fixing merge

aio/code/aio.py

@@ -34,24 +34,6 @@ widgits_dp = {
 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'},
-    'av1': {'label': '', 'entry': '', 'row': 3, 'col': 2, 'text': '角速度'},
-    'av2': {'label': '', 'entry': '', 'row': 3, 'col': 4, 'text': '角速度'},
-    'av3': {'label': '', 'entry': '', 'row': 3, 'col': 6, 'text': '角速度'},
-    'av4': {'label': '', 'entry': '', 'row': 3, 'col': 8, 'text': '角速度'},
-    'av5': {'label': '', 'entry': '', 'row': 3, 'col': 10, 'text': '角速度'},
-    'av6': {'label': '', 'entry': '', 'row': 3, 'col': 12, 'text': '角速度'},
-    'rc1': {'label': '', 'entry': '', 'row': 4, 'col': 2, 'text': '额定电流'},
-    'rc2': {'label': '', 'entry': '', 'row': 4, 'col': 4, 'text': '额定电流'},
-    'rc3': {'label': '', 'entry': '', 'row': 4, 'col': 6, 'text': '额定电流'},
-    'rc4': {'label': '', 'entry': '', 'row': 4, 'col': 8, 'text': '额定电流'},
-    'rc5': {'label': '', 'entry': '', 'row': 4, 'col': 10, 'text': '额定电流'},
-    'rc6': {'label': '', 'entry': '', 'row': 4, 'col': 12, 'text': '额定电流'},
-    'rr1': {'label': '', 'entry': '', 'row': 5, 'col': 2, 'text': '额定转速'},
-    'rr2': {'label': '', 'entry': '', 'row': 5, 'col': 4, 'text': '额定转速'},
-    'rr3': {'label': '', 'entry': '', 'row': 5, 'col': 6, 'text': '额定转速'},
-    'rr4': {'label': '', 'entry': '', 'row': 5, 'col': 8, 'text': '额定转速'},
-    'rr5': {'label': '', 'entry': '', 'row': 5, 'col': 10, 'text': '额定转速'},
-    'rr6': {'label': '', 'entry': '', 'row': 5, 'col': 12, 'text': '额定转速'},
 }
 
 
@@ -147,12 +129,6 @@ class App(customtkinter.CTk):
                 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')
-            elif widgit in ['av1', 'av2', 'av3', 'av4', 'av5', 'av6', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6', 'rr1', 'rr2', 'rr3', 'rr4', 'rr5', 'rr6']:
-                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]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), width=self.w_param, placeholder_text=f"{widgits_at[widgit]['text']}", font=self.my_font)
-                widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, padx=(5, 10), pady=5, sticky='w')
-                widgits_at[widgit]['entry'].configure(state='disabled')
             elif widgit in ['loadsel', ]:
                 widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100"], width=self.w_param, font=self.my_font)
                 widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we')
@@ -162,7 +138,7 @@ class App(customtkinter.CTk):
         # 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')
-        self.textbox.configure(state='disabled')
+        self.textbox.configure(state='normal')
         # =====================================================================
         # version check
         cur_vers = self.label_version.cget("text").replace('\n', ' @ ').replace("Vers: ", '').replace("Date: ", '')
@@ -187,13 +163,12 @@ class App(customtkinter.CTk):
         value = self.seg_button.get()
 
         self.seg_button.configure(state='disabled')
-        self.textbox.configure(state='normal')
         # 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:
-            connection_state = f_h.read().strip()
+            c_state = f_h.read().strip()
 
