fix merge while merging from main
This commit is contained in:
commit
8f342832b2
8
.gitignore
vendored
8
.gitignore
vendored
@ -7,4 +7,10 @@ aio/venv
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aio/__pycache__/
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aio/code/automatic_test/__pycache__/
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aio/code/data_process/__pycache__/
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aio/assets/templates/c_msg.log
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aio/assets/templates/c_msg.log*
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aio/code/durable_action/__pycache__/
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aio/assets/templates/durable/
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aio/assets/templates/.__c_msg.lock
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aio/code/commons/__pycache__/
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aio/assets/templates/debug.log
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dial_gauge/results.xlsx
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160
aio/README.md
160
aio/README.md
@ -8,6 +8,7 @@
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4. wavelogger 波形处理，几乎不花费时间
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5. 制动自动化测试
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6. 电机电流自动化测试
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7. 耐久工程曲线指标采集（仅适用于六轴）
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---
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@ -30,9 +31,10 @@
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### 四、打包方法
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打包时，只需要修改 clibs.py 中的 PREFIX 即可，调试时再修改回来
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```
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pyinstaller.exe -F --version-file file_version_info.txt -i .\icon.ico .\aio.py -p .\brake.py -p .\current.py
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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
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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
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```
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---
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@ -132,14 +134,18 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
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> **需要注意的点**
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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
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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
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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
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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
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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
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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
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7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页
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8. 注意观察二轴100%臂展时，是否可以获取到正确的数据
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1. 修改该文件点位信息
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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
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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
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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
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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
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6. 其他无需修改，如有其他需求，可联系fanmingfu@rokae.com沟通
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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
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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
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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
|
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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
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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
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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
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#### 6) 电机电流自动化测试
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@ -150,7 +156,16 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
|
||||
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> **需要注意的点**
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基本同第五点
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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
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#### 7) 耐久工程曲线指标采集
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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：
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- 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
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- target.zip，需要确认工程点位和动作无问题后，保存导出
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> 重新运行时，必须突出软件，重新运行
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#### 其他
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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：
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@ -464,4 +479,125 @@ v0.1.9.1(2024/07/12)
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- socket类种修改tab_name的值为'openapi'
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||||
v0.1.9.2(2024/07/13)
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1. [current: current.py]: 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行
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1. [APIs: do_brake.py]
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- 修改ready_to_go信号的接收逻辑，适配大负载机型
|
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2. [APIs: do_current.py]
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- 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
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- 将act信号置为False的动作放在初始化，增加程序健壮性
|
||||
- 修改所有输出文件的命名，在扩展名之前加入时间戳
|
||||
- 删除多余的时序矫正语句——item['value'].reverse()，使输出的曲线为平滑的自然顺序
|
||||
3. [current: current.py]
|
||||
- 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行
|
||||
- max功能计算逻辑矫正，应该是取绝对值的最大值
|
||||
- 整体梳理了trq/trqh的传递路径，现已修正完毕
|
||||
- 减速比rr数据源修改为configs.xlsx
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||||
4. 在current工程main函数增加 VelSet 100语句
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||||
v0.1.9.3(2024/07/15)
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||||
1. [APIs: openapi.py]
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||||
- 修改modbus连接失败报错输出形式，使之只在automatic test页面显示
|
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- 将该文件移动至toplevel，为后面扩展做准备
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- 修改heartbeat文件路径，使后续打包的时候更方便
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2. [APIs: aio.py]
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- 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
|
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v0.1.9.4(2024/07/15)
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1. [profile: aio.py]：完善durable text相关逻辑
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2. [profile: do_brake/do_current/btn_functions.py]：删除validate_resp函数，修改execution函数
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3. [profile: factory_test.py]
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- 新增耐久/老化测试程序
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- 实现六轴折线图显示
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4. [profile: openapi.py]：多次合并遗留问题处理
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5. templates文件夹组织架构调整
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v0.2.0.0(2024/07/17)
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1. [profile: aio.py]
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- 增加velocity相关逻辑
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- 修改负载信息为曲线信息
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2. [profile: factory_test.py]
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- 增加velocity相关逻辑
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3. [profile: current.py]
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||||
- 修正减速比获取的规则
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4. [profile: openapi.py]
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- 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)
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||||
1. [main: aio.py]
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||||
- 修改了x轴显示，使之为时间刻度
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||||
- 修改pre_warning函数，增加了durable test的初始化
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2. [main: factory_test.py]
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||||
- 增加了数据计算错误的判断逻辑
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||||
- 增加了历史数据保存的逻辑
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||||
- 增加了文件读写互斥的逻辑
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||||
- 修改功能为输出有效电流和最大电流，并将数据结构简化
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v0.2.0.2(2024/07/26)
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1. [main: current.py]
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- 修正堵转电流无法正确写入结果文件的问题
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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
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||||
- 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
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||||
- 实现正负方向速度采集逻辑
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||||
- 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件
|
||||
- 增加超差后写诊断的逻辑，并可以通过configs.xlsx配置文件调整
|
||||
- 程序输出中增加时间戳，方便调试定位日志时间
|
||||
3. [main: do_current.py]
|
||||
- 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件
|
||||
4. 为工程文件添加更详细的注释
|
||||
5. 补充了do_current/do_brake的流程图
|
||||
6. [main: openapi.py]
|
||||
- 将modbus motor_on/off的实现方法改为高电平脉冲触发
|
||||
7. configs.xlsx配置表新增write_diagnosis/get_init_speed两个参数
|
||||
|
||||
v0.2.0.3(2024/07/27)
|
||||
1. [APIs: do_brake.py]: 精简程序，解决 OOM 问题
|
||||
2. [APIs: do_current.py]: 精简程序，解决 OOM 问题
|
||||
3. [APIs: factory_test.py]: 精简程序，解决 OOM 问题
|
||||
4. [APIsL openapi.py]
|
||||
- 心跳修改为 1 s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳
|
||||
- 新增 diagnosis.save 命令，但是执行时，有问题，待解决
|
||||
|
||||
v0.2.0.4(2024/07/30)
|
||||
1. [APIs: do_brake.py]: 修复制动数据处理过程中，只取曲线的最后 240 个数据
|
||||
2. [APIs: aio.py]: 判定版本处，删除 self.destroy()，因为该语句会导致异常发生
|
||||
- 心跳修改为 1s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳
|
||||
- 新增 diagnosis.save 命令，但是执行时，有问题，待解决
|
||||
|
||||
v0.2.0.5(2024/07/31)
|
||||
此版本改动较大，公共部分做了规整，放置到新建文件夹 commons 当中，并所有自定义模块引入 logging 模块，记录重要信息
|
||||
1. [t_change_ui: clibs.py]
|
||||
- 调整代码组织结构，新增模块，将公共函数以及类合并入此
|
||||
- 将一些常量放入该模块
|
||||
- 引入logging/concurrent_log_handler模块，并作初始化操作，供其他模块使用，按50M切割，最多保留10份
|
||||
- prj_to_xcore函数设置工程名部分重写，修复了多个prj工程可能不能执行的问题，并优化输入密码的部分
|
||||
2. [t_change_ui: openapi.py]
|
||||
- 完全重写了 get_from_id 函数，使更精准
|
||||
- 在 msg_storage 函数中，增加 logger，保留所有响应消息
|
||||
- 删除 heartbeat 函数中的日志保存功能部分
|
||||
- 心跳再次修改为 2s...
|
||||
3. [t_change_ui: aio.py]
|
||||
- 增加了日志初始化部分
|
||||
- detect_network 函数中修改重新实例化HR间隔为 4s，对应心跳
|
||||
- create_plot 函数中增加 close('all')，解决循环画图不销毁占用内存的问题
|
||||
4. [t_change_ui: do_brake.py]
|
||||
- 使用一直打开曲线的方法规避解决了 OOM 的问题，同时修改数据处理方式，只取最后 12s
|
||||
- 优化 ssh 输入密码的部分
|
||||
5. [t_change_ui: do_current.py]
|
||||
- 保持电流，只取最后 15s
|
||||
- 优化 ssh 输入密码的部分
|
||||
6. [t_change_ui: all the part]: 引入 commons 包，并定制了 logging 输出，后续持续优化
|
||||
7. [APIs: btn_functions.py]: 重写了告警输出函数，从日志中拿数据
|
||||
8. [APIs: aio.py]: 将日志框输出的内容，也保存至日志文件
|
||||
9. [APIs: do_brake.py]
|
||||
- 修改获取初始速度的逻辑，只获取configs文件中配置的时间内的速度
|
||||
- 新增 configs 参数 single_brake，可针对特定条件做测试
|
||||
10. [APIs: all]: 添加了 logger.setLevel(INFO)，只有添加这个，单个模块内才生效
|
||||
|
||||
v0.2.0.6(2024/08/09)
|
||||
1. [t_change_ui: all files]
|
||||
- 修改了 logger 的实现
|
||||
- 尤其是 clibs.py，使用日志字典，重写了日志记录的功能
|
||||
Binary file not shown.
@ -6,8 +6,8 @@ VSVersionInfo(
|
||||
ffi=FixedFileInfo(
|
||||
# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
|
||||
# Set not needed items to zero 0.
|
||||
filevers=(0, 1, 9, 2),
|
||||
prodvers=(0, 1, 9, 2),
|
||||
filevers=(0, 2, 0, 5),
|
||||
prodvers=(0, 2, 0, 5),
|
||||
# Contains a bitmask that specifies the valid bits 'flags'r
|
||||
mask=0x3f,
|
||||
# Contains a bitmask that specifies the Boolean attributes of the file.
|
||||
@ -31,12 +31,12 @@ VSVersionInfo(
|
||||
'040904b0',
|
||||
[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
|
||||
StringStruct('FileDescription', 'All in one automatic toolbox'),
|
||||
StringStruct('FileVersion', '0.1.9.2 (2024-07-13)'),
|
||||
StringStruct('FileVersion', '0.2.0.5 (2024-08-02)'),
|
||||
StringStruct('InternalName', 'AIO.exe'),
|
||||
StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
|
||||
StringStruct('OriginalFilename', 'AIO.exe'),
|
||||
StringStruct('ProductName', 'AIO'),
|
||||
StringStruct('ProductVersion', '0.1.9.2 (2024-07-13)')])
|
||||
StringStruct('ProductVersion', '0.2.0.5 (2024-08-02)')])
|
||||
]),
|
||||
VarFileInfo([VarStruct('Translation', [1033, 1200])])
|
||||
]
|
||||
|
||||
Binary file not shown.
@ -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
|
||||
|
||||
Binary file not shown.
BIN
aio/assets/target_brake_current.zip
Normal file
BIN
aio/assets/target_brake_current.zip
Normal file
Binary file not shown.
BIN
aio/assets/target_durable.zip
Normal file
BIN
aio/assets/target_durable.zip
Normal file
Binary file not shown.
@ -5,8 +5,8 @@
|
||||
"data": {
|
||||
"open": false,
|
||||
"display_open": false,
|
||||
"overrun": true,
|
||||
"turn_area": true,
|
||||
"overrun": false,
|
||||
"turn_area": false,
|
||||
"delay_motion": false
|
||||
}
|
||||
}
|
||||
@ -1 +1 @@
|
||||
0.1.9.2 @ 07/13/2024
|
||||
0.2.0.5 @ 08/02/2024
|
||||
File diff suppressed because it is too large
Load Diff
2584
aio/assets/workflow/do_brake.excalidraw
Normal file
2584
aio/assets/workflow/do_brake.excalidraw
Normal file
File diff suppressed because it is too large
Load Diff
1666
aio/assets/workflow/do_current.excalidraw
Normal file
1666
aio/assets/workflow/do_current.excalidraw
Normal file
File diff suppressed because it is too large
Load Diff
@ -1 +0,0 @@
|
||||
__all__ = ['automatic_test', 'data_process']
|
||||
174
aio/code/aio.py
174
aio/code/aio.py
@ -1,21 +1,35 @@
|
||||
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 data_process import *
|
||||
from automatic_test import *
|
||||
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
|
||||
from data_process import brake, current, iso, wavelogger
|
||||
from automatic_test import do_current, do_brake, btn_functions
|
||||
from durable_action import factory_test
|
||||
from commons import openapi, clibs
|
||||
from matplotlib.pyplot import rcParams, figure, subplots_adjust, close
|
||||
from matplotlib import use
|
||||
from pandas import DataFrame, read_excel
|
||||
|
||||
current_path = dirname(__file__)
|
||||
with open(clibs.log_data_hmi, 'w') as _hmi, open(clibs.log_data_debug, 'w', encoding='utf-8') as _debug:
|
||||
for i in range(1, 11):
|
||||
try:
|
||||
remove(f'{clibs.log_data_hmi}.{i}')
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
logger = clibs.log_prod
|
||||
logger.info("日志文件初始化完成...")
