc40575 100644 --- a/aio/README.md +++ b/aio/README.md @@ -567,7 +567,7 @@ v0.2.0.5(2024/07/31) - 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 + - 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 @@ -576,10 +576,13 @@ v0.2.0.5(2024/07/31) 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 diff --git a/aio/code/aio.py b/aio/code/aio.py index 47c8f3e..cb69554 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -11,7 +11,7 @@ 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 +from matplotlib.pyplot import rcParams, figure, subplots_adjust, close from matplotlib import use from pandas import DataFrame, read_excel import logging @@ -230,6 +230,7 @@ class App(customtkinter.CTk): 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) diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 6a79748..477ff9a 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -161,9 +161,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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') - 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，最后运行程序 clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related']) diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index ac528ba..e489a13 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -280,9 +280,8 @@ def run_rl(path, hr, md, loadsel, w2t): 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() # 2. reload工程后，pp2main，并且自动模式和上电 prj_path = 'target/_build/target.prj' diff --git a/aio/code/commons/clibs.py b/aio/code/commons/clibs.py index 8876185..2fa9c7f 100644 --- a/aio/code/commons/clibs.py +++ b/aio/code/commons/clibs.py @@ -107,18 +107,16 @@ def prj_to_xcore(prj_file): 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 + 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') - 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() ssh.close() From 60726d9d07b83c3f70262b5af30ac247dcbbb2df Mon Sep 17 00:00:00 2001 From: gitea Date: Thu, 1 Aug 2024 17:11:12 +0800 Subject: [PATCH 33/36] =?UTF-8?q?7.=20[APIs:=20btn=5Ffunctions.py]:=20?= =?UTF-8?q?=E9=87=8D=E5=86=99=E4=BA=86=E5=91=8A=E8=AD=A6=E8=BE=93=E5=87=BA?= =?UTF-8?q?=E5=87=BD=E6=95=B0=EF=BC=8C=E4=BB=8E=E6=97=A5=E5=BF=97=E4=B8=AD?= =?UTF-8?q?=E6=8B=BF=E6=95=B0=E6=8D=AE=208.=20[APIs:=20aio.py]:=20?= =?UTF-8?q?=E5=B0=86=E6=97=A5=E5=BF=97=E6=A1=86=E8=BE=93=E5=87=BA=E7=9A=84?= =?UTF-8?q?=E5=86=85=E5=AE=B9=EF=BC=8C=E4=B9=9F=E4=BF=9D=E5=AD=98=E8=87=B3?= =?UTF-8?q?=E6=97=A5=E5=BF=97=E6=96=87=E4=BB=B6=209.=20[APIs:=20do=5Fbrake?= =?UTF-8?q?.py]=20=20=20=20-=20=E4=BF=AE=E6=94=B9=E8=8E=B7=E5=8F=96?= =?UTF-8?q?=E5=88=9D=E5=A7=8B=E9=80=9F=E5=BA=A6=E7=9A=84=E9=80=BB=E8=BE=91?= =?UTF-8?q?=EF=BC=8C=E5=8F=AA=E8=8E=B7=E5=8F=96configs=E6=96=87=E4=BB=B6?= =?UTF-8?q?=E4=B8=AD=E9=85=8D=E7=BD=AE=E7=9A=84=E6=97=B6=E9=97=B4=E5=86=85?= =?UTF-8?q?=E7=9A=84=E9=80=9F=E5=BA=A6=20=20=20=20-=20=E6=96=B0=E5=A2=9E?= =?UTF-8?q?=20configs=20=E5=8F=82=E6=95=B0=20single=5Fbrake=EF=BC=8C?= =?UTF-8?q?=E5=8F=AF=E9=92=88=E5=AF=B9=E7=89=B9=E5=AE=9A=E6=9D=A1=E4=BB=B6?= =?UTF-8?q?=E5=81=9A=E6=B5=8B=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 6 ++++- aio/assets/configs.xlsx | Bin 226625 -> 226780 bytes aio/code/aio.py | 1 + aio/code/automatic_test/btn_functions.py | 15 +++++++----- aio/code/automatic_test/do_brake.py | 29 +++++++++++++++++++---- aio/code/automatic_test/do_current.py | 4 ++-- 6 files changed, 41 insertions(+), 14 deletions(-) diff --git a/aio/README.md b/aio/README.md index 632dbdd..08af704 100644 --- a/aio/README.md +++ b/aio/README.md @@ -590,4 +590,8 @@ v0.2.0.5(2024/07/31) - 保持电流，只取最后 15s - 优化 ssh 输入密码的部分 6. [t_change_ui: all the part]: 引入 commons 包，并定制了 logging 输出，后续持续优化 - +7. [APIs: btn_functions.py]: 重写了告警输出函数，从日志中拿数据 +8. [APIs: aio.py]: 将日志框输出的内容，也保存至日志文件 +9. 