-        if connection_state == '0' and value != '功能切换':
+        if c_state == '0' and value != '功能切换':
             self.write2textbox("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, 50, 'red')
         else:
             for _func in _btn_funcs:
@@ -202,23 +177,29 @@ class App(customtkinter.CTk):
                     break
 
         self.seg_button.configure(state='normal')
-        self.textbox.configure(state='disable')
         # self.tabview.configure(state='normal')
 
     def detect_network(self):
-        with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
-            f_h.write('0')
+        with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+            f_hb.write('0')
+        self.hr = openapi.HmiRequest(self.write2textbox)
+
         while True:
-            with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
-                pb_color = 'green' if f_h.read().strip() == '1' else 'red'
+            with open(f'{current_path}/../assets/templates/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)
-            sleep(1)
+                if c_state == '0':
+                    # self.textbox.delete(index1='1.0', index2='end')
+                    self.hr.t_bool = False
+                    sleep(4)
+                    del self.hr
+                    self.hr = openapi.HmiRequest(self.write2textbox)
+            sleep(3)
 
     def tabview_click(self):
         self.initialization()
-        self.textbox.configure(state='normal')
-        self.textbox.delete(index1='1.0', index2='end')
-        self.textbox.configure(state='disabled')
+        # self.textbox.delete(index1='1.0', index2='end')
 
         tab_name = self.tabview.get()
         if tab_name == 'Data Process':
@@ -226,23 +207,10 @@ class App(customtkinter.CTk):
         elif tab_name == 'Automatic Test':
             self.menu_main_at.set("Start Here!")
             self.seg_button.configure(state='normal')
-            with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
-                f_h.write('0')
-
-            self.textbox.configure(state='normal')
-            try:
-                self.hr.close_sock()
-                self.hr = openapi.HmiRequest(self.write2textbox)
-            except:
-                self.hr = openapi.HmiRequest(self.write2textbox)
-
-            # if connection_state == '0' or self.hr is None:
-            #     self.textbox.configure(state='normal')
-            #     self.hr = openapi.HmiRequest(self.write2textbox)
-                # self.textbox.configure(state='disabled')
 
     def initialization(self):
         tab_name = self.tabview.get()
+        self.textbox.delete(index1='1.0', index2='end')
         if tab_name == 'Data Process':
             for widgit in widgits_dp:
                 if widgit in ['path', 'dur']:
@@ -257,8 +225,6 @@ class App(customtkinter.CTk):
                     widgits_dp[widgit]['optionmenu'].configure(state='disabled')
 
             self.menu_sub_dp.grid_forget()
-            self.textbox.delete(index1='1.0', index2='end')
-            self.textbox.configure(state='disabled')
         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']:
@@ -299,7 +265,29 @@ class App(customtkinter.CTk):
                 self.initialization()
                 self.menu_main_dp.set("Start Here!")
         elif tab_name == 'Automatic Test':
-            pass
+            if func_name == 'brake':
+                for widgit in widgits_at:
+                    if widgit in ['path',]:
+                        widgits_at[widgit]['label'].configure(text_color='red')
+                        widgits_at[widgit]['entry'].delete(0, tkinter.END)
+                        widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                        widgits_at[widgit]['entry'].configure(state='normal')
+                    elif widgit in ['loadsel', ]:
+                        widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                        widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
+            elif func_name == 'current':
+                for widgit in widgits_at:
+                    if widgit in ['path',]:
+                        widgits_at[widgit]['label'].configure(text_color='red')
+                        widgits_at[widgit]['entry'].delete(0, tkinter.END)
+                        widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                        widgits_at[widgit]['entry'].configure(state='normal')
+                    elif widgit in ['loadsel', ]:
+                        widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                        widgits_at[widgit]['optionmenu'].configure(text_color='black', state='disabled')
+            else:
+                self.initialization()
+                self.menu_main_at.set("Start Here!")
 
     def func_sub_callback(self, func_name):
         if func_name == "max" or func_name == "avg":
@@ -340,24 +328,25 @@ class App(customtkinter.CTk):
                     widgits_dp[widgit]['optionmenu'].set('1')
                     widgits_dp[widgit]['optionmenu'].configure(state='disabled')
 
-    def write2textbox(self, text, wait=0, exitcode=0, color='blue'):
+    def write2textbox(self, text, wait=0, exitcode=0, color='blue', tab_name='Data Process'):
         self.textbox.tag_add(color, 'insert', 'end')
         self.textbox.tag_config(tagName=color, foreground=color)
+        tab_name_cur = self.tabview.get()
 