|
||||
|
||||
use('Agg')
|
||||
customtkinter.set_appearance_mode("System") # Modes: "System" (standard), "Dark", "Light"
|
||||
customtkinter.set_default_color_theme("blue") # Themes: "blue" (standard), "green", "dark-blue"
|
||||
customtkinter.set_widget_scaling(1.1) # widget dimensions and text size
|
||||
customtkinter.set_window_scaling(1.1) # window geometry dimensions
|
||||
setdefaulttimeout(3)
|
||||
|
||||
# global vars
|
||||
btns_func = {
|
||||
'start': {'btn': '', 'row': 1, 'text': '开始运行'},
|
||||
@ -35,6 +49,10 @@ widgits_at = {
|
||||
'path': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '数据文件夹路径'},
|
||||
'loadsel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 1, 'text': '负载信息'},
|
||||
}
|
||||
widgits_da = {
|
||||
'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
|
||||
'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '指标选择'},
|
||||
}
|
||||
|
||||
|
||||
class App(customtkinter.CTk):
|
||||
@ -44,6 +62,11 @@ class App(customtkinter.CTk):
|
||||
self.w_param = 84
|
||||
self.hr = None
|
||||
self.md = None
|
||||
self.canvas = None
|
||||
self.flg = 0
|
||||
self.df_copy = None
|
||||
self.old_curve = None
|
||||
self.myThread = None
|
||||
# =====================================================================
|
||||
# configure window
|
||||
self.title("AIO - All in one automatic toolbox")
|
||||
@ -70,7 +93,7 @@ class App(customtkinter.CTk):
|
||||
btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
|
||||
btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
|
||||
# create version info
|
||||
self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.1\nDate: 07/12/2024", font=self.my_font, text_color="#4F4F4F")
|
||||
self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.5\nDate: 08/02/2024", font=self.my_font, text_color="#4F4F4F")
|
||||
self.frame_func.rowconfigure(6, weight=1)
|
||||
self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
|
||||
# =====================================================================
|
||||
@ -79,6 +102,7 @@ class App(customtkinter.CTk):
|
||||
self.tabview.grid(row=0, column=1, padx=10, pady=5, sticky="nsew")
|
||||
self.tabview.add("Data Process")
|
||||
self.tabview.add("Automatic Test")
|
||||
self.tabview.add("Durable Action")
|
||||
# create main menu for data process
|
||||
self.menu_main_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), values=["init", "brake", "current", "iso", "wavelogger"], font=self.my_font, text_color='yellow', button_color='red', fg_color='green', command=self.func_main_callback)
|
||||
self.menu_main_dp.grid(row=1, column=1, sticky='we', padx=5, pady=10)
|
||||
@ -114,7 +138,7 @@ class App(customtkinter.CTk):
|
||||
# For automatic test tab START =====================================================================
|
||||
# create buttons
|
||||
self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), dynamic_resizing=False, font=customtkinter.CTkFont(size=16, weight='bold'), command=lambda value='机器状态': self.thread_it(self.segmented_button_callback))
|
||||
self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew")
|
||||
self.seg_button.grid(row=1, column=2, columnspan=12, padx=(65, 10), pady=(10, 10), sticky="ew")
|
||||
self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "恢复急停", "待定功能", "功能待定", "机器状态", "告警信息"])
|
||||
self.seg_button.set("功能切换")
|
||||
# create progress bar
|
||||
@ -126,7 +150,7 @@ class App(customtkinter.CTk):
|
||||
for widgit in widgits_at:
|
||||
if widgit == 'path':
|
||||
widgits_at[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Automatic Test'), text=f'{widgit.upper()}', font=self.my_font)
|
||||
widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', pady=5)
|
||||
widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', padx=(20, 5), pady=5)
|
||||
widgits_at[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), width=670, placeholder_text=widgits_at[widgit]['text'], font=self.my_font)
|
||||
widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
|
||||
widgits_at[widgit]['entry'].configure(state='disabled')
|
||||
@ -136,6 +160,23 @@ class App(customtkinter.CTk):
|
||||
widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
|
||||
widgits_at[widgit]['optionmenu'].configure(state='disabled')
|
||||
# For automatic test tab END =====================================================================
|
||||
# For durable_action tab START =====================================================================
|
||||
# create progress bar
|
||||
self.progressbar_da = customtkinter.CTkProgressBar(self.tabview.tab('Durable Action'))
|
||||
self.progressbar_da.grid(row=2, column=1, padx=5, pady=5, sticky="ew")
|
||||
self.progressbar_da.configure(mode="determinnate", width=self.w_param)
|
||||
self.progressbar_da.start()
|
||||
for widgit in widgits_da:
|
||||
if widgit == 'path':
|
||||
widgits_da[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Durable Action'), text=f'{widgit.upper()}', font=self.my_font)
|
||||
widgits_da[widgit]['label'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], sticky='e', padx=(20, 5), pady=10)
|
||||
widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font)
|
||||
widgits_da[widgit]['entry'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we')
|
||||
elif widgit in ['curvesel']:
|
||||
widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=['device_servo_trq_feedback', '[max] device_servo_trq_feedback'], font=self.my_font)
|
||||
widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we')
|
||||
widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
|
||||
# For durable_action tab END =====================================================================
|
||||
# create textbox
|
||||
self.textbox = customtkinter.CTkTextbox(self, wrap='none', font=customtkinter.CTkFont(family="consolas", size=14), text_color="blue", fg_color='#E9E9E9', border_width=2, border_color='#CDCDCD', border_spacing=5)
|
||||
self.textbox.grid(row=6, column=1, columnspan=13, ipadx=10, ipady=10, padx=10, pady=(5, 10), sticky='nsew')
|
||||
@ -153,6 +194,60 @@ class App(customtkinter.CTk):
|
||||
tkinter.messagebox.showwarning(title="版本更新", message="连接服务器失败，无法确认当前是否是最新版本......")
|
||||
# functions below ↓ ----------------------------------------------------------------------------------------
|
||||
|
||||
def create_canvas(self, _figure):
|
||||
self.canvas = FigureCanvasTkAgg(_figure, self.tabview.tab('Durable Action'))
|
||||
self.canvas.draw()
|
||||
self.canvas.get_tk_widget().configure(height=600)
|
||||
self.canvas.get_tk_widget().grid(row=3, column=1, rowspan=3, columnspan=13, padx=20, pady=10, sticky="nsew")
|
||||
|
||||
def create_plot(self):
|
||||
rcParams['font.sans-serif'] = ['SimHei']
|
||||
rcParams['axes.unicode_minus'] = False
|
||||
rcParams['figure.dpi'] = 100
|
||||
rcParams['font.size'] = 14
|
||||
rcParams['lines.marker'] = 'o'
|
||||
|
||||
curvesel = widgits_da['curvesel']['optionmenu'].get()
|
||||
while True:
|
||||
if not self.hr.durable_lock:
|
||||
self.hr.durable_lock = 1
|
||||
if curvesel == 'device_servo_trq_feedback':
|
||||
df = read_excel(clibs.durable_data_current_xlsx)
|
||||
_title = 'device_servo_trq_feedback'
|
||||
elif curvesel == '[max] device_servo_trq_feedback':
|
||||
_title = '[max] device_servo_trq_feedback'
|
||||
df = read_excel(clibs.durable_data_current_max_xlsx)
|
||||
else:
|
||||
_title = 'device_servo_trq_feedback'
|
||||
df = read_excel(clibs.durable_data_current_xlsx)
|
||||
self.hr.durable_lock = 0
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
|
||||
if not df.equals(self.df_copy) or self.flg == 0 or curvesel != self.old_curve:
|
||||
self.flg = 1
|
||||
self.df_copy = df.copy()
|
||||
self.old_curve = widgits_da['curvesel']['optionmenu'].get()
|
||||
close('all')
|
||||
_figure = figure(frameon=True, facecolor='#E9E9E9')
|
||||
subplots_adjust(left=0.04, right=0.98, bottom=0.1, top=0.95)
|
||||
|
||||
_ = df['time'].to_list()
|
||||
_xticks = [str(_i) for _i in _]
|
||||
ax = _figure.add_subplot(1, 1, 1)
|
||||
ax.set_xticks(range(len(_xticks)))
|
||||
ax.set_xticklabels(_xticks)
|
||||
|
||||
df.plot(grid=True, x='time', y='axis1', ax=ax)
|
||||
df.plot(grid=True, x='time', y='axis2', ax=ax)
|
||||
df.plot(grid=True, x='time', y='axis3', ax=ax)
|
||||
df.plot(grid=True, x='time', y='axis4', ax=ax)
|
||||
df.plot(grid=True, x='time', y='axis5', ax=ax)
|
||||
df.plot(grid=True, x='time', y='axis6', ax=ax, title=_title, legend='upper left', rot=30)
|
||||
|
||||
self.create_canvas(_figure)
|
||||
|
||||
def thread_it(self, func, *args):
|
||||
""" 将函数打包进线程 """
|
||||
self.myThread = Thread(target=func, args=args)
|
||||
@ -166,7 +261,7 @@ class App(customtkinter.CTk):
|
||||
self.seg_button.configure(state='disabled')
|
||||
# self.tabview.configure(state='disabled')
|
||||
self.textbox.delete(index1='1.0', index2='end')
|
||||
with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
|
||||
with open(clibs.heartbeat, 'r', encoding='utf-8') as f_h:
|
||||
c_state = f_h.read().strip()
|
||||
|
||||
if c_state == '0' and value != '功能切换':
|
||||
@ -181,32 +276,44 @@ class App(customtkinter.CTk):
|
||||
# self.tabview.configure(state='normal')
|
||||
|
||||
def detect_network(self):
|
||||
with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
df = DataFrame(clibs.durable_data_current)
|
||||
df.to_excel(clibs.durable_data_current_xlsx, index=False)
|
||||
df = DataFrame(clibs.durable_data_current_max)
|
||||
df.to_excel(clibs.durable_data_current_max_xlsx, index=False)
|
||||
|
||||
with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write('0')
|
||||
self.hr = openapi.HmiRequest(self.write2textbox)
|
||||
self.md = openapi.ModbusRequest(self.write2textbox)
|
||||
|
||||
while True:
|
||||
with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb:
|
||||
if self.tabview.get() == 'Durable Action':
|
||||
self.create_plot()
|
||||
|
||||
with open(clibs.heartbeat, 'r', encoding='utf-8') as f_hb:
|
||||
c_state = f_hb.read().strip()
|
||||
pb_color = 'green' if c_state == '1' else 'red'
|
||||
self.progressbar.configure(progress_color=pb_color)
|
||||
self.progressbar_da.configure(progress_color=pb_color)
|
||||
if c_state == '0':
|
||||
self.hr.t_bool = False
|
||||
sleep(3)
|
||||
sleep(4)
|
||||
del self.hr
|
||||
self.hr = openapi.HmiRequest(self.write2textbox)
|
||||
sleep(3)
|
||||
|
||||
def tabview_click(self):
|
||||
self.initialization()
|
||||
|
||||
tab_name = self.tabview.get()
|
||||
if tab_name == 'Data Process':
|
||||
self.flg = 0
|
||||
self.menu_main_dp.set("Start Here!")
|
||||
elif tab_name == 'Automatic Test':
|
||||
self.flg = 0
|
||||
self.menu_main_at.set("Start Here!")