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z!|VPRNN>85Wa?o=)hv@$a{H6_rO8duhX+Aau;quGi`vRYbTcIvX-{y_|*HDFWNRd z#a}jiQr~!#Lzr?D*=p)mT-f>(jJ5o^6_Vo_EINBX7@#zbs!rYHa_`X#vI}WJnC?6t znoTkc{`NY~d2GgUR)H%V$2BToNridVpg^#`BRs;KrrsV*S%tpxHA_V06;fk zSbz={FRb+^sr2L8v-B@SB-HU4CTJ3po9VpJvzPQol*u4%n;y(8;hF*_%|mgtCcH?@ zDaRsX`-4YN3ODi8I1C z99HzUzUURxD2IsQV9Q`?uWfROz3gR50H~L@Uye)H7;k?Tj=-l)BW_>sJT&!NT8+6k zORjdINSwqa7wSS&?v1W{?npkA6O?e+Ir=312~M;9mx`QNV4R zVofRWi^NS|&kyUk+Co87xmr(|y$Y&|3e2AHV2dr1@>WHR);Qm|MS@AM73`;v_d;9? zQ%N>0rMg+81s2=WVL+3v4BAR9P{)a;t=suQ^ITgqo4Ma2o5f|lcHj%XkG!)xIa3t9 zv6(&d0}hup(yJhRTv*H0_|(IjG0}`rw_@S9obwf%S}=7#3aYXD3C_iC$IpT)Eck#431SrGwzv1%l??!^VIsxaf;z*|gz|3$yukp0#5A2+u!R6f9`K#U6z^V}6kgIV get_init_speed*20: # 最开始回零点的时候，二轴速度可以达到最大值，实际摆动时，某一方向可能达不到 + break if 'diagnosis.result' in _msg: + _number += 1 dict_results = loads(_msg)['data'] for item in dict_results: if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback': @@ -195,7 +214,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): speed_max = max(_, speed_max) elif ws.cell(row=1, column=1).value == 'negative': speed_max = min(_, speed_max) - print(f"speed max = {speed_max}") + logger.info(f"speed max = {speed_max}") speed_max = abs(speed_max) speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100 if speed_max < speed_target*0.95 or speed_max > speed_target*1.05: diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index e489a13..9b8ec12 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -64,7 +64,7 @@ def data_proc_regular(path, filename, channel, scenario_time): lines = f_obj.readlines() _d2d_vel = {'hw_joint_vel_feedback': []} _d2d_trq = {'device_servo_trq_feedback': []} - for line in lines: + for line in lines[-500:]: # 保留最后25s的数据 data = eval(line.strip())['data'] for item in data: try: @@ -168,7 +168,7 @@ def data_proc_regular(path, filename, channel, scenario_time): lines = f_obj.readlines() _d2d_vel = {'hw_joint_vel_feedback': []} _d2d_trq = {'device_servo_trq_feedback': []} - for line in lines[-300:]: + for line in lines[-300:]: # 保留最后15s的数据 data = eval(line.strip())['data'] for item in data: try: From 340d48876b65bf05d1d9412d371221aec8114780 Mon Sep 17 00:00:00 2001 From: gitea Date: Thu, 1 Aug 2024 19:15:08 +0800 Subject: [PATCH 34/36] =?UTF-8?q?10.=20[APIs:=20all]:=20=E6=B7=BB=E5=8A=A0?= =?UTF-8?q?=E4=BA=86=20logger.setLevel(INFO)=EF=BC=8C=E5=8F=AA=E6=9C=89?= =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E8=BF=99=E4=B8=AA=EF=BC=8C=E5=8D=95=E4=B8=AA?= =?UTF-8?q?=E6=A8=A1=E5=9D=97=E5=86=85=E6=89=8D=E7=94=9F=E6=95=88?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 3 ++- aio/code/aio.py | 5 +++-- aio/code/automatic_test/btn_functions.py | 3 ++- aio/code/automatic_test/do_brake.py | 5 +++-- aio/code/automatic_test/do_current.py | 4 +++- aio/code/commons/clibs.py | 15 +++++---------- aio/code/commons/openapi.py | 6 ++++-- aio/code/data_process/brake.py | 3 ++- aio/code/data_process/current.py | 3 ++- aio/code/data_process/iso.py | 3 ++- aio/code/data_process/wavelogger.py | 3 ++- aio/code/durable_action/factory_test.py | 4 +++- 12 files changed, 33 insertions(+), 24 deletions(-) diff --git a/aio/README.md b/aio/README.md index 08af704..65d2151 100644 --- a/aio/README.md +++ b/aio/README.md @@ -594,4 +594,5 @@ v0.2.0.5(2024/07/31) 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 \ No newline at end of file + - 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 diff --git a/aio/code/aio.py b/aio/code/aio.py index f41051a..7db0277 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -14,7 +14,7 @@ from commons import openapi, clibs from matplotlib.pyplot import rcParams, figure, subplots_adjust, close from matplotlib import use from pandas import DataFrame, read_excel -import logging +from logging import getLogger, INFO with open(clibs.log_data, 'w') as _: for i in range(1, 11): @@ -22,7 +22,8 @@ with open(clibs.log_data, 'w') as _: remove(f'{clibs.log_data}.{i}') except FileNotFoundError: pass -logger = logging.getLogger(__file__) +logger = getLogger(__file__) +logger.setLevel(INFO) logger.info("日志文件初始化完成...") use('Agg') diff --git a/aio/code/automatic_test/btn_functions.py b/aio/code/automatic_test/btn_functions.py index 42b93f6..48d9378 100644 --- a/aio/code/automatic_test/btn_functions.py +++ b/aio/code/automatic_test/btn_functions.py @@ -1,10 +1,11 @@ from json import loads from sys import argv -from logging import getLogger +from logging import getLogger, INFO from commons import clibs tab_name = clibs.tab_names['at'] logger = getLogger(__file__) +logger.setLevel(INFO) def trigger_estop(md, w2t): diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 844ac92..5436903 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -5,11 +5,12 @@ from paramiko import SSHClient, AutoAddPolicy from json import loads from openpyxl import load_workbook from pandas import DataFrame, concat -from logging import getLogger +from logging import getLogger, INFO from commons import clibs tab_name = clibs.tab_names['at'] logger = getLogger(__file__) +logger.setLevel(INFO) def check_files(path, loadsel, data_dirs, data_files, w2t): @@ -105,7 +106,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): ws = wb['Target'] write_diagnosis = float(ws.cell(row=3, column=10).value) get_init_speed = float(ws.cell(row=4, column=10).value) - single_brake = ws.cell(row=5, column=10).value + single_brake = str(ws.cell(row=5, column=10).value) if ws.cell(row=1, column=1).value == 'positive': md.write_pon(1) diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index 9b8ec12..f26950c 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -4,10 +4,12 @@ from sys import argv from paramiko import SSHClient, AutoAddPolicy from json import loads from pandas import DataFrame, concat -from logging import getLogger +from logging import getLogger, INFO from commons import clibs logger = getLogger(__file__) +logger.setLevel(INFO) + tab_name = clibs.tab_names['at'] display_pdo_params = [ {"name": "hw_joint_vel_feedback", "channel": 0}, diff --git a/aio/code/commons/clibs.py b/aio/code/commons/clibs.py index 2fa9c7f..9aeee42 100644 --- a/aio/code/commons/clibs.py +++ b/aio/code/commons/clibs.py @@ -38,21 +38,16 @@ durable_data_current_max = { 'axis6': [0 for _ in range(18)], } -fmt = Formatter('%(asctime)s # %(levelname)s-%(filename)s-%(funcName)s # %(message)s') -# file_handler = logging.FileHandler(log_data) -# file_handler = RotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8') file_handler = ConcurrentRotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8') -file_handler.setFormatter(fmt) file_handler.setLevel(INFO) console_handler = StreamHandler() -console_handler.setFormatter(fmt) -console_handler.setLevel(ERROR) +console_handler.setLevel(WARNING) -# basicConfig(level=WARNING, # for product -basicConfig(level=WARNING, +basicConfig( # level=INFO, datefmt='%Y-%m-%dT%H:%M:%S', - # handlers=[file_handler]) # for product - handlers=[file_handler, console_handler]) + format='%(asctime)s # %(levelname)s-%(filename)s-%(funcName)s # %(message)s', + handlers=[file_handler, console_handler], + ) class GetThreadResult(Thread): diff --git a/aio/code/commons/openapi.py b/aio/code/commons/openapi.py index 95b422e..5908960 100644 --- a/aio/code/commons/openapi.py +++ b/aio/code/commons/openapi.py @@ -6,10 +6,12 @@ from time import time, sleep from pymodbus.client.tcp import ModbusTcpClient from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder from pymodbus.constants import Endian -from logging import getLogger +from logging import getLogger, INFO from commons import clibs logger = getLogger(__file__) +logger.setLevel(INFO) + class ModbusRequest(object): def __init__(self, w2t): @@ -261,7 +263,7 @@ class HmiRequest(object): 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 - logger.warning(f"{loads(response)}") + logger.info(f"{loads(response)}") if 'move.monitor' in response: pass elif len(messages) < 10000: diff --git a/aio/code/data_process/brake.py b/aio/code/data_process/brake.py index b2f1333..1b1cfaa 100644 --- a/aio/code/data_process/brake.py +++ b/aio/code/data_process/brake.py @@ -5,10 +5,11 @@ from openpyxl import load_workbook from time import time, sleep, strftime, localtime from threading import Thread from pandas import read_csv -from logging import getLogger +from logging import getLogger, INFO from commons import clibs logger = getLogger(__file__) +logger.setLevel(INFO) def check_files(path, raw_data_dirs, result_files, w2t): diff --git a/aio/code/data_process/current.py b/aio/code/data_process/current.py index 19f5876..c4fc7c3 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -5,10 +5,11 @@ from re import match from threading import Thread from time import sleep from csv import reader, writer -from logging import getLogger +from logging import getLogger, INFO from commons import clibs logger = getLogger(__file__) +logger.setLevel(INFO) def w2t_local(msg, wait, w2t): diff --git a/aio/code/data_process/iso.py b/aio/code/data_process/iso.py index 5318d64..91397af 100644 --- a/aio/code/data_process/iso.py +++ b/aio/code/data_process/iso.py @@ -3,10 +3,11 @@ import pdfplumber from openpyxl import load_workbook from os import remove from sys import argv -from logging import getLogger +from logging import getLogger, INFO from commons import clibs logger = getLogger(__file__) +logger.setLevel(INFO) def p_iso(file, p_files, ws, tmpfile): diff --git a/aio/code/data_process/wavelogger.py b/aio/code/data_process/wavelogger.py index 625b2a5..013b527 100644 --- a/aio/code/data_process/wavelogger.py +++ b/aio/code/data_process/wavelogger.py @@ -2,10 +2,11 @@ from pandas import read_csv from csv import reader from sys import argv from openpyxl import Workbook -from logging import getLogger +from logging import getLogger, INFO from commons import clibs logger = getLogger(__file__) +logger.setLevel(INFO) def find_point(bof, step, pos, data_file, flag, df, row, w2t): diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index 930a1d2..7e725fa 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -6,10 +6,12 @@ from openpyxl import load_workbook from math import sqrt from numpy import power from csv import writer -from logging import getLogger +from logging import getLogger, INFO from commons import clibs logger = getLogger(__file__) +logger.setLevel(INFO) + tab_name = clibs.tab_names['da'] count = 0 display_pdo_params = [ From 3814d163c5eb571b5f655e00150beef4460e3940 Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 9 Aug 2024 10:47:22 +0800 Subject: [PATCH 35/36] =?UTF-8?q?v0.2.0.6(2024/08/09)=201.