-        if wait != 0:
-            self.textbox.insert(index='end', text=text, tags=color)
-            self.textbox.update()
-            self.textbox.see('end')
-        elif exitcode != 0:
-            self.textbox.insert(index='end', text=text + '\n', tags=color)
-            self.textbox.update()
-            self.textbox.see('end')
-            self.textbox.configure(state='disabled')
-            raise Exception(f"Error code: {exitcode}")
-        else:
-            self.textbox.insert(index='end', text=text + '\n', tags=color)
-            self.textbox.update()
-            self.textbox.see('end')
+        if tab_name == tab_name_cur:
+            if wait != 0:
+                self.textbox.insert(index='end', text=text, tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
+            elif exitcode != 0:
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
+                raise Exception(f"Error code: {exitcode}")
+            else:
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
 
     def is_float(self, flag, *args):
         for item in args:
@@ -414,16 +403,14 @@ class App(customtkinter.CTk):
             # =======================================================
             elif func_name == 'iso':
                 path = widgits_dp['path']['entry'].get().strip()
-                c1 = exists(path)
-                if c1:
+                if exists(path):
                     return 3, path
                 else:
                     return 0, 0
             # =======================================================
             elif func_name == 'wavelogger':
                 path = widgits_dp['path']['entry'].get().strip()
-                c1 = exists(path)
-                if c1:
+                if exists(path):
                     return 4, path
                 else:
                     return 0, 0
@@ -433,16 +420,28 @@ class App(customtkinter.CTk):
         elif tab_name == 'Automatic Test':
             func_name = self.menu_main_at.get()
             if func_name == 'brake':
-                pass
+                path = widgits_at['path']['entry'].get().strip()
+                loadsel = widgits_at['loadsel']['optionmenu'].get()
+                c1 = exists(path)
+                c2 = loadsel in ['tool100', 'tool66', 'tool33']
+                if c1 and c2:
+                    return 5, path, loadsel
+                else:
+                    return 0, 0
             elif func_name == 'current':
-                pass
+                path = widgits_at['path']['entry'].get().strip()
+                if exists(path):
+                    return 6, path
+                else:
+                    return 0, 0
+            else:
+                return 0, 0
 
     def func_start_callback(self):
-        self.textbox.configure(state='normal')
         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}
+        func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.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:
@@ -451,13 +450,12 @@ class App(customtkinter.CTk):
             func_dict[flag](path=args[0], w2t=self.write2textbox)
         elif flag == 4:
             func_dict[flag](path=args[0], w2t=self.write2textbox)
+        elif flag == 5:
+            func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], 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！", )
 
-        self.textbox.configure(state='disabled')
-
     def func_check_callback(self):
-        self.textbox.configure(state='normal')
         self.textbox.delete(index1='1.0', index2='end')
 
         flag, *args = self.check_param()
@@ -466,8 +464,6 @@ class App(customtkinter.CTk):
         else:
             tkinter.messagebox.showerror(title="参数错误", message="需要检查对应参数是否填写正确！", )
 
-        self.textbox.configure(state='disabled')
-
     def func_log_callback(self):
         content = self.textbox.get(index1='1.0', index2='end')
         if len(content) > 1:

aio/code/automatic_test/__init__.py

@@ -1 +1 @@
-__all__ = ['openapi', 'btn_functions']
+__all__ = ['openapi', 'btn_functions', 'do_brake', 'do_current']

aio/code/automatic_test/btn_functions.py

@@ -5,20 +5,20 @@ from sys import argv
 def validate_resp(_id, response, w2t):
     match _id:
         case 'DATA ERR':
-            w2t(f"数据处理错误，需要确认", 0, 4, 'red')
+            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
         case 'DATA READ ERR':
-            w2t(f"无法读取数据，需要确认", 0, 3, 'red')
+            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
         case 'NOT SUPPORT':
-            w2t(f"不支持的功能，需要确认", 0, 2, 'red')
+            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
     if not response:
-        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red')
+        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
 