|
||||
self.seg_button.configure(state='normal')
|
||||
elif tab_name == 'Durable Action':
|
||||
pass
|
||||
|
||||
def initialization(self):
|
||||
tab_name = self.tabview.get()
|
||||
@ -227,7 +334,7 @@ class App(customtkinter.CTk):
|
||||
self.menu_sub_dp.grid_forget()
|
||||
elif tab_name == 'Automatic Test':
|
||||
for widgit in widgits_at:
|
||||
if widgit in ['path', 'av1', 'av2', 'av3', 'av4', 'av5', 'av6', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6', 'rr1', 'rr2', 'rr3', 'rr4', 'rr5', 'rr6']:
|
||||
if widgit in ['path', ]:
|
||||
widgits_at[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
|
||||
widgits_at[widgit]['entry'].delete(0, tkinter.END)
|
||||
widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
|
||||
@ -237,6 +344,15 @@ class App(customtkinter.CTk):
|
||||
widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
|
||||
widgits_at[widgit]['optionmenu'].configure(state='disabled')
|
||||
self.seg_button.set("功能切换")
|
||||
elif tab_name == 'Durable Action':
|
||||
for widgit in widgits_da:
|
||||
if widgit in ['path', ]:
|
||||
widgits_da[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
|
||||
widgits_da[widgit]['entry'].delete(0, tkinter.END)
|
||||
widgits_da[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
|
||||
elif widgit in ['curvesel']:
|
||||
widgits_da[widgit]['optionmenu'].configure(state='normal')
|
||||
widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
|
||||
|
||||
def func_main_callback(self, func_name):
|
||||
self.initialization()
|
||||
@ -332,6 +448,7 @@ class App(customtkinter.CTk):
|
||||
self.textbox.tag_add(color, 'insert', 'end')
|
||||
self.textbox.tag_config(tagName=color, foreground=color)
|
||||
tab_name_cur = self.tabview.get()
|
||||
logger.info(text)
|
||||
|
||||
if tab_name == tab_name_cur:
|
||||
if wait != 0:
|
||||
@ -347,7 +464,7 @@ class App(customtkinter.CTk):
|
||||
self.textbox.insert(index='end', text=text + '\n', tags=color)
|
||||
self.textbox.update()
|
||||
self.textbox.see('end')
|
||||
elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test':
|
||||
elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test' or tab_name_cur == 'Durable Action':
|
||||
if wait != 0:
|
||||
self.textbox.insert(index='end', text=text, tags=color)
|
||||
self.textbox.update()
|
||||
@ -453,12 +570,24 @@ class App(customtkinter.CTk):
|
||||
return 0, 0
|
||||
else:
|
||||
return 0, 0
|
||||
elif tab_name == 'Durable Action':
|
||||
path = widgits_da['path']['entry'].get().strip()
|
||||
curvesel = widgits_da['curvesel']['optionmenu'].get()
|
||||
c1 = exists(path)
|
||||
c2 = curvesel in ['device_servo_trq_feedback', '[max] device_servo_trq_feedback']
|
||||
if c1 and c2:
|
||||
return 7, path, curvesel
|
||||
else:
|
||||
return 0, 0
|
||||
|
||||
def func_start_callback(self):
|
||||
self.textbox.delete(index1='1.0', index2='end')
|
||||
|
||||
flag, *args = self.check_param()
|
||||
func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main, 6: do_current.main}
|
||||
func_dict = {
|
||||
1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main, 6: do_current.main,
|
||||
7: factory_test.main
|
||||
}
|
||||
if flag == 1:
|
||||
func_dict[flag](path=args[0], vel=args[1], trq=args[2], estop=args[3], w2t=self.write2textbox)
|
||||
elif flag == 2:
|
||||
@ -473,10 +602,19 @@ class App(customtkinter.CTk):
|
||||
elif flag == 6:
|
||||
self.pre_warning()
|
||||
func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox)
|
||||
elif flag == 7:
|
||||
self.pre_warning()
|
||||
func_dict[flag](path=args[0], hr=self.hr, md=self.md, w2t=self.write2textbox)
|
||||
else:
|
||||
tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
|
||||
|
||||
def pre_warning(self):
|
||||
if self.tabview.get() == 'Durable Action':
|
||||
df = DataFrame(clibs.durable_data_current)
|
||||
df.to_excel(clibs.durable_data_current_xlsx, index=False)
|
||||
df = DataFrame(clibs.durable_data_current_max)
|
||||
df.to_excel(clibs.durable_data_current_max_xlsx, index=False)
|
||||
|
||||
if tkinter.messagebox.askyesno(title="开始运行", message="确认机器已按照测试规范更新固件，并提按照测试机型前修改好工程？"):
|
||||
pass
|
||||
else:
|
||||
|
||||
@ -1 +0,0 @@
|
||||
__all__ = ['openapi', 'btn_functions', 'do_brake', 'do_current']
|
||||
@ -1,72 +1,55 @@
|
||||
from json import loads
|
||||
from sys import argv
|
||||
from commons import clibs
|
||||
|
||||
|
||||
def validate_resp(_id, response, w2t):
|
||||
match _id:
|
||||
case 'DATA ERR':
|
||||
w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
|
||||
case 'DATA READ ERR':
|
||||
w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
|
||||
case 'NOT SUPPORT':
|
||||
w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
|
||||
if not response:
|
||||
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
validate_resp(_id, _response, w2t)
|
||||
return _response
|
||||
tab_name = clibs.tab_names['at']
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def trigger_estop(md, w2t):
|
||||
md.trigger_estop()
|
||||
w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
|
||||
w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
|
||||
|
||||
|
||||
def reset_estop(md, w2t):
|
||||
md.reset_estop()
|
||||
w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
|
||||
w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
|
||||
|
||||
|
||||
def get_state(hr, w2t):
|
||||
# 获取机器状态
|
||||
_response = execution('state.get_state', hr, w2t)
|
||||
_response = clibs.execution('state.get_state', hr, w2t, tab_name)
|
||||
stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
|
||||
for component, state in _response['data'].items():
|
||||
w2t(f"{stat_desc[component]}: {state}", tab_name='Automatic Test')
|
||||
w2t(f"{stat_desc[component]}: {state}", tab_name=tab_name)
|
||||
|
||||
# 获取设备伺服信息
|
||||
_response = execution('device.get_params', hr, w2t)
|
||||
_response = clibs.execution('device.get_params', hr, w2t, tab_name)
|
||||
dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'}
|
||||
dev_vers = {}
|
||||
for device in _response['data']['devices']:
|
||||
dev_vers[device['type']] = device['version']
|
||||
for i in sorted(dev_desc.keys()):
|
||||
w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name='Automatic Test')
|
||||
w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name=tab_name)
|
||||
|
||||
# 设置示教器模式
|
||||
_response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
|
||||
_response = clibs.execution('state.set_tp_mode', hr, w2t, tab_name, tp_mode='without')
|
||||
|
||||
|
||||
def warning_info(hr, w2t):
|
||||
for msg in hr.c_msg:
|
||||
if 'alarm' in msg.lower():
|
||||
w2t(str(loads(msg)), tab_name='Automatic Test')
|
||||
for msg in hr.c_msg_xs:
|
||||
if 'alarm' in msg.lower():
|
||||
w2t(str(loads(msg)), tab_name='Automatic Test')
|
||||
for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
|
||||
log_name = clibs.log_data_hmi + postfix
|
||||
try:
|
||||
with open(log_name, 'r', encoding='utf-8') as f_log:
|
||||
for line in f_log:
|
||||
if 'alarm' in line:
|
||||
w2t(line.strip(), tab_name=tab_name)
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
|
||||
|
||||
def main(hr, md, func, w2t):
|
||||
if hr is None:
|
||||
w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test')
|
||||
w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name)
|
||||
# func: get_state/
|
||||
match func:
|
||||
case 'trigger_estop':
|
||||
|
||||
@ -1,36 +1,20 @@
|
||||
from random import randint
|
||||
from time import sleep, time
|
||||
from time import sleep, time, strftime, localtime
|
||||
from sys import argv
|
||||
from os import scandir, mkdir
|
||||
from os.path import exists
|
||||
from os import mkdir
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from json import loads
|
||||
from openpyxl import load_workbook
|
||||
import pandas
|
||||
from pandas import DataFrame, concat
|
||||
from commons import clibs
|
||||
|
||||
RADIAN = 57.3 # 180 / 3.1415926
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
tab_name = clibs.tab_names['at']
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def check_files(path, loadsel, data_dirs, data_files, w2t):
|
||||
if len(data_dirs) != 0 or len(data_files) != 5:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name)
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
|
||||
|
||||
config_file = reach33 = reach66 = reach100 = prj_file = None
|
||||
for data_file in data_files:
|
||||
@ -46,8 +30,8 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
|
||||
elif filename.endswith('.zip'):
|
||||
prj_file = data_file
|
||||
else:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name)
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name)
|
||||
|
||||
if config_file and reach33 and reach66 and reach100 and prj_file:
|
||||
result_dirs = []
|
||||
@ -65,74 +49,24 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
|
||||
if _reach == 'reach100':
|
||||
mkdir(f"{path}\\j3\\{dir_name}")
|
||||
|
||||
w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
|
||||
w2t("数据目录合规性检查结束，未发现问题......", 0, 0, 'blue', tab_name)
|
||||
return config_file, reach33, reach66, reach100, prj_file, result_dirs
|
||||
else:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def prj_to_xcore(prj_file):
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
sftp = ssh.open_sftp()
|
||||
sftp.put(prj_file, '/tmp/target.zip')
|
||||
cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
|
||||
cmd += 'chmod 777 -R target/; rm target.zip'
|
||||
ssh.exec_command(cmd)
|
||||
|
||||
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
|
||||
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
|
||||
_prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
|
||||
cmd = 'cd /home/luoshi/bin/controller/; '
|
||||
cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
ssh.close()
|
||||
|
||||
|
||||
def validate_resp(_id, response, w2t):
|
||||
match _id:
|
||||
case 'DATA ERR':
|
||||
w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
|
||||
case 'DATA READ ERR':
|
||||
w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
|
||||
case 'NOT SUPPORT':
|
||||
w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
|
||||
if not response:
|
||||
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
validate_resp(_id, _response, w2t)
|
||||
return _response
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name)
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
|
||||
|
||||
|
||||
def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
|
||||
_d2d_vel = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq = {'device_servo_trq_feedback': []}
|
||||
_d2d_stop = {'device_safety_estop': []}
|
||||
for data in curve_data:
|
||||
for data in curve_data[-240:]: # 保留最后12s的数据
|
||||
dict_results = data['data']
|
||||
# dict_results.reverse()
|
||||
for item in dict_results:
|
||||
try:
|
||||
item['value'].reverse()
|
||||
except KeyError:
|
||||
continue
|
||||
if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
@ -140,17 +74,17 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
|
||||
elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop':
|
||||
_d2d_stop['device_safety_estop'].extend(item['value'])
|
||||
|
||||
df1 = pandas.DataFrame.from_dict(_d2d_vel)
|
||||
df2 = pandas.DataFrame.from_dict(_d2d_trq)
|
||||
df3 = pandas.DataFrame.from_dict(_d2d_stop)
|
||||
df = pandas.concat([df1, df2, df3], axis=1)
|
||||
df1 = DataFrame.from_dict(_d2d_vel)
|
||||
df2 = DataFrame.from_dict(_d2d_trq)
|
||||
df3 = DataFrame.from_dict(_d2d_stop)
|
||||
df = concat([df1, df2, df3], axis=1)
|
||||
_filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data"
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
|
||||
def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
|
||||
def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
_count = 0
|
||||
speed_max = 0
|
||||
_total = 63
|
||||
display_pdo_params = [
|
||||
{"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
@ -168,36 +102,59 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
|
||||
]
|
||||
wb = load_workbook(config_file, read_only=True)
|
||||
ws = wb['Target']
|
||||
if ws.cell(row=1, column=1).value == 'positive':
|
||||
md.write_pon(True)
|
||||
elif ws.cell(row=1, column=1).value == 'negative':
|
||||
md.write_pon(False)
|
||||
else:
|
||||
w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
|
||||
write_diagnosis = float(ws.cell(row=3, column=10).value)
|
||||
get_init_speed = float(ws.cell(row=4, column=10).value)
|
||||
single_brake = str(ws.cell(row=5, column=10).value)
|
||||
logger.info(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}")
|
||||
|
||||
if ws.cell(row=1, column=1).value == 'positive':
|
||||
md.write_pon(1)
|
||||
elif ws.cell(row=1, column=1).value == 'negative':
|
||||
md.write_pon(0)