=20[t=5Fchange?= =?UTF-8?q?=5Fui:=20all=20files]=20=20=20=20-=20=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=E4=BA=86=20logger=20=E7=9A=84=E5=AE=9E=E7=8E=B0=20=20=20=20-?= =?UTF-8?q?=20=E5=B0=A4=E5=85=B6=E6=98=AF=20clibs.py=EF=BC=8C=E4=BD=BF?= =?UTF-8?q?=E7=94=A8=E6=97=A5=E5=BF=97=E5=AD=97=E5=85=B8=EF=BC=8C=E9=87=8D?= =?UTF-8?q?=E5=86=99=E4=BA=86=E6=97=A5=E5=BF=97=E8=AE=B0=E5=BD=95=E7=9A=84?= =?UTF-8?q?=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 3 +- aio/README.md | 5 ++ aio/code/aio.py | 8 +- aio/code/automatic_test/btn_functions.py | 7 +- aio/code/automatic_test/do_brake.py | 5 +- aio/code/automatic_test/do_current.py | 5 +- aio/code/commons/clibs.py | 95 ++++++++++++++++++++---- aio/code/commons/openapi.py | 12 ++- aio/code/data_process/brake.py | 5 +- aio/code/data_process/current.py | 4 +- aio/code/data_process/iso.py | 5 +- aio/code/data_process/wavelogger.py | 4 +- aio/code/durable_action/factory_test.py | 5 +- 13 files changed, 106 insertions(+), 57 deletions(-) diff --git a/.gitignore b/.gitignore index d0af568..e3f5f8c 100644 --- a/.gitignore +++ b/.gitignore @@ -11,4 +11,5 @@ 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__/ \ No newline at end of file +aio/code/commons/__pycache__/ +aio/assets/templates/debug.log diff --git a/aio/README.md b/aio/README.md index 65d2151..fecd128 100644 --- a/aio/README.md +++ b/aio/README.md @@ -596,3 +596,8 @@ v0.2.0.5(2024/07/31) - 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/code/aio.py b/aio/code/aio.py index 7db0277..d7d8236 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -14,16 +14,14 @@ from commons import openapi, clibs from matplotlib.pyplot import rcParams, figure, subplots_adjust, close from matplotlib import use from pandas import DataFrame, read_excel -from logging import getLogger, INFO -with open(clibs.log_data, 'w') as _: +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}.{i}') + remove(f'{clibs.log_data_hmi}.{i}') except FileNotFoundError: pass -logger = getLogger(__file__) -logger.setLevel(INFO) +logger = clibs.log_prod logger.info("日志文件初始化完成...") use('Agg') diff --git a/aio/code/automatic_test/btn_functions.py b/aio/code/automatic_test/btn_functions.py index 48d9378..7ac7878 100644 --- a/aio/code/automatic_test/btn_functions.py +++ b/aio/code/automatic_test/btn_functions.py @@ -1,11 +1,8 @@ -from json import loads from sys import argv -from logging import getLogger, INFO from commons import clibs tab_name = clibs.tab_names['at'] -logger = getLogger(__file__) -logger.setLevel(INFO) +logger = clibs.log_prod def trigger_estop(md, w2t): @@ -40,7 +37,7 @@ def get_state(hr, w2t): def warning_info(hr, w2t): for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']: - log_name = clibs.log_data + postfix + log_name = clibs.log_data_hmi + postfix try: with open(log_name, 'r', encoding='utf-8') as f_log: for line in f_log: diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 5436903..76a07e9 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -5,12 +5,10 @@ from paramiko import SSHClient, AutoAddPolicy from json