 
 def execution(cmd, hr, w2t, **kwargs):
     _id = hr.excution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
     if not _msg:
-        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
+        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
     else:
         _response = json.loads(_msg)
         validate_resp(_id, _response, w2t)
@@ -30,7 +30,7 @@ def get_state(hr, w2t):
     _response = execution('state.get_state', hr, w2t)
     stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
     for component, state in _response['data'].items():
-        w2t(f"{stat_desc[component]}: {state}")
+        w2t(f"{stat_desc[component]}: {state}", tab_name='Automatic Test')
 
     # 获取设备伺服信息
     _response = execution('device.get_params', hr, w2t)
@@ -39,7 +39,7 @@ def get_state(hr, w2t):
     for device in _response['data']['devices']:
         dev_vers[device['type']] = device['version']
     for i in sorted(dev_desc.keys()):
-        w2t(f"{dev_desc[i]}: {dev_vers[i]}")
+        w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name='Automatic Test')
 
     # 设置示教器模式
     _response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
@@ -48,15 +48,15 @@ def get_state(hr, w2t):
 def warning_info(hr, w2t):
     for msg in hr.c_msg:
         if 'alarm' in msg.lower():
-            w2t(msg)
+            w2t(msg, tab_name='Automatic Test')
     for msg in hr.c_msg_xs:
         if 'alarm' in msg.lower():
-            w2t(msg)
+            w2t(msg, tab_name='Automatic Test')
 
 
 def main(hr, func, w2t):
     if hr is None:
-        w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red')
+        w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test')
     # func: get_state/
     match func:
         case 'get_state':