|
||||
else:
|
||||
w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name)
|
||||
|
||||
clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
|
||||
clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
|
||||
for condition in result_dirs:
|
||||
_reach = condition.split('_')[0].removeprefix('reach')
|
||||
_load = condition.split('_')[1].removeprefix('load')
|
||||
_speed = condition.split('_')[2].removeprefix('speed')
|
||||
|
||||
# for single condition test
|
||||
_single_axis = 0
|
||||
if single_brake != '0':
|
||||
_total = 3
|
||||
_single_axis = int(single_brake.split('-')[0])
|
||||
if _reach != single_brake.split('-')[1] or _load != single_brake.split('-')[2] or _speed != single_brake.split('-')[3]:
|
||||
continue
|
||||
|
||||
for axis in range(1, 4):
|
||||
# for single condition test
|
||||
if _single_axis != 0 and _single_axis != axis:
|
||||
continue
|
||||
|
||||
md.write_axis(axis)
|
||||
speed_max = 0
|
||||
if axis == 3 and _reach != '100':
|
||||
continue
|
||||
|
||||
w2t(f"-"*90, 0, 0, 'purple', tab_name)
|
||||
|
||||
for count in range(1, 4):
|
||||
_count += 1
|
||||
w2t(f"[{_count}/63-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test')
|
||||
this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
|
||||
prj_path = 'target/_build/target.prj'
|
||||
w2t(f"[{this_time} | {_count}/{_total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
|
||||
|
||||
# 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
|
||||
md.trigger_estop()
|
||||
md.reset_estop()
|
||||
md.write_act(False)
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
sleep(1) # 让曲线彻底关闭
|
||||
_response = execution('state.switch_manual', hr, w2t)
|
||||
_response = execution('state.switch_motor_off', hr, w2t)
|
||||
md.clear_alarm()
|
||||
md.write_act(0)
|
||||
sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置
|
||||
|
||||
while count == 1:
|
||||
# 2. 修改未要执行的场景
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
@ -207,129 +164,133 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
|
||||
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')
|
||||
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 += 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
|
||||
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
|
||||
prj_path = 'target/_build/target.prj'
|
||||
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
|
||||
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
|
||||
_response = execution('state.switch_auto', hr, w2t)
|
||||
_response = execution('state.switch_motor_on', hr, w2t)
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
|
||||
for i in range(3):
|
||||
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
|
||||
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
|
||||
clibs.execution('state.switch_auto', hr, w2t, tab_name)
|
||||
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
|
||||
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
|
||||
_t_start = time()
|
||||
while True:
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(True)
|
||||
break
|
||||
else:
|
||||
sleep(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:
|
||||
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')
|
||||
|
||||
# 4. 第一次打开诊断曲线，并执行采集8s，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
|
||||
if count == 1:
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
sleep(10) # 前10秒获取实际最大速度
|
||||
|
||||
md.trigger_estop()
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
sleep(1)
|
||||
# 4. 找出最大速度，传递给RL程序，最后清除相关记录
|
||||
sleep(get_init_speed+5) # 冗余5s，指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置
|
||||
clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['brake'])
|
||||
# 找出最大速度
|
||||
for _msg in hr.c_msg:
|
||||
_c_msg = hr.c_msg.copy()
|
||||
_number = 0
|
||||
for _msg in _c_msg:
|
||||
if _number > get_init_speed*20: # 最开始回零点的时候，二轴速度可以达到最大值，实际摆动时，某一方向可能达不到
|
||||
break
|
||||
if 'diagnosis.result' in _msg:
|
||||
_number += 1
|
||||
dict_results = loads(_msg)['data']
|
||||
for item in dict_results:
|
||||
if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_ = abs(RADIAN*sum(item['value'])/len(item['value']))
|
||||
_ = clibs.RADIAN * sum(item['value']) / len(item['value'])
|
||||
if ws.cell(row=1, column=1).value == 'positive':
|
||||
speed_max = max(_, speed_max)
|
||||
elif ws.cell(row=1, column=1).value == 'negative':
|
||||
speed_max = min(_, speed_max)
|
||||
logger.info(f"speed max = {speed_max}")
|
||||
speed_max = abs(speed_max)
|
||||
speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
|
||||
if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
|
||||
w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', 'Automatic Test')
|
||||
w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', tab_name)
|
||||
|
||||
md.write_speed_max(speed_max)
|
||||
sleep(1)
|
||||
|
||||
for _msg in hr.c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
_index = hr.c_msg.index(_msg)
|
||||
del hr.c_msg[_index:]
|
||||
hr.c_msg_xs.clear()
|
||||
if len(hr.c_msg) > 270:
|
||||
del hr.c_msg[270:]
|
||||
|
||||
if speed_max < 10:
|
||||
md.clear_alarm()
|
||||
w2t("未获取到正确的速度，即将重新获取...", 0, 0, 'red', tab_name)
|
||||
continue
|
||||
else:
|
||||
break
|
||||
|
||||
# 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停
|
||||
md.reset_estop()
|
||||
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
|
||||
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
|
||||
_response = execution('state.switch_auto', hr, w2t)
|
||||
_response = execution('state.switch_motor_on', hr, w2t)
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
|
||||
md.reset_estop() # 其实没必要
|
||||
md.clear_alarm()
|
||||
|
||||
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
|
||||
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
|
||||
clibs.execution('state.switch_auto', hr, w2t, tab_name)
|
||||
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
|
||||
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
|
||||
for i in range(3):
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(True)
|
||||
md.write_act(1)
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
else:
|
||||
w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
|
||||
w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
|
||||
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
sleep(randint(3, 6))
|
||||
md.write_probe(True)
|
||||
sleep(10) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
|
||||
md.write_probe(1)
|
||||
_t_start = time()
|
||||
while True:
|
||||
if md.read_brake_done() == 1:
|
||||
sleep(1) # 保证所有数据均已返回
|
||||
md.write_probe(False)
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
sleep(1) # 保证所有数据均已返回
|
||||
sleep(1) # 保证速度归零
|
||||
md.write_probe(0)
|
||||
break
|
||||
else:
|
||||
if (time() - _t_start) > 30:
|
||||
w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题...", 0, 0, 'red', 'Automatic Test')
|
||||
md.write_probe(False)
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
sleep(1) # 保证所有数据均已返回
|
||||
w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题，比如正负方向速度是否一致...", 0, 0, 'red', tab_name)
|
||||
md.write_probe(0)
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
|
||||
# 6. 保留数据并处理输出
|
||||
curve_data = []
|
||||
for _msg in hr.c_msg:
|
||||
_c_msg = hr.c_msg.copy()
|
||||
for _msg in _c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
curve_data.insert(0, loads(_msg))
|
||||
else:
|
||||
for _msg in hr.c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
_index = hr.c_msg.index(_msg)
|
||||
del hr.c_msg[_index:]
|
||||
hr.c_msg_xs.clear()
|
||||
break
|
||||
if len(hr.c_msg) > 270:
|
||||
del hr.c_msg[270:]
|
||||
gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
|
||||
else:
|
||||
w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', 'Automatic Test')
|
||||
w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', tab_name)
|
||||
|
||||
|
||||
def main(path, hr, md, loadsel, w2t):
|
||||
_s_time = time()
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
data_dirs, data_files = clibs.traversal_files(path, w2t)
|
||||
config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
|
||||
prj_to_xcore(prj_file)
|
||||
run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
|
||||
clibs.prj_to_xcore(prj_file)
|
||||
run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t)
|
||||
_e_time = time()
|
||||
time_total = _e_time - _s_time
|
||||
w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', 'Automatic Test')
|
||||
w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', tab_name)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
@ -1,33 +1,33 @@
|
||||
import os
|
||||
from os import mkdir
|
||||
from time import sleep, time
|
||||
from sys import argv
|
||||
from os import scandir
|
||||
from os.path import exists
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from json import loads
|
||||
import pandas
|
||||
from pandas import DataFrame, concat
|
||||
from commons import clibs
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
logger = clibs.log_prod
|
||||
tab_name = clibs.tab_names['at']
|
||||
display_pdo_params = [
|
||||
{"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 2},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 3},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 4},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 5},
|
||||
{"name": "device_servo_trq_feedback", "channel": 0},
|
||||
{"name": "device_servo_trq_feedback", "channel": 1},
|
||||
{"name": "device_servo_trq_feedback", "channel": 2},
|
||||
{"name": "device_servo_trq_feedback", "channel": 3},
|
||||
{"name": "device_servo_trq_feedback", "channel": 4},
|
||||
{"name": "device_servo_trq_feedback", "channel": 5},
|
||||
]
|
||||
|
||||
|
||||
def check_files(path, loadsel, data_dirs, data_files, w2t):
|
||||
if len(data_dirs) != 0 or len(data_files) != 3:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name)
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
|
||||
|
||||
config_file = current_file = prj_file = None
|
||||
for data_file in data_files:
|
||||
@ -39,74 +39,22 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
|
||||
elif filename.endswith('.zip'):
|
||||
prj_file = data_file
|
||||
else:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name)
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
|
||||
|
||||
if config_file and current_file and prj_file:
|
||||
w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
|
||||
w2t("数据目录合规性检查结束，未发现问题......", tab_name=tab_name)
|
||||
if loadsel == 'tool100':
|
||||
os.mkdir(f"{path}\\single")
|
||||
os.mkdir(f"{path}\\s_1")
|
||||
os.mkdir(f"{path}\\s_2")
|
||||
os.mkdir(f"{path}\\s_3")
|
||||
mkdir(f"{path}\\single")
|
||||
mkdir(f"{path}\\s_1")
|
||||
mkdir(f"{path}\\s_2")
|
||||
mkdir(f"{path}\\s_3")
|
||||
elif loadsel == 'inertia':
|
||||
os.mkdir(f"{path}\\inertia")
|
||||
mkdir(f"{path}\\inertia")
|
||||
return config_file, current_file, prj_file
|
||||
else:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def prj_to_xcore(prj_file):
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
sftp = ssh.open_sftp()
|
||||
sftp.put(prj_file, '/tmp/target.zip')
|
||||
cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
|
||||
cmd += 'chmod 777 -R target/; rm target.zip'
|
||||
ssh.exec_command(cmd)
|
||||
|
||||
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
|
||||
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
|
||||
_prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
|
||||
cmd = 'cd /home/luoshi/bin/controller/; '
|
||||
cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
ssh.close()
|
||||
|
||||
|
||||
def validate_resp(_id, response, w2t):
|
||||
match _id:
|
||||
case 'DATA ERR':
|
||||
w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
|
||||
case 'DATA READ ERR':
|
||||
w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
|
||||
case 'NOT SUPPORT':
|
||||
w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
|
||||
if not response:
|
||||
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 7, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
validate_resp(_id, _response, w2t)
|
||||
return _response
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name)
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
|
||||
|
||||
|
||||
def data_proc_regular(path, filename, channel, scenario_time):
|
||||
@ -115,21 +63,22 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
lines = f_obj.readlines()
|
||||
_d2d_vel = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq = {'device_servo_trq_feedback': []}
|
||||
for line in lines:
|
||||
for line in lines[-500:]: # 保留最后25s的数据
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
try:
|
||||
item['value'].reverse()
|
||||
except KeyError:
|
||||
continue
|
||||
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)
|
||||
df2 = pandas.DataFrame.from_dict(_d2d_trq)
|
||||
df = pandas.concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\single\\j{channel+1}_single.data'
|
||||
df1 = DataFrame.from_dict(_d2d_vel)
|
||||
df2 = DataFrame.from_dict(_d2d_trq)
|
||||
df = concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\single\\j{channel+1}_single_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
elif channel in list(range(6, 9)):
|
||||
with open(filename, 'r', encoding='utf-8') as f_obj:
|
||||
@ -149,7 +98,10 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
for line in lines:
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
try:
|
||||
item['value'].reverse()
|
||||
except KeyError:
|
||||
continue
|
||||
if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
@ -175,59 +127,62 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_0)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_0)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}.data'
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_0)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_0)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_1)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_1)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}.data'
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_1)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_1)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_2)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_2)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}.data'
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_2)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_2)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_3)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_3)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}.data'
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_3)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_3)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_4)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_4)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}.data'
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_4)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_4)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_5)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_5)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}.data'
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_5)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_5)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
elif channel in list(range(9, 15)):
|
||||
with open(filename, 'r', encoding='utf-8') as f_obj:
|
||||
lines = f_obj.readlines()
|
||||
_d2d_vel = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq = {'device_servo_trq_feedback': []}
|
||||
for line in lines:
|
||||
for line in lines[-300:]: # 保留最后15s的数据
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
try:
|
||||
item['value'].reverse()
|
||||
except KeyError:
|
||||
continue
|
||||
if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
|
||||
|
||||
df1 = pandas.DataFrame.from_dict(_d2d_vel)
|
||||
df2 = pandas.DataFrame.from_dict(_d2d_trq)
|
||||
df = pandas.concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\single\\j{channel-8}_hold.data'
|
||||
df1 = DataFrame.from_dict(_d2d_vel)
|
||||
df2 = DataFrame.from_dict(_d2d_trq)
|
||||
df = concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
|
||||
@ -239,16 +194,19 @@ def data_proc_inertia(path, filename, channel):
|
||||
for line in lines:
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
try:
|
||||
item['value'].reverse()
|
||||
except KeyError:
|
||||
continue
|
||||
if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
|
||||
|
||||
df1 = pandas.DataFrame.from_dict(_d2d_vel)
|
||||
df2 = pandas.DataFrame.from_dict(_d2d_trq)
|
||||
df = pandas.concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\inertia\\j{channel+4}_inertia.data'
|
||||
df1 = DataFrame.from_dict(_d2d_vel)
|
||||
df2 = DataFrame.from_dict(_d2d_trq)
|
||||
df = concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
|
||||
@ -300,119 +258,95 @@ def run_rl(path, hr, md, loadsel, w2t):
|
||||
conditions = c_inertia
|
||||
disc = disc_inertia
|
||||
|
||||
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)
|
||||
# preparation 触发软急停，并解除，目的是让可能正在运行着的机器停下来
|
||||
clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
|
||||
clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
|
||||
# clibs.execution('diagnosis.save', hr, w2t, tab_name, save=True) # 这条命令有问题
|
||||
md.trigger_estop()
|
||||
md.reset_estop()
|
||||
_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
|
||||
for condition in conditions:
|
||||
number = conditions.index(condition)
|
||||
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'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
stdout.read().decode() # 需要read一下才能正常执行
|
||||
stderr.read().decode()
|
||||
|
||||
# 3. reload工程后，pp2main，并且自动模式和上电
|
||||
# 2. reload工程后，pp2main，并且自动模式和上电
|
||||
prj_path = 'target/_build/target.prj'
|
||||
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
|
||||
_response = execution('overview.get_cur_prj', hr, w2t)
|
||||
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
|
||||
_response = execution('state.switch_auto', hr, w2t)
|
||||
_response = execution('state.switch_motor_on', hr, w2t)
|
||||
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
|
||||
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
|
||||
clibs.execution('state.switch_auto', hr, w2t, tab_name)
|
||||
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
|
||||
|
||||
# 4. 开始运行程序，单轴运行15s
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
|
||||
for i in range(3):
|
||||
# 3. 开始运行程序，单轴运行35s
|
||||
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
|
||||
_t_start = time()
|
||||
while True:
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(True)
|
||||
sleep(1)
|
||||
md.write_act(False)
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
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:
|
||||
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')
|
||||
sleep(1)
|
||||
|
||||
# 5. 打开诊断曲线，并执行采集
|
||||
sleep(7) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
display_pdo_params = [
|
||||
{"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 2},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 3},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 4},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 5},
|
||||
{"name": "device_servo_trq_feedback", "channel": 0},
|
||||
{"name": "device_servo_trq_feedback", "channel": 1},
|
||||
{"name": "device_servo_trq_feedback", "channel": 2},
|
||||
{"name": "device_servo_trq_feedback", "channel": 3},
|
||||
{"name": "device_servo_trq_feedback", "channel": 4},
|
||||
{"name": "device_servo_trq_feedback", "channel": 5},
|
||||
{"name": "device_safety_estop", "channel": 0},
|
||||
]
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
# 4. 打开诊断曲线，并执行采集
|
||||
sleep(10) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定
|
||||
scenario_time = 0
|
||||
if number < 6 or number > 8:
|
||||
if number < 6:
|
||||
sleep(35)
|
||||
elif number > 8:
|
||||
sleep(15)
|
||||
else:
|
||||
_t_start = time()
|
||||
while True:
|
||||
scenario_time = md.read_scenario_time()
|
||||
if float(scenario_time) > 1:
|
||||
w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', 'Automatic Test')
|
||||
w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
|
||||
break
|
||||
else:
|
||||
if (time()-_t_start)//60 > 3:
|
||||
w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
|
||||
w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
|
||||
else:
|
||||
sleep(5)
|
||||
sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
|
||||
scenario_time = md.read_scenario_time()
|
||||
sleep(float(scenario_time)*0.2) # 再运行周期的20%即可
|
||||
|
||||
# 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
|
||||
_response = execution('state.switch_motor_off', hr, w2t)
|
||||
_response = execution('state.switch_manual', hr, w2t)
|
||||
sleep(1) # 保证所有数据均已返回
|
||||
# 7. 保留数据并处理输出
|
||||
for _msg in hr.c_msg:
|
||||
# 5.停止程序运行，保留数据并处理输出
|
||||
clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['current'])
|
||||
_c_msg = hr.c_msg.copy()
|
||||
for _msg in _c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
disc[number][1].insert(0, loads(_msg))
|
||||
else:
|
||||
_index = 210
|
||||
for _msg in hr.c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
_index = hr.c_msg.index(_msg)
|
||||
break
|
||||
del hr.c_msg[_index:]
|
||||
hr.c_msg_xs.clear()
|
||||
if len(hr.c_msg) > 270:
|
||||
del hr.c_msg[270:]
|
||||
gen_result_file(path, loadsel, disc, number, scenario_time)
|
||||
else:
|
||||
if loadsel == 'tool100':
|
||||
w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。", 0, 0, 'green', 'Automatic Test')
|
||||
w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。", 0, 0, 'green', tab_name)
|
||||
elif loadsel == 'inertia':
|
||||
w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。", 0, 0, 'green', 'Automatic Test')
|
||||
w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。", 0, 0, 'green', tab_name)
|
||||
|
||||
|
||||
def main(path, hr, md, loadsel, w2t):
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
data_dirs, data_files = clibs.traversal_files(path, w2t)
|
||||
config_file, current_file, prj_file = check_files(path, loadsel, data_dirs, data_files, w2t)
|
||||
prj_to_xcore(prj_file)
|
||||
clibs.prj_to_xcore(prj_file)
|
||||
run_rl(path, hr, md, loadsel, w2t)
|
||||
|
||||
|
||||
|
||||
191
aio/code/commons/clibs.py
Normal file
191
aio/code/commons/clibs.py
Normal file
@ -0,0 +1,191 @@
|
||||
from os import scandir
|
||||
from threading import Thread
|
||||
from time import sleep
|
||||
from os.path import exists
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from socket import setdefaulttimeout
|
||||
from logging import getLogger
|
||||
from logging.config import dictConfig
|
||||
import concurrent_log_handler
|
||||
|
||||
ip_addr = '192.168.0.160' # for product
|
||||
# ip_addr = '192.168.84.129' # for test
|
||||
RADIAN = 57.3 # 180 / 3.1415926
|
||||
MAX_FRAME_SIZE = 1024
|
||||
TIMEOUT = 5
|
||||
setdefaulttimeout(TIMEOUT)
|
||||
tab_names = {'dp': 'Data Process', 'at': 'Automatic Test', 'da': 'Duration Action', 'op': 'openapi'}
|
||||
# PREFIX = '' # for pyinstaller packaging
|
||||
PREFIX = '../assets/' # for source code debug
|
||||
log_data_hmi = f'{PREFIX}templates/c_msg.log'
|
||||
log_data_debug = f'{PREFIX}templates/debug.log'
|
||||
heartbeat = f'{PREFIX}templates/heartbeat'
|
||||
durable_data_current_xlsx = f'{PREFIX}templates/durable/durable_data_current.xlsx'
|
||||
durable_data_current_max_xlsx = f'{PREFIX}templates/durable/durable_data_current_max.xlsx'
|
||||
durable_data_current = {
|
||||
'time': list(range(1, 19)),
|
||||
'axis1': [0 for _ in range(18)],
|
||||
'axis2': [0 for _ in range(18)],
|
||||
'axis3': [0 for _ in range(18)],
|
||||
'axis4': [0 for _ in range(18)],
|
||||
'axis5': [0 for _ in range(18)],
|
||||
'axis6': [0 for _ in range(18)],
|
||||
}
|
||||
durable_data_current_max = {
|
||||
'time': list(range(1, 19)),
|
||||
'axis1': [0 for _ in range(18)],
|
||||
'axis2': [0 for _ in range(18)],
|
||||
'axis3': [0 for _ in range(18)],
|
||||
'axis4': [0 for _ in range(18)],
|
||||
'axis5': [0 for _ in range(18)],
|
||||
'axis6': [0 for _ in range(18)],
|
||||
}
|
||||
|
||||
# version：表示版本，该键值为从1开始的整数。该key必选，除此之外，其它key都是可选。
|
||||
# formatters：日志格式化器，其value值为一个字典，该字典的每个键值对都代表一个Formatter，键值对中，key代表Formatter ID(自定义ID)，value为字典，描述如何配置相应的Formatter实例。默认格式为 ‘%(message)s’
|
||||
# filters：日志过滤器，其value值为一个字典，该字典的每个键值对都代表一个Filter，键值对中，key代表Filter ID(自定义ID)，value为字典，描述如何配置相应的Filter实例。
|
||||
# handlers：日志处理器，其value值为一个字典，该字典的每个键值对都代表一个Handler，键值对中，key代表Handler ID(自定义ID)，value为字典，描述如何配置相应的Handler实例，包含以下配置key：
|
||||
# class (必选)：日志处理器类全称
|
||||
# level (可选)：指定该日志处理器需要处理哪些级别的日志，低于该级别的日志将不被该handler处理。level可以为代表日志级别的整数或者表大写字符串，字符串日志级别和数字日志级别对应关系如下：
|
||||
# CRITICAL 50
|
||||
# ERROR 40
|
||||
# WARNING 30
|
||||
# INFO 20
|
||||
# DEBUG 10
|
||||
# NOTSET 0
|
||||
f_complex = '%(asctime)s # %(name)s-%(levelname)s-%(module)s-%(funcName)s-%(lineno)d # %(message)s'
|
||||
f_simple = '%(levelname)s-%(module)s-%(funcName)s-%(lineno)d: %(message)s'
|
||||
log_dicts = {
|
||||
'version': 1,
|
||||
'disable_existing_loggers': True,
|
||||
'formatters': {
|
||||
'standard': {
|
||||
'format': f_complex,
|
||||
'style': '%',
|
||||
'datefmt': '%Y-%m-%dT%H:%M:%S',
|
||||
},
|
||||
'test': {
|
||||
'format': f_simple,
|
||||
'style': '%',
|
||||
'datefmt': '%Y-%m-%dT%H:%M:%S',
|
||||
},
|
||||
},
|
||||