import loads from openpyxl import load_workbook from pandas import DataFrame, concat -from logging import getLogger, INFO from commons import clibs tab_name = clibs.tab_names['at'] -logger = getLogger(__file__) -logger.setLevel(INFO) +logger = clibs.log_prod def check_files(path, loadsel, data_dirs, data_files, w2t): @@ -107,6 +105,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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) diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index f26950c..0d15ab8 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -4,12 +4,9 @@ from sys import argv from paramiko import SSHClient, AutoAddPolicy from json import loads from pandas import DataFrame, concat -from logging import getLogger, INFO from commons import clibs -logger = getLogger(__file__) -logger.setLevel(INFO) - +logger = clibs.log_prod tab_name = clibs.tab_names['at'] display_pdo_params = [ {"name": "hw_joint_vel_feedback", "channel": 0}, diff --git a/aio/code/commons/clibs.py b/aio/code/commons/clibs.py index 9aeee42..32f4d1a 100644 --- a/aio/code/commons/clibs.py +++ b/aio/code/commons/clibs.py @@ -4,10 +4,12 @@ from time import sleep from os.path import exists from paramiko import SSHClient, AutoAddPolicy from socket import setdefaulttimeout -from logging import DEBUG, INFO, WARNING, ERROR, CRITICAL, Formatter, StreamHandler, basicConfig -from concurrent_log_handler import ConcurrentRotatingFileHandler +from logging import getLogger +from logging.config import dictConfig +import concurrent_log_handler -ip_addr = '192.168.0.160' +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 @@ -15,7 +17,8 @@ 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 = f'{PREFIX}templates/c_msg.log' +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' @@ -38,16 +41,80 @@ durable_data_current_max = { 'axis6': [0 for _ in range(18)], } -file_handler = ConcurrentRotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8') -file_handler.setLevel(INFO) -console_handler = StreamHandler() -console_handler.setLevel(WARNING) - -basicConfig( # level=INFO, - datefmt='%Y-%m-%dT%H:%M:%S', - format='%(asctime)s # %(levelname)s-%(filename)s-%(funcName)s # %(message)s', - handlers=[file_handler, console_handler], - ) +# 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): diff --git a/aio/code/commons/openapi.py b/aio/code/commons/openapi.py index 5908960..7e458e0 100644 --- a/aio/code/commons/openapi.py +++ b/aio/code/commons/openapi.py @@ -6,11 +6,9 @@ from time import time, sleep from pymodbus.client.tcp import ModbusTcpClient from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder from pymodbus.constants import Endian -from logging import getLogger, INFO from commons import clibs -logger = getLogger(__file__) -logger.setLevel(INFO) +logger = clibs.log_prod class ModbusRequest(object): @@ -263,7 +261,7 @@ class HmiRequest(object): 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 - logger.info(f"{loads(response)}") + logger.debug(f"{loads(response)}") if 'move.monitor' in response: pass elif len(messages) < 10000: @@ -504,7 +502,7 @@ class HmiRequest(object): def get_from_id(self, msg_id, flag=0): for i in range(3): - with open(clibs.log_data, mode='r', encoding='utf-8') as f_log: + 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 @@ -512,7 +510,7 @@ class HmiRequest(object): 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+'.1', mode='r', encoding='utf-8') as f_log: + 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 @@ -617,7 +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/brake.py b/aio/code/data_process/brake.py index 1b1cfaa..28192b4 100644 --- a/aio/code/data_process/brake.py +++ b/aio/code/data_process/brake.py @@ -1,15 +1,12 @@ -# coding: utf-8 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 logging import getLogger, INFO from commons import clibs -logger = getLogger(__file__) -logger.setLevel(INFO) +logger = clibs.log_prod def check_files(path, raw_data_dirs, result_files, w2t): diff --git a/aio/code/data_process/current.py b/aio/code/data_process/current.py index c4fc7c3..811da22 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -5,11 +5,9 @@ from re import match from threading import Thread from time import sleep from csv import reader, writer -from logging import getLogger, INFO from commons import clibs -logger = getLogger(__file__) -logger.setLevel(INFO) +logger = clibs.log_prod def w2t_local(msg, wait, w2t): diff --git a/aio/code/data_process/iso.py b/aio/code/data_process/iso.py index 91397af..8c13c02 100644 --- a/aio/code/data_process/iso.py +++ b/aio/code/data_process/iso.py @@ -1,13 +1,10 @@ -# _*_ encoding：utf-8 _*_ import pdfplumber from openpyxl import load_workbook from os import remove from sys import argv -from logging import getLogger, INFO from commons import clibs -logger = getLogger(__file__) -logger.setLevel(INFO) +logger = clibs.log_prod def p_iso(file, p_files, ws, tmpfile): diff --git a/aio/code/data_process/wavelogger.py b/aio/code/data_process/wavelogger.py index 013b527..b1e53cf 100644 --- a/aio/code/data_process/wavelogger.py +++ b/aio/code/data_process/wavelogger.py @@ -2,11 +2,9 @@ from pandas import read_csv from csv import reader from sys import argv from openpyxl import Workbook -from logging import getLogger, INFO from commons import clibs -logger = getLogger(__file__) -logger.setLevel(INFO) +logger = clibs.log_prod def find_point(bof, step, pos, data_file, flag, df, row, w2t): diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index 7e725fa..b9c0d71 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -6,12 +6,9 @@ from openpyxl import load_workbook from math import sqrt from numpy import power from csv import writer -from logging import getLogger, INFO from commons import clibs -logger = getLogger(__file__) -logger.setLevel(INFO) - +logger = clibs.log_prod tab_name = clibs.tab_names['da'] count = 0 display_pdo_params = [ From 4925d899b42d53181c211791789191fa1ef5eeac Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 10 Aug 2024 17:23:20 +0800 Subject: [PATCH 36/36] =?UTF-8?q?=E5=8D=83=E5=88=86=E8=A1=A8=E8=87=AA?= =?UTF-8?q?=E5=8A=A8=E9=87=87=E9=9B=86=E7=A8=8B=E5=BA=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1 + dial_gauge/README.md | 2 + dial_gauge/conf.ini | 6 ++ dial_gauge/gauge.py | 99 +++++++++++++++++++++++++++++++ dial_gauge/gauge.xml | 43 ++++++++++++++ dial_gauge/target_dial_gauge.zip | Bin 0 -> 7888 bytes 6 files changed, 151 insertions(+) create mode 100644 dial_gauge/README.md create mode 100644 dial_gauge/conf.ini create mode 100644 dial_gauge/gauge.py create mode 100644 dial_gauge/gauge.xml create mode 100644 dial_gauge/target_dial_gauge.zip diff --git a/.gitignore b/.gitignore index e3f5f8c..9013072 100644 --- a/.gitignore +++ b/.gitignore @@ -13,3 +13,4 @@ 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/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 @@ + + + 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