aio/code/automatic_test/do_brake.py

@@ -0,0 +1,175 @@
+from time import sleep
+from sys import argv
+from os import scandir
+from os.path import exists
+from paramiko import SSHClient, AutoAddPolicy
+from json import loads
+
+
+def traversal_files(path, w2t):
+    # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
+    # 参数：路径
+    # 返回值：路径下的文件夹列表 路径下的文件列表
+    if not exists(path):
+        msg = f'数据文件夹{path}不存在，请确认后重试......'
+        w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
+    else:
+        dirs = []
+        files = []
+        for item in scandir(path):
+            if item.is_dir():
+                dirs.append(item.path)
+            elif item.is_file():
+                files.append(item.path)
+
+        return dirs, files
+
+
+def check_files(data_dirs, data_files, w2t):
+    if len(data_dirs) != 0 or len(data_files) != 5:
+        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+        w2t('   1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+
+    config_file = reach33 = reach66 = reach100 = prj_file = None
+    for data_file in data_files:
+        filename = data_file.split('\\')[-1]
+        if filename == 'configs.xlsx':
+            config_file = data_file
+        elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
+            reach33 = data_file
+        elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
+            reach66 = data_file
+        elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
+            reach100 = data_file
+        elif filename.endswith('.zip'):
+            prj_file = data_file
+        else:
+            w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+            w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
+
+    if config_file and reach33 and reach66 and reach100 and prj_file:
+        w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
+        return config_file, reach33, reach66, reach100, prj_file
+    else:
+        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+
+
+def prj_to_xcore(prj_file):
+    ssh = SSHClient()
+    ssh.set_missing_host_key_policy(AutoAddPolicy())
+    ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+    sftp = ssh.open_sftp()
+    # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
+    # ssh.exec_command('rm /tmp/target.zip')
+    sftp.put(prj_file, '/tmp/target.zip')
+    cmd = 'cd /tmp; '
+    cmd += 'rm -rf target/; '
+    cmd += 'mkdir target; '
+    cmd += 'unzip -d target/ -q target.zip; '
+    cmd += 'rm target.zip; '
+    ssh.exec_command(cmd)
+
+    cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
+    cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
+    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+    stdin.write('luoshi2019' + '\n')
+    stdin.flush()
+    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+    print(stderr.read().decode())  # 顺便也执行以下stderr
+
+    cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj '
+    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+    stdin.write('luoshi2019' + '\n')
+    stdin.flush()
+    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+    print(stderr.read().decode())  # 顺便也执行以下stderr
+
+    ssh.close()
+
+
+def modify_prj():
+    pass
+
+
+def validate_resp(_id, response, w2t):
+    match _id:
+        case 'DATA ERR':
+            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
+        case 'DATA READ ERR':
+            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
+        case 'NOT SUPPORT':
+            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
+    if not response:
+        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
+
+
+def execution(cmd, hr, w2t, **kwargs):
+    _id = hr.excution(cmd, **kwargs)
+    _msg = hr.get_from_id(_id)
+    if not _msg:
+        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+    else:
+        _response = loads(_msg)
+        validate_resp(_id, _response, w2t)
+        return _response
+
+
+def run_rl(hr, w2t):
+    # prj_path = 'target/_build/target.prj'
+    # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
+    # print(f"reload prj: {_response}")
+    # # _response = execution('overview.get_cur_prj', hr, w2t)
+    # # print(f"get cur prj name: {_response}")
+    # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
+    # print(f"set pp2main of prj: {_response}")
+    #
+    # _response = execution('state.switch_auto', hr, w2t)
+    # _response = execution('state.switch_motor_on', hr, w2t)
+    #
+    # _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
+    # print(f"run prj: {_response}")
+    # sleep(10)
+    #
+    # _response = execution('state.switch_motor_off', hr, w2t)
+    # _response = execution('state.switch_manual', hr, w2t)
+
+    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    print(f"打开诊断: {_response}")
+    # _response = execution('diagnosis.get_params', hr, w2t)
+    # print(f"显示诊断状态: {_response}")
+    display_pdo_params = [
+        {"name": "device_servo_trq_feedback", "channel": 0}
+    ]
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    print(f"执行采样: {_response}")
+    sleep(5)
+
+    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+    print(f"关闭诊断: {_response}")
+    # sleep(1)
+    for _msg in hr.c_msg:
+        if 'diagnosis.result' in _msg:
+            print(_msg)
+            # _msg = json.loads(_msg)
+            # if 'channel' in _msg and 'name' in _msg:
+            #     if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
+            #         print(f"diagnosis.result: {_msg}")
+            #         count += 1
+            #         if count * 50 > 5 * 1000:
+            #             break
+
+
+    else:
+        sleep(1)
+
+
+def main(path, hr, loadsel, w2t):
+    data_dirs, data_files = traversal_files(path, w2t)
+    config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
+    # prj_to_xcore(prj_file)
+    run_rl(hr, w2t)
+
+
+if __name__ == '__main__':
+    main(*argv[1:])