'filters': {},
|
||||
'handlers': {
|
||||
'console': {
|
||||
'level': 'DEBUG',
|
||||
'class': 'logging.StreamHandler',
|
||||
'formatter': 'test',
|
||||
},
|
||||
'hmi.log': {
|
||||
'level': 'DEBUG',
|
||||
'class': 'concurrent_log_handler.ConcurrentRotatingFileHandler',
|
||||
'filename': log_data_hmi,
|
||||
'maxBytes': 1024*1024*50,
|
||||
'backupCount': 10,
|
||||
'encoding': 'utf-8',
|
||||
'formatter': 'standard',
|
||||
},
|
||||
'debug.log': {
|
||||
'level': 'INFO',
|
||||
'class': 'logging.FileHandler',
|
||||
'filename': log_data_debug,
|
||||
'encoding': 'utf-8',
|
||||
'formatter': 'standard',
|
||||
},
|
||||
},
|
||||
'loggers': {
|
||||
'normal': {
|
||||
'handlers': ['hmi.log', 'debug.log'],
|
||||
'level': 'DEBUG',
|
||||
'propagate': False
|
||||
},
|
||||
'debug': {
|
||||
'handlers': ['console'],
|
||||
'level': 'DEBUG',
|
||||
'propagate': False
|
||||
},
|
||||
'': {
|
||||
'handlers': ['hmi.log', 'debug.log'],
|
||||
'level': 'DEBUG',
|
||||
'propagate': False
|
||||
},
|
||||
}
|
||||
}
|
||||
dictConfig(log_dicts)
|
||||
log_prod = getLogger('normal')
|
||||
log_debug = getLogger('debug')
|
||||
|
||||
|
||||
class GetThreadResult(Thread):
|
||||
def __init__(self, func, args=()):
|
||||
super(GetThreadResult, self).__init__()
|
||||
self.func = func
|
||||
self.args = args
|
||||
self.result = 0
|
||||
|
||||
def run(self):
|
||||
sleep(1)
|
||||
self.result = self.func(*self.args)
|
||||
|
||||
def get_result(self):
|
||||
Thread.join(self) # 等待线程执行完毕
|
||||
try:
|
||||
return self.result
|
||||
except Exception as Err:
|
||||
return None
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
|
||||
|
||||
def prj_to_xcore(prj_file):
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect(ip_addr, 22, username='luoshi', password='luoshi2019')
|
||||
sftp = ssh.open_sftp()
|
||||
sftp.put(prj_file, '/tmp/target.zip')
|
||||
cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
|
||||
cmd += 'chmod 777 -R target/; rm target.zip'
|
||||
ssh.exec_command(cmd)
|
||||
|
||||
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
|
||||
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdout.read().decode() # 需要read一下才能正常执行
|
||||
stderr.read().decode()
|
||||
|
||||
cmd = 'cd /home/luoshi/bin/controller/; '
|
||||
cmd += 'sudo chmod -R 755 projects; rm /tmp/*.prj; sudo mv projects/target/_build/*.prj /tmp; cd /tmp; '
|
||||
cmd += 'prj=($(ls *.prj)); sudo mv ${prj[0]} /home/luoshi/bin/controller/projects/target/_build/target.prj; '
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdout.read().decode() # 需要read一下才能正常执行
|
||||
stderr.read().decode()
|
||||
ssh.close()
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, tab_name, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name)
|
||||
else:
|
||||
return eval(_msg.split('#')[2])
|
||||
@ -1,16 +1,14 @@
|
||||
from json import load, dumps
|
||||
from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
|
||||
from json import load, dumps, loads
|
||||
from socket import socket, AF_INET, SOCK_STREAM
|
||||
from threading import Thread
|
||||
import selectors
|
||||
from time import time, sleep
|
||||
from os.path import dirname
|
||||
from pymodbus.client.tcp import ModbusTcpClient
|
||||
from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
|
||||
from pymodbus.constants import Endian
|
||||
from commons import clibs
|
||||
|
||||
MAX_FRAME_SIZE = 1024
|
||||
setdefaulttimeout(2)
|
||||
current_path = dirname(__file__)
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
class ModbusRequest(object):
|
||||
@ -18,102 +16,92 @@ class ModbusRequest(object):
|
||||
super().__init__()
|
||||
self.w2t = w2t
|
||||
self.tab_name = 'openapi'
|
||||
self.host = '192.168.0.160'
|
||||
self.host = clibs.ip_addr
|
||||
self.port = 502
|
||||
self.interval = 0.3
|
||||
self.c = ModbusTcpClient(self.host, self.port)
|
||||
self.c.connect()
|
||||
|
||||
def motor_off(self):
|
||||
try:
|
||||
self.c.write_register(40002, 0)
|
||||
sleep(self.interval)
|
||||
self.c.write_register(40002, 1)
|
||||
sleep(self.interval)
|
||||
self.c.write_register(40002, 0)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def motor_on(self):
|
||||
try:
|
||||
self.c.write_register(40003, 0)
|
||||
sleep(self.interval)
|
||||
self.c.write_register(40003, 1)
|
||||
sleep(self.interval)
|
||||
self.c.write_register(40003, 0)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def trigger_estop(self):
|
||||
try:
|
||||
self.c.write_register(40012, 0)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法触发软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法触发软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def reset_estop(self):
|
||||
try:
|
||||
self.c.write_register(40012, 1)
|
||||
sleep(0.2)
|
||||
sleep(self.interval)
|
||||
self.c.write_register(40001, 0)
|
||||
sleep(0.2)
|
||||
sleep(self.interval)
|
||||
self.c.write_register(40001, 1)
|
||||
sleep(0.2)
|
||||
sleep(self.interval)
|
||||
self.c.write_register(40001, 0)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def clear_alarm(self):
|
||||
try:
|
||||
self.c.write_register(40000, 1)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法清除告警，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法清除告警，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def get_cart_vel(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(40537, 7)
|
||||
print(f"cart vel: {results.registers}")
|
||||
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取笛卡尔速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法读取笛卡尔速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def get_jnt_vel(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(40579, 7)
|
||||
print(f"joint vel: {results.registers}")
|
||||
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取关节速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法读取关节速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def get_tcp_vel(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(40607, 7)
|
||||
print(f"tcp vel: {results.registers}")
|
||||
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取TCP速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法读取TCP速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def get_tcp_mag_vel(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(40621, 1)
|
||||
print(f"tcp mag: {results.registers}")
|
||||
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取TCP合成速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法读取TCP合成速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def write_act(self, number):
|
||||
try:
|
||||
self.c.write_register(41000, number)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法发送执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法发送执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def read_ready_to_go(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(41001, 1)
|
||||
return results.registers[0]
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def read_scenario_time(self):
|
||||
try:
|
||||
@ -122,15 +110,13 @@ class ModbusRequest(object):
|
||||
result = f"{result.decode_32bit_float():.3f}"
|
||||
return result
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def write_stop0(self, number):
|
||||
try:
|
||||
self.c.write_register(41004, number)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法通过IO操作stop0急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法通过IO操作stop0急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def write_speed_max(self, speed):
|
||||
try:
|
||||
@ -139,16 +125,14 @@ class ModbusRequest(object):
|
||||
payload = builder.build()
|
||||
self.c.write_registers(41005, payload, skip_encode=True)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def read_brake_done(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(41007, 1)
|
||||
return results.registers[0]
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取制动已执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法读取制动已执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def write_axis(self, axis):
|
||||
try:
|
||||
@ -157,22 +141,19 @@ class ModbusRequest(object):
|
||||
payload = builder.to_registers()
|
||||
self.c.write_registers(41008, payload)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def write_probe(self, probe):
|
||||
try:
|
||||
self.c.write_register(41010, probe)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def write_pon(self, pon): # positive or negative
|
||||
try:
|
||||
self.c.write_register(41011, pon)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
self.w2t(f"{Err}\n无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
|
||||
class HmiRequest(object):
|
||||
@ -196,6 +177,7 @@ class HmiRequest(object):
|
||||
self.half_length = 0
|
||||
self.index = 0
|
||||
self.reset_index = 0
|
||||
self.durable_lock = 0
|
||||
|
||||
self.sock_conn()
|
||||
self.t_heartbeat = Thread(target=self.heartbeat)
|
||||
@ -210,21 +192,19 @@ class HmiRequest(object):
|
||||
|
||||
def sock_conn(self):
|
||||
# while True:
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "r", encoding='utf-8') as f_hb:
|
||||
with open(clibs.heartbeat, "r", encoding='utf-8') as f_hb:
|
||||
c_state = f_hb.read().strip()
|
||||
if c_state == '0':
|
||||
try:
|
||||
self.c = socket(AF_INET, SOCK_STREAM)
|
||||
self.c.connect(('192.168.0.160', 5050))
|
||||
# self.c.connect(('192.168.84.129', 5050))
|
||||
self.c.connect((clibs.ip_addr, 5050))
|
||||
self.c.setblocking(False)
|
||||
self.c_xs = socket(AF_INET, SOCK_STREAM)
|
||||
self.c_xs.connect(('192.168.0.160', 6666))
|
||||
# self.c_xs.connect(('192.168.84.129', 6666))
|
||||
self.c_xs.connect((clibs.ip_addr, 6666))
|
||||
self.c_xs.setblocking(False)
|
||||
|
||||
self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write('1')
|
||||
md = ModbusRequest(self.w2t)
|
||||
md.reset_estop()
|
||||
@ -234,7 +214,7 @@ class HmiRequest(object):
|
||||
md.write_axis(1)
|
||||
except Exception as Err:
|
||||
self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write('0')
|
||||
|
||||
def header_check(self, index, data):
|
||||
@ -262,28 +242,29 @@ class HmiRequest(object):
|
||||
# print(f"in head check data: {data}")
|
||||
|
||||
self.broke = 100
|
||||
index += MAX_FRAME_SIZE
|
||||
index += clibs.MAX_FRAME_SIZE
|
||||
return index, 0, 0
|
||||
|
||||
def heartbeat(self):
|
||||
while self.t_bool:
|
||||
_id = self.execution('controller.heart')
|
||||
_flag = '0' if self.get_from_id(_id) is None else '1'
|
||||
print(f"hb = {_flag}", end=' ')
|
||||
print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
|
||||
print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
# print(f"hb = {_flag}", end=' ')
|
||||
# print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
|
||||
# print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
|
||||
with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write(_flag)
|
||||
if _flag == '0':
|
||||
self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
|
||||
sleep(1.5)
|
||||
# with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
|
||||
# for msg in self.c_msg:
|
||||
# f.write(str(loads(msg)) + '\n')
|
||||
sleep(2)
|
||||
|
||||
def msg_storage(self, response, flag=0):
|
||||
# response是解码后的字符串
|
||||
messages = self.c_msg if flag == 0 else self.c_msg_xs
|
||||
if len(messages) < 20000:
|
||||
logger.debug(f"{loads(response)}")
|
||||
if 'move.monitor' in response:
|
||||
pass
|
||||
elif len(messages) < 10000:
|
||||
messages.insert(0, response)
|
||||
else:
|
||||
messages.insert(0, response)
|
||||
@ -327,7 +308,7 @@ class HmiRequest(object):
|
||||
# print(f"broke == 0 index = {self.index-8}")
|
||||
# print(f"broke == 0 INIT pkg size = {self.pkg_size}")
|
||||
# print(f"broke == 0 data = {data}")
|
||||
if self.index > MAX_FRAME_SIZE:
|
||||
if self.index > clibs.MAX_FRAME_SIZE:
|
||||
break
|
||||
# 详见解包原理数据.txt，self.pkg_size 永远是除了当前data之外剩余未处理的数据大小
|
||||
if self.pkg_size <= len(data) - self.index:
|
||||
@ -371,15 +352,15 @@ class HmiRequest(object):
|
||||
# print('flag = 0 encounter broke == 3')
|
||||
self.broke = 3
|
||||
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.index += clibs.MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
|
||||
break # 因为 index + 2 的大小超过 clibs.MAX_FRAME_SIZE
|
||||
|
||||
elif self.index+_frame_size-6 > len(data):
|
||||
self.response = data[self.index:].decode()
|
||||
self.pkg_size -= (len(data) - self.index) # 详见解包原理数据.txt，self.pkg_size
|
||||
self.leftover = (_frame_size-6-(len(data)-self.index))
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.index += clibs.MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
|
||||
# print(f"in flag=0 else data = {data}")
|
||||
@ -448,9 +429,9 @@ class HmiRequest(object):
|
||||
# print('flag = 1 encounter broke == 3')
|
||||
self.broke = 3
|
||||
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.index += clibs.MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
|
||||
break # 因为 index + 2 的大小超过 clibs.MAX_FRAME_SIZE
|
||||
# print(f"in pkg size > 0 loop after if data = {data}")
|
||||
# print(f"in pkg size > 0 loop after if index = {self.index}")
|
||||
# print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
|
||||
@ -467,7 +448,7 @@ class HmiRequest(object):
|
||||
self.response += data[self.index:].decode()
|
||||
self.leftover -= (len(data) - self.index)
|
||||
self.pkg_size -= (len(data) - self.index)
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.index += clibs.MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
# print(f"in pkg size > 0 loop after else data = {data}")
|
||||
# print(f"in pkg size > 0 loop after else index = {self.index}")
|
||||
@ -521,14 +502,20 @@ class HmiRequest(object):
|
||||
|
||||
def get_from_id(self, msg_id, flag=0):
|
||||
for i in range(3):
|
||||
messages = self.c_msg if flag == 0 else self.c_msg_xs
|
||||
for msg in messages:
|
||||
if msg_id is None:
|
||||
return None
|
||||
elif msg_id in msg:
|
||||
return msg
|
||||
with open(clibs.log_data_hmi, mode='r', encoding='utf-8') as f_log:
|
||||
for line in f_log:
|
||||
if msg_id in line.strip():
|
||||
return line
|
||||
sleep(1)
|
||||
else:
|
||||
else: # 尝试在上一次分割的日志中查找，只做一次
|
||||
sleep(1)
|
||||
try:
|
||||
with open(clibs.log_data_hmi+'.1', mode='r', encoding='utf-8') as f_log:
|
||||
for line in f_log:
|
||||
if msg_id in line.strip():
|
||||
return line
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
return None
|
||||
|
||||
def package(self, cmd):
|
||||
@ -543,7 +530,7 @@ class HmiRequest(object):
|
||||
|
||||
def unpackage(self, sock):
|
||||
def to_read(conn, mask):
|
||||
data = conn.recv(MAX_FRAME_SIZE)
|
||||
data = conn.recv(clibs.MAX_FRAME_SIZE)
|
||||
if data:
|
||||
# print(data)
|
||||
self.get_response(data)
|
||||
@ -590,7 +577,7 @@ class HmiRequest(object):
|
||||
if flg == 0: # for old protocols
|
||||
req = None
|
||||
try:
|
||||
with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8',
|
||||
with open(f'{clibs.PREFIX}templates/json/{command}.json', encoding='utf-8',
|
||||
mode='r') as f_json:
|
||||
req = load(f_json)
|
||||
except:
|
||||
@ -616,6 +603,8 @@ class HmiRequest(object):
|
||||
req['data']['type'] = kwargs['type']
|
||||
req['data']['bias'] = kwargs['bias']
|
||||
req['data']['value'] = kwargs['value']
|
||||
case 'diagnosis.save':
|
||||
req['data']['save'] = kwargs['save']
|
||||
case _:
|
||||
pass
|
||||
|
||||
@ -626,7 +615,7 @@ class HmiRequest(object):
|
||||
self.c.send(self.package(cmd))
|
||||
sleep(0.5)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
|
||||
self.w2t(f"{cmd}: 请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
|
||||
|
||||
return req['id']
|
||||
|
||||
@ -1 +0,0 @@
|
||||
__all__ = ['brake', 'current', 'iso', 'wavelogger']
|
||||
@ -1,49 +1,12 @@
|
||||
# coding: utf-8
|
||||
from os import scandir
|
||||
from os.path import isfile, exists
|
||||
from os.path import isfile
|
||||
from sys import argv
|
||||
from openpyxl import load_workbook
|
||||
from time import time, sleep, strftime, localtime
|
||||
from threading import Thread
|
||||
from pandas import read_csv
|
||||
from commons import clibs
|
||||
|
||||
|
||||
class GetThreadResult(Thread):
|
||||
def __init__(self, func, args=()):
|
||||
super(GetThreadResult, self).__init__()
|
||||
self.func = func
|
||||
self.args = args
|
||||
self.result = 0
|
||||
|
||||
def run(self):
|
||||
sleep(1)
|
||||
self.result = self.func(*self.args)
|
||||
|
||||
def get_result(self):
|
||||
Thread.join(self) # 等待线程执行完毕
|
||||
try:
|
||||
return self.result
|
||||
except Exception as Err:
|
||||
return None
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def check_files(path, raw_data_dirs, result_files, w2t):
|
||||
@ -83,7 +46,7 @@ def check_files(path, raw_data_dirs, result_files, w2t):
|
||||
规则解释：AA/BB/CC 指的是臂展/负载/速度的比例，例如reach66_load100_speed33：66%臂展，100%负载以及33%速度情况下的测试结果文件夹"""
|
||||
w2t(msg, 0, 4, 'red')
|
||||
|
||||
_, raw_data_files = traversal_files(raw_data_dir, w2t)
|
||||
_, raw_data_files = clibs.traversal_files(raw_data_dir, w2t)
|
||||
if len(raw_data_files) != 3:
|
||||
msg = f"数据目录 {raw_data_dir} 下数据文件个数错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
|
||||
w2t(msg, 0, 5, 'red')
|
||||
@ -109,6 +72,7 @@ def get_configs(configfile, w2t):
|
||||
|
||||
return av, rr
|
||||
|
||||
|
||||
def now_doing_msg(docs, flag, w2t):
|
||||
# 功能：输出正在处理的文件或目录
|
||||
# 参数：文件或目录，start 或 done 标识
|
||||
@ -228,7 +192,7 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
|
||||
|
||||
global stop
|
||||
stop = 0
|
||||
t_excel = GetThreadResult(load_workbook, args=(result_file, ))
|
||||
t_excel = clibs.GetThreadResult(load_workbook, args=(result_file, ))
|
||||
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
|
||||
t_excel.start()
|
||||
t_wait.start()
|
||||
@ -242,7 +206,7 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
|
||||
for raw_data_dir in raw_data_dirs:
|
||||
if raw_data_dir.split('\\')[-1].split('_')[0] == prefix:
|
||||
now_doing_msg(raw_data_dir, 'start', w2t)
|
||||
_, data_files = traversal_files(raw_data_dir, w2t)
|
||||
_, data_files = clibs.traversal_files(raw_data_dir, w2t)
|
||||
# 数据文件串行处理模式---------------------------------
|
||||
# count = 1
|
||||
# for data_file in data_files:
|
||||
@ -280,7 +244,7 @@ def main(path, vel, trq, estop, w2t):
|
||||
# 参数：initialization函数的返回值
|
||||
# 返回值：-
|
||||
time_start = time()
|
||||
raw_data_dirs, result_files = traversal_files(path, w2t)
|
||||
raw_data_dirs, result_files = clibs.traversal_files(path, w2t)
|
||||
|
||||
try:
|
||||
# threads = []
|
||||
|
||||
@ -1,31 +1,13 @@
|
||||
from openpyxl import load_workbook
|
||||
from os import scandir
|
||||
from os.path import exists
|
||||
from sys import argv
|
||||
from pandas import read_csv, concat, set_option
|
||||
from re import match
|
||||
from threading import Thread
|
||||
from time import sleep
|
||||
from csv import reader, writer
|
||||
from commons import clibs
|
||||
|
||||
|
||||
class GetThreadResult(Thread):
|
||||
def __init__(self, func, args=()):
|
||||
super(GetThreadResult, self).__init__()
|
||||
self.func = func
|
||||
self.args = args
|
||||
self.result = 0
|
||||
|
||||
def run(self):
|
||||
sleep(1)
|
||||
self.result = self.func(*self.args)
|
||||
|
||||
def get_result(self):
|
||||
Thread.join(self) # 等待线程执行完毕
|
||||
try:
|
||||
return self.result
|
||||
except Exception as Err:
|
||||
return None
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def w2t_local(msg, wait, w2t):
|
||||
@ -38,27 +20,8 @@ def w2t_local(msg, wait, w2t):
|
||||
break
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 8, 'red')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
|
||||
|
||||
def initialization(path, sub, w2t):
|
||||
_, data_files = traversal_files(path, w2t)
|
||||
_, data_files = clibs.traversal_files(path, w2t)
|
||||
count = 0
|
||||
|
||||
for data_file in data_files:
|
||||
@ -69,8 +32,8 @@ def initialization(path, sub, w2t):
|
||||
count += 1
|
||||
else:
|
||||
if not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)):
|
||||
print(f"不合规 {data_file}")
|
||||
msg = f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。"
|
||||
msg = f"不合规 {data_file}\n"
|
||||
msg += f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。"
|
||||
w2t(msg, 0, 6, 'red')
|
||||
|
||||
if not ((sub == 'cycle' and count == 2) or (sub != 'cycle' and count == 1)):
|
||||
@ -79,7 +42,7 @@ def initialization(path, sub, w2t):
|
||||
return data_files
|
||||
|
||||
|
||||
def current_max(data_files, rcs, trqh, w2t):
|
||||
def current_max(data_files, rcs, trq, w2t):
|
||||
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
|
||||
for data_file in data_files:
|
||||
if data_file.endswith('.data'):
|
||||
@ -93,8 +56,8 @@ def current_max(data_files, rcs, trqh, w2t):
|
||||
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
|
||||
rca = rcs[axis-1]
|
||||
|
||||
col = df.columns.values[trqh-1]
|
||||
c_max = df[col].max()
|
||||
col = df.columns.values[trq-1]
|
||||
c_max = df[col].abs().max()
|
||||
|
||||
scale = 1 if data_file.endswith('.csv') else 1000
|
||||
_ = abs(c_max/scale*rca)
|
||||
@ -118,7 +81,7 @@ def current_max(data_files, rcs, trqh, w2t):
|
||||
return current
|
||||
|
||||
|
||||
def current_avg(data_files, rcs, trqh, w2t):
|
||||
def current_avg(data_files, rcs, trq, w2t):
|
||||
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
|
||||
for data_file in data_files:
|
||||
if data_file.endswith('.data'):
|
||||
@ -132,7 +95,7 @@ def current_avg(data_files, rcs, trqh, w2t):
|
||||
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
|
||||
rca = rcs[axis-1]
|
||||
|
||||
col = df.columns.values[trqh - 1]
|
||||
col = df.columns.values[trq-1]
|
||||
c_std = df[col].std()
|
||||
c_avg = df[col].mean()
|
||||
|
||||
@ -158,7 +121,7 @@ def current_avg(data_files, rcs, trqh, w2t):
|
||||
return current
|
||||
|
||||
|
||||
def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
|
||||
def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
|
||||
result = None
|
||||
hold = []
|
||||
single = []
|
||||
@ -174,7 +137,7 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
|
||||
w2t(f"正在打开文件 {result}，需要 10s 左右", 1, 0, 'orange')
|
||||
global stop
|
||||
stop = 0
|
||||
t_excel = GetThreadResult(load_workbook, args=(result, ))
|
||||
t_excel = clibs.GetThreadResult(load_workbook, args=(result, ))
|
||||
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
|
||||
t_excel.start()
|
||||
t_wait.start()
|
||||
@ -189,14 +152,14 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
|
||||
for axis, cur_value in avg.items():
|
||||
try:
|
||||
shtname = f"J{axis}"
|
||||
wb[shtname]["J4"].value = float(cur_value)
|
||||
wb[shtname]["J4"].value = float(cur_value[0])
|
||||
except:
|
||||
pass
|
||||
|
||||
if dur == 0:
|
||||
p_single(wb, single, vel, trq, rpms, w2t)
|
||||
p_single(wb, single, vel, trq, rpms, rrs, w2t)
|
||||
else:
|
||||
p_scenario(wb, single, vel, trq, rpms, dur, w2t)
|
||||
p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t)
|
||||
|
||||
w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange')
|
||||
stop = 0
|
||||
@ -239,7 +202,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
|
||||
w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, 0, 'red')
|
||||
|
||||
|
||||
def p_single(wb, single, vel, trq, rpms, w2t):
|
||||
def p_single(wb, single, vel, trq, rpms, rrs, w2t):
|
||||
# 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑
|
||||
# 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑
|
||||
# 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置
|
||||
@ -253,7 +216,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
|
||||
set_option("display.precision", 2)
|
||||
if data_file.endswith('.data'):
|
||||
df = read_csv(data_file, sep='\t')
|
||||
rr = float(wb['统计'].cell(row=2, column=axis+1).value)
|
||||
rr = rrs[axis-1]
|
||||
addition = 180 / 3.1415926 * 60 / 360 * rr
|
||||
elif data_file.endswith('.csv'):
|
||||
df = read_csv(data_file, sep=',', encoding='gbk', header=8)
|
||||
@ -270,6 +233,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
|
||||
col_names = list(df.columns)
|
||||
df_1 = df[col_names[vel-1]].multiply(rpm*addition)
|
||||
df_2 = df[col_names[trq-1]].multiply(scale)
|
||||
# print(df_1.abs().max())
|
||||
df = concat([df_1, df_2], axis=1)
|
||||
|
||||
_step = 5 if data_file.endswith('.csv') else 50
|
||||
@ -320,7 +284,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
|
||||
cell.value = None
|
||||
|
||||
|
||||
def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
|
||||
def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
|
||||
for data_file in single:
|
||||
cycle = 0.001
|
||||
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
|
||||
@ -332,7 +296,7 @@ def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
|
||||
set_option("display.precision", 2)
|
||||
if data_file.endswith('.data'):
|
||||
df = read_csv(data_file, sep='\t')
|
||||
rr = float(wb['统计'].cell(row=2, column=axis+1).value)
|
||||
rr = rrs[axis-1]
|
||||
addition = 180 / 3.1415926 * 60 / 360 * rr
|
||||
elif data_file.endswith('.csv'):
|
||||
df = read_csv(data_file, sep=',', encoding='gbk', header=8)
|
||||
@ -376,6 +340,7 @@ def get_configs(configfile, w2t):
|
||||
_wb = load_workbook(configfile, read_only=True)
|
||||
_ws = _wb['Target']
|
||||
rcs = []
|
||||
rrs = []
|
||||
rpms = []
|
||||
for i in range(2, 9):
|
||||
try:
|
||||
@ -388,18 +353,23 @@ def get_configs(configfile, w2t):
|
||||
except:
|
||||
rcs.append(0.0)
|
||||
|
||||
return rpms, rcs
|
||||
try:
|
||||
rrs.append(float(_ws.cell(row=2, column=i).value))
|
||||
except:
|