aio/code/automatic_test/do_current.py

@@ -0,0 +1,175 @@
+from time import sleep
+from sys import argv
+from os import scandir
+from os.path import exists
+from paramiko import SSHClient, AutoAddPolicy
+from json import loads
+
+
+def traversal_files(path, w2t):
+    # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
+    # 参数：路径
+    # 返回值：路径下的文件夹列表 路径下的文件列表
+    if not exists(path):
+        msg = f'数据文件夹{path}不存在，请确认后重试......'
+        w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
+    else:
+        dirs = []
+        files = []
+        for item in scandir(path):
+            if item.is_dir():
+                dirs.append(item.path)
+            elif item.is_file():
+                files.append(item.path)
+
+        return dirs, files
+
+
+def check_files(data_dirs, data_files, w2t):
+    if len(data_dirs) != 0 or len(data_files) != 5:
+        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+        w2t('   1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+
+    config_file = reach33 = reach66 = reach100 = prj_file = None
+    for data_file in data_files:
+        filename = data_file.split('\\')[-1]
+        if filename == 'configs.xlsx':
+            config_file = data_file
+        elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
+            reach33 = data_file
+        elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
+            reach66 = data_file
+        elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
+            reach100 = data_file
+        elif filename.endswith('.zip'):
+            prj_file = data_file
+        else:
+            w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+            w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
+
+    if config_file and reach33 and reach66 and reach100 and prj_file:
+        w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
+        return config_file, reach33, reach66, reach100, prj_file
+    else:
+        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+
+
+def prj_to_xcore(prj_file):
+    ssh = SSHClient()
+    ssh.set_missing_host_key_policy(AutoAddPolicy())
+    ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+    sftp = ssh.open_sftp()
+    # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
+    # ssh.exec_command('rm /tmp/target.zip')
+    sftp.put(prj_file, '/tmp/target.zip')
+    cmd = 'cd /tmp; '
+    cmd += 'rm -rf target/; '
+    cmd += 'mkdir target; '
+    cmd += 'unzip -d target/ -q target.zip; '
+    cmd += 'rm target.zip; '
+    ssh.exec_command(cmd)
+
+    cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
+    cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
+    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+    stdin.write('luoshi2019' + '\n')
+    stdin.flush()
+    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+    print(stderr.read().decode())  # 顺便也执行以下stderr
+
+    cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj '
+    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+    stdin.write('luoshi2019' + '\n')
+    stdin.flush()
+    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+    print(stderr.read().decode())  # 顺便也执行以下stderr
+
+    ssh.close()
+
+
+def modify_prj():
+    pass
+
+
+def validate_resp(_id, response, w2t):
+    match _id:
+        case 'DATA ERR':
+            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
+        case 'DATA READ ERR':
+            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
+        case 'NOT SUPPORT':
+            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
+    if not response:
+        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
+
+
+def execution(cmd, hr, w2t, **kwargs):
+    _id = hr.excution(cmd, **kwargs)
+    _msg = hr.get_from_id(_id)
+    if not _msg:
+        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+    else:
+        _response = loads(_msg)
+        validate_resp(_id, _response, w2t)
+        return _response
+
+
+def run_rl(hr, w2t):
+    # prj_path = 'target/_build/target.prj'
+    # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
+    # print(f"reload prj: {_response}")
+    # # _response = execution('overview.get_cur_prj', hr, w2t)
+    # # print(f"get cur prj name: {_response}")
+    # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
+    # print(f"set pp2main of prj: {_response}")
+    #
+    # _response = execution('state.switch_auto', hr, w2t)
+    # _response = execution('state.switch_motor_on', hr, w2t)
+    #
+    # _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
+    # print(f"run prj: {_response}")
+    # sleep(10)
+    #
+    # _response = execution('state.switch_motor_off', hr, w2t)
+    # _response = execution('state.switch_manual', hr, w2t)
+
+    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    print(f"打开诊断: {_response}")
+    # _response = execution('diagnosis.get_params', hr, w2t)
+    # print(f"显示诊断状态: {_response}")
+    display_pdo_params = [
+        {"name": "device_servo_trq_feedback", "channel": 0}
+    ]
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    print(f"执行采样: {_response}")
+    sleep(5)
+
+    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+    print(f"关闭诊断: {_response}")
+    # sleep(1)
+    for _msg in hr.c_msg:
+        if 'diagnosis.result' in _msg:
+            print(_msg)
+            # _msg = json.loads(_msg)
+            # if 'channel' in _msg and 'name' in _msg:
+            #     if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
+            #         print(f"diagnosis.result: {_msg}")
+            #         count += 1
+            #         if count * 50 > 5 * 1000:
+            #             break
+
+
+    else:
+        sleep(1)
+
+
+def main(path, hr, loadsel, w2t):
+    data_dirs, data_files = traversal_files(path, w2t)
+    config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
+    # prj_to_xcore(prj_file)
+    run_rl(hr, w2t)
+
+
+if __name__ == '__main__':
+    main(*argv[1:])

aio/code/automatic_test/openapi.py

@@ -1,13 +1,13 @@
-import json
-import socket
-import threading
+from json import load, dumps
+from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
+from threading import Thread
 import selectors
-import time
-import os
+from time import time, sleep
+from os.path import dirname
 