||||
rrs.append(0.0)
|
||||
|
||||
return rpms, rcs, rrs
|
||||
|
||||
|
||||
def main(path, sub, dur, vel, trq, trqh, w2t):
|
||||
data_files = initialization(path, sub, w2t)
|
||||
rpms, rcs = get_configs(path + '\\configs.xlsx', w2t)
|
||||
rpms, rcs, rrs = get_configs(path + '\\configs.xlsx', w2t)
|
||||
if sub == 'max':
|
||||
current_max(data_files, rcs, trqh, w2t)
|
||||
current_max(data_files, rcs, trq, w2t)
|
||||
elif sub == 'avg':
|
||||
current_avg(data_files, rcs, trqh, w2t)
|
||||
current_avg(data_files, rcs, trq, w2t)
|
||||
elif sub == 'cycle':
|
||||
current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t)
|
||||
current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t)
|
||||
else:
|
||||
pass
|
||||
|
||||
|
||||
@ -1,27 +1,10 @@
|
||||
# _*_ encoding：utf-8 _*_
|
||||
import pdfplumber
|
||||
from openpyxl import load_workbook
|
||||
from os import scandir, remove
|
||||
from os.path import exists
|
||||
from os import remove
|
||||
from sys import argv
|
||||
from commons import clibs
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red')
|
||||
else:
|
||||
dirs = files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def p_iso(file, p_files, ws, tmpfile):
|
||||
@ -153,7 +136,7 @@ def p_iso_1000(file, p_files, ws, tmpfile):
|
||||
|
||||
|
||||
def main(path, w2t):
|
||||
dirs, files = traversal_files(path, 1)
|
||||
dirs, files = clibs.traversal_files(path, 1)
|
||||
|
||||
try:
|
||||
wb = load_workbook(path + "/iso-results.xlsx")
|
||||
|
||||
@ -1,31 +1,10 @@
|
||||
import os
|
||||
import random
|
||||
|
||||
from pandas import read_csv
|
||||
from csv import reader
|
||||
from sys import argv
|
||||
from os.path import exists
|
||||
from os import scandir, remove
|
||||
from openpyxl import Workbook
|
||||
from random import randint
|
||||
from commons import clibs
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def find_point(bof, step, pos, data_file, flag, df, row, w2t):
|
||||
@ -95,7 +74,7 @@ def get_cycle_info(data_file, df, row, step, w2t):
|
||||
|
||||
|
||||
def initialization(path, w2t):
|
||||
_, data_files = traversal_files(path, w2t)
|
||||
_, data_files = clibs.traversal_files(path, w2t)
|
||||
|
||||
for data_file in data_files:
|
||||
if not data_file.lower().endswith('.csv'):
|
||||
@ -126,7 +105,7 @@ def single_file_proc(ws, data_file, df, low, high, cycle, w2t):
|
||||
_step = 5
|
||||
_data = {}
|
||||
row_max = df.index[-1]-100
|
||||
print(data_file)
|
||||
# print(data_file)
|
||||
while _row < row_max:
|
||||
if count not in _data.keys():
|
||||
_data[count] = []
|
||||
@ -149,7 +128,7 @@ def single_file_proc(ws, data_file, df, low, high, cycle, w2t):
|
||||
ws.cell(row=1, column=i).value = f"第{i-1}次测试"
|
||||
ws.cell(row=i, column=1).value = f"第{i-1}次精度变化"
|
||||
|
||||
print(_data)
|
||||
# print(_data)
|
||||
for i in sorted(_data.keys()):
|
||||
_row = 2
|
||||
_column = i + 1
|
||||
@ -162,9 +141,9 @@ def execution(data_files, w2t):
|
||||
wb = Workbook()
|
||||
for data_file in data_files:
|
||||
ws, df, low, high, cycle = preparation(data_file, wb, w2t)
|
||||
print(f"low = {low}")
|
||||
print(f"high = {high}")
|
||||
print(f"cycle = {cycle}")
|
||||
# print(f"low = {low}")
|
||||
# print(f"high = {high}")
|
||||
# print(f"cycle = {cycle}")
|
||||
single_file_proc(ws, data_file, df, low, high, cycle, w2t)
|
||||
|
||||
wd = data_files[0].split('\\')
|
||||
|
||||
224
aio/code/durable_action/factory_test.py
Normal file
224
aio/code/durable_action/factory_test.py
Normal file
@ -0,0 +1,224 @@
|
||||
from sys import argv
|
||||
from json import loads
|
||||
from time import sleep, time, strftime, localtime
|
||||
from pandas import DataFrame
|
||||
from openpyxl import load_workbook
|
||||
from math import sqrt
|
||||
from numpy import power
|
||||
from csv import writer
|
||||
from commons import clibs
|
||||
|
||||
logger = clibs.log_prod
|
||||
tab_name = clibs.tab_names['da']
|
||||
count = 0
|
||||
display_pdo_params = [
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 2},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 3},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 4},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 5},
|
||||
{"name": "device_servo_trq_feedback", "channel": 0},
|
||||
{"name": "device_servo_trq_feedback", "channel": 1},
|
||||
{"name": "device_servo_trq_feedback", "channel": 2},
|
||||
{"name": "device_servo_trq_feedback", "channel": 3},
|
||||
{"name": "device_servo_trq_feedback", "channel": 4},
|
||||
{"name": "device_servo_trq_feedback", "channel": 5},
|
||||
]
|
||||
title = [
|
||||
'time', 'trq-1', 'trq-2', 'trq-3', 'trq-4', 'trq-5', 'trq-6', 'trq-max-1', 'trq-max-2', 'trq-max-3', 'trq-max-4',
|
||||
'trq-max-5', 'trq-max-6'
|
||||
]
|
||||
|
||||
|
||||
def check_files(data_dirs, data_files, w2t):
|
||||
if len(data_dirs) != 0 or len(data_files) != 2:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, 10, 'red', tab_name)
|
||||
|
||||
_files = [data_files[0].split('\\')[-1], data_files[1].split('\\')[-1]]
|
||||
_files.sort()
|
||||
if _files != ['configs.xlsx', 'target.zip']:
|
||||
w2t('初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, 10, 'red', tab_name)
|
||||
|
||||
data_files.sort()
|
||||
return data_files
|
||||
|
||||
|
||||
def run_rl(path, config_file, data_all, hr, md, w2t):
|
||||
# 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
|
||||
clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
|
||||
clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
|
||||
md.trigger_estop()
|
||||
md.reset_estop()
|
||||
md.write_act(False)
|
||||
sleep(1) # 让曲线彻底关闭
|
||||
|
||||
# 2. reload工程后，pp2main，并且自动模式和上电
|
||||
prj_path = 'target/_build/target.prj'
|
||||
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
|
||||
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
|
||||
clibs.execution('state.switch_auto', hr, w2t, tab_name)
|
||||
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
|
||||
|
||||
# 3. 开始运行程序
|
||||
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
|
||||
_t_start = time()
|
||||
while True:
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(True)
|
||||
break
|
||||
else:
|
||||
if (time() - _t_start) // 20 > 1:
|
||||
w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
|
||||
else:
|
||||
sleep(1)
|
||||
|
||||
# 4. 获取初始数据，周期时间，首次的各轴平均电流值，打开诊断曲线，并执行采集
|
||||
sleep(20) # 初始化 scenario time 为 0
|
||||
_t_start = time()
|
||||
while True:
|
||||
scenario_time = md.read_scenario_time()
|
||||
if float(scenario_time) > 1:
|
||||
w2t(f"场景的周期时间：{scenario_time}s", 0, 0, 'green', tab_name)
|
||||
break
|
||||
else:
|
||||
if (time() - _t_start) // 60 > 3:
|
||||
w2t(f"未收到场景的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
|
||||
else:
|
||||
sleep(5)
|
||||
sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
|
||||
scenario_time = float(md.read_scenario_time())
|
||||
sleep(scenario_time*0.2)
|
||||
|
||||
# 6. 准备初始数据，关闭诊断曲线，保留数据并处理输出
|
||||
with open(f'{path}\\results.csv', mode='a+', newline='') as f_csv:
|
||||
csv_writer = writer(f_csv)
|
||||
csv_writer.writerow(title)
|
||||
_wb = load_workbook(config_file, read_only=True)
|
||||
_ws = _wb['Target']
|
||||
wait_time = float(_ws.cell(row=2, column=10).value)
|
||||
rcs = []
|
||||
for i in range(6):
|
||||
rcs.append(float(_ws.cell(row=6, column=i + 2).value))
|
||||
|
||||
get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t)
|
||||
|
||||
# 7. 继续运行
|
||||
while True:
|
||||
# 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线
|
||||
sleep(wait_time+scenario_time+7)
|
||||
# 保留数据并处理输出
|
||||
get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t)
|
||||
|
||||
|
||||
def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
|
||||
_data_list = []
|
||||
_c_msg = hr.c_msg.copy()
|
||||
for _msg in _c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
_data_list.insert(0, loads(_msg))
|
||||
else:
|
||||
hr.c_msg_xs.clear()
|
||||
if len(hr.c_msg) > 270:
|
||||
del hr.c_msg[270:]
|
||||
|
||||
# with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj:
|
||||
# for _ in _data_list:
|
||||
# f_obj.write(f"{_}\n")
|
||||
|
||||
_d2d_trq = {0: [], 1: [], 2: [], 3: [], 4: [], 5: []}
|
||||
|
||||
for line in _data_list:
|
||||
for item in line['data']:
|
||||
for i in range(6):
|
||||
item['value'].reverse()
|
||||
if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq[i].extend(item['value'])
|
||||
|
||||
if len(_d2d_trq[0]) / 1000 > scenario_time + 1:
|
||||
this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
|
||||
next_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()+wait_time+10+scenario_time)).split()[-1]
|
||||
_df = DataFrame(_d2d_trq)
|
||||
_flg = 0
|
||||
_res = []
|
||||
for i in range(6):
|
||||
def overmax_data(df, index, number, flag):
|
||||
if number > 100:
|
||||
md.trigger_estop()
|
||||
hr.durable_quit = 1
|
||||
df.to_excel(f'{path}\\{this_time}.xlsx')
|
||||
w2t(f"[{this_time}] {flag}-axis-{index} 数据过大错误，需要检查确定。", 0, 10, 'red', tab_name)
|
||||
|
||||
try:
|
||||
_ = sqrt(_df[i].apply(lambda x: power((rcs[i]*x/1000), 2)).sum()/len(_df[i]))
|
||||
except:
|
||||
md.trigger_estop()
|
||||
_df.to_excel(path+"\\err_data.xlsx")
|
||||
w2t(f"{i}calculate error", 0, 11, 'red', tab_name)
|
||||
|
||||
if not _flg:
|
||||
del data[0]['time'][0]
|
||||
data[0]['time'].append(this_time.split()[-1])
|
||||
del data[1]['time'][0]
|
||||
data[1]['time'].append(this_time.split()[-1])
|
||||
_res.append(this_time)
|
||||
_flg = 1
|
||||
|
||||
del data[0][f"axis{i + 1}"][0]
|
||||
overmax_data(_df, i, _, 'trq')
|
||||
data[0][f"axis{i + 1}"].append(_)
|
||||
_res.append(_)
|
||||
|
||||
_ = rcs[i] * _df[i].abs().max() / 1000
|
||||
overmax_data(_df, i, _, 'trq-max')
|
||||
del data[1][f"axis{i + 1}"][0]
|
||||
data[1][f"axis{i + 1}"].append(_)
|
||||
_res.append(_)
|
||||
|
||||
_df_1 = DataFrame(data[0])
|
||||
_df_2 = DataFrame(data[1])
|
||||
with open(f'{path}\\results.csv', mode='a+', newline='') as f_csv:
|
||||
def change_order(res):
|
||||
_time = res[0:1]
|
||||
_trq = []
|
||||
_trq_max = []
|
||||
for _item in res[1::2]:
|
||||
_trq.append(_item)
|
||||
for _item in res[2::2]:
|
||||
_trq_max.append(_item)
|
||||
return _time + _trq + _trq_max
|
||||
|
||||
csv_writer = writer(f_csv)
|
||||
csv_writer.writerow(change_order(_res))
|
||||
|
||||
while True:
|
||||
if not hr.durable_lock:
|
||||
hr.durable_lock = 1
|
||||
_df_1.to_excel(clibs.durable_data_current_xlsx, index=False)
|
||||
_df_2.to_excel(clibs.durable_data_current_max_xlsx, index=False)
|
||||
hr.durable_lock = 0
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
global count
|
||||
count += 1
|
||||
w2t(f"[{this_time}] 当前次数：{count:09d} | 预计下次数据更新时间：{next_time}", 0, 0, '#008B8B', tab_name)
|
||||
break
|
||||
else:
|
||||
md.trigger_estop()
|
||||
with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj:
|
||||
for _ in _d2d_trq[0]:
|
||||
f_obj.write(f"{_}\n")
|
||||
w2t("采集的数据时间长度不够，需要确认。", 0, 10, 'red', tab_name)
|
||||
|
||||
|
||||
def main(path, hr, md, w2t):
|
||||
data_all = [clibs.durable_data_current, clibs.durable_data_current_max]
|
||||
data_dirs, data_files = clibs.traversal_files(path, w2t)
|
||||
config_file, prj_file = check_files(data_dirs, data_files, w2t)
|
||||
clibs.prj_to_xcore(prj_file)
|
||||
run_rl(path, config_file, data_all, hr, md, w2t)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main(*argv[1:])
|
||||
2
dial_gauge/README.md
Normal file
2
dial_gauge/README.md
Normal file
@ -0,0 +1,2 @@
|
||||
## 千分表数据自动采集
|
||||
|
||||
6
dial_gauge/conf.ini
Normal file
6
dial_gauge/conf.ini
Normal file
@ -0,0 +1,6 @@
|
||||
[md_rtu]
|
||||
port = COM10
|
||||
|
||||
[md_tcp]
|
||||
addr = 192.168.0.160
|
||||
port = 502
|
||||
99
dial_gauge/gauge.py
Normal file
99
dial_gauge/gauge.py
Normal file
@ -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()
|
||||
43
dial_gauge/gauge.xml
Normal file
43
dial_gauge/gauge.xml
Normal file
@ -0,0 +1,43 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<m>
|
||||
<l>
|
||||
<c name="addr" type="2" value="41000"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value="pc to robot"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="41000"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="act"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rd"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="41001"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value="robot to pc"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="41001"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="time_to_go"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
</m>
|
||||
BIN
dial_gauge/target_dial_gauge.zip
Normal file
BIN
dial_gauge/target_dial_gauge.zip
Normal file
Binary file not shown.
Reference in New Issue
Block a user