 MAX_FRAME_SIZE = 1024
-socket.setdefaulttimeout(2)
-current_path = os.path.dirname(__file__)
+setdefaulttimeout(2)
+current_path = dirname(__file__)
 
 
 class HmiRequest(object):
@@ -16,37 +16,6 @@ class HmiRequest(object):
         self.w2t = w2t
         self.c = None
         self.c_xs = None
-
-        def sock_conn():
-            # while True:
-            with open(f"{current_path}/../../assets/templates/heartbeat", "r", encoding='utf-8') as f_h:
-                connection_state = f_h.read().strip()
-            if connection_state == '0':
-                try:
-                    c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-                    c.connect(('192.168.0.160', 5050))
-                    # c.connect(('192.168.84.129', 5050))
-                    c.setblocking(False)
-                    c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-                    c_xs.connect(('192.168.0.160', 6666))
-                    # c_xs.connect(('192.168.84.129', 6666))
-                    c_xs.setblocking(False)
-
-                    self.w2t("Connection success", 0, 0, 'green')
-                    with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
-                        f_h.write('1')
-                    return c, c_xs
-
-                except Exception as Err:
-                    with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
-                        f_h.write('0')
-                    self.w2t("Connection failed...", 0, 0, 'red')
-                    return None, None
-
-        self.c, self.c_xs = sock_conn()
-        if self.c is None or self.c_xs is None:
-            self.w2t("Aborting! Try to switch tabs to re-connect!", 0, 1, 'red')
-
         self.c_msg = []
         self.c_msg_xs = []
         self.flag = 0
@@ -54,20 +23,43 @@ class HmiRequest(object):
         self.leftover = 0
         self.flag_xs = 0
         self.response_xs = ''
+        self.t_bool = True
+        self.tab_name = 'Automatic Test'
 
-        self.t_heartbeat = threading.Thread(target=self.heartbeat)
+        self.sock_conn()
+        self.t_heartbeat = Thread(target=self.heartbeat)
         self.t_heartbeat.daemon = True
         self.t_heartbeat.start()
-        self.t_unpackage = threading.Thread(target=self.unpackage, args=(self.c, ))
+        self.t_unpackage = Thread(target=self.unpackage, args=(self.c, ))
         self.t_unpackage.daemon = True
         self.t_unpackage.start()
-        self.t_unpackage_xs = threading.Thread(target=self.unpackage_xs, args=(self.c_xs, ))
+        self.t_unpackage_xs = Thread(target=self.unpackage_xs, args=(self.c_xs, ))
         self.t_unpackage_xs.daemon = True
         self.t_unpackage_xs.start()
 
-    def close_sock(self):
-        self.c.close()
-        self.c_xs.close()
+    def sock_conn(self):
+        # while True:
+        with open(f"{current_path}/../../assets/templates/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.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.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:
+                    f_hb.write('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:
+                    f_hb.write('0')
 
     def header_check(self, index, data):
         try:
@@ -87,20 +79,27 @@ class HmiRequest(object):
             return 'DATA READ ERR'
 
     def heartbeat(self):
-        while True:
+        while self.t_bool:
             _id = self.excution('controller.heart')
-            _flag = 0 if self.get_from_id(_id) is None else 1
-            with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
-                f_h.write(str(_flag))
-            time.sleep(3)
+            _flag = '0' if self.get_from_id(_id) is None else '1'
+            print(f"hb = {_flag}", end=' ')
+            with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+                f_hb.write(_flag)
+                if _flag == '0':
+                    self.w2t(f"心跳丢失，连接失败，重新连接中...", 0, 0, 'red', tab_name=self.tab_name)
+            sleep(2)
+            print(len(self.c_msg), end=' ')
+            # with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
+            #     for msg in self.c_msg:
+            #         f.write(msg + '\n')
 
     def msg_storage(self, response, flag=0):
         messages = self.c_msg if flag == 0 else self.c_msg_xs
-        if len(messages) < 1000:
+        if len(messages) < 20000:
             messages.insert(0, response)
         else:
             messages.insert(0, response)
-            while len(messages) > 1000:
+            while len(messages) > 20000:
                 messages.pop()
 
     def get_response(self, data):
@@ -193,10 +192,10 @@ class HmiRequest(object):
         for i in range(3):
             for msg in messages:
                 if msg_id is None:
-                    self.w2t("未能成功获取到 message id...", 0, 10, 'red')
+                    self.w2t("未能成功获取到 message id...", 0, 10, 'red', tab_name=self.tab_name)
                 if msg_id in msg:
                     return msg
-            time.sleep(1)
+            sleep(1)
         else:
             return None
 
@@ -208,7 +207,7 @@ class HmiRequest(object):
         return _frame_head + _pkg_head + _protocol + _reserved + cmd.encode()
 
     def package_xs(self, cmd):
-        return f"{json.dumps(cmd, separators=(',', ':'))}\r".encode()
+        return f"{dumps(cmd, separators=(',', ':'))}\r".encode()
 
     def unpackage(self, sock):
         def to_read(conn):
@@ -224,7 +223,7 @@ class HmiRequest(object):
         sel = selectors.DefaultSelector()
         sel.register(sock, selectors.EVENT_READ, to_read)
 
-        while True:
+        while self.t_bool:
             events = sel.select()
             for key, mask in events:
                 callback = key.data
@@ -244,14 +243,14 @@ class HmiRequest(object):
         sel = selectors.DefaultSelector()
         sel.register(sock, selectors.EVENT_READ, to_read)
 
-        while True:
+        while self.t_bool:
             events = sel.select()
             for key, mask in events:
                 callback = key.data
                 callback(key.fileobj)
 
     def gen_id(self, command):
-        _now = time.time()
+        _now = time()
         _id = f"{command}-{_now}"
         return _id
 
@@ -260,7 +259,7 @@ class HmiRequest(object):
             req = None
             try:
                 with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8', mode='r') as f_json:
-                    req = json.load(f_json)
+                    req = load(f_json)
             except:
                 print(f"暂不支持 {command} 功能，或确认该功能存在...")
                 return 'NOT SUPPORT'
@@ -268,13 +267,31 @@ class HmiRequest(object):
             match command:
                 case 'state.set_tp_mode':
                     req['data']['tp_mode'] = kwargs['tp_mode']
-                case 1:
+                case 'overview.set_autoload':
+                    req['data']['autoload_prj_path'] = kwargs['autoload_prj_path']
+                case 'overview.reload':
+                    req['data']['prj_path'] = kwargs['prj_path']
+                    req['data']['tasks'] = kwargs['tasks']
+                case 'rl_task.pp_to_main' | 'rl_task.run' | 'rl_task.stop':
+                    req['data']['tasks'] = kwargs['tasks']
+                case 'diagnosis.set_params':
+                    req['data']['display_pdo_params'] = kwargs['display_pdo_params']
+                case 'diagnosis.open':
+                    req['data']['open'] = kwargs['open']
+                    req['data']['display_open'] = kwargs['display_open']
+                case _:
                     pass
+
             req['id'] = self.gen_id(command)
             print(f"req = {req}")
-            cmd = json.dumps(req, separators=(',', ':'))
-            self.c.send(self.package(cmd))
-            time.sleep(2)
+            cmd = dumps(req, separators=(',', ':'))
+            try:
+                self.c.send(self.package(cmd))
+                sleep(2)
+            except Exception as Err:
+                self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
+
             return req['id']
+
         else:  # for xService
             pass

aio/code/data_process/current.py

@@ -308,7 +308,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
             data.append(df.iloc[row, 1])
 
         i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=70000, max_col=3):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
             for cell in row:
                 try:
                     _ = f"{data[i]:.2f}"
@@ -360,7 +360,7 @@ def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
             data.append(df.iloc[row, 1])
 
         i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=70000, max_col=3):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
             for cell in row:
                 try:
                     _ = f"{data[i]:.2f}"