fixing merge
This commit is contained in:
commit
ac71522cc2
@ -6,6 +6,9 @@
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2. 电机电流数据，全部轴数据处理 1min 以内
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3. ISO 激光数据整理，1min 以内
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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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---
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@ -120,6 +123,21 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
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3. 运行结束后，会生成 result.xlsx 文件，结果按照 .csv 文件名存放
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4. 采集数据时，不同轮次数据时间间隔最好大于 2 倍的周期时间，否则会出现采集的轮数不正确的情况，但数据是完整的
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#### 5) 制动自动化测试
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只需要提前将如下文件放在指定路径下即可：
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1. zip 工程文件
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2. excel 制动结果处理文件
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3. excel configs.xlsx 配置文件
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#### 6) 电机电流自动化测试
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只需要提前将如下文件放在指定路径下即可：
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1. zip 工程文件
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2. excel 电机电流结果处理文件，一份模板即可
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3. excel configs.xlsx 配置文件
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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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a. 运行 `pip show customtkinter`，获取到库的路径
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@ -133,7 +151,7 @@ RELEASE CHANGES
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已知问题：
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1. office套件下运行好像有问题，WPS无问题，集中在just_open函数的实现上
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1. -
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v0.0.1(2024/05/18)
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Draft
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@ -309,13 +327,48 @@ v0.1.7.0(2024/06/26)-初步可用
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3. [openapi.py] 新增sock_conn函数，并做连接时的异常处理，新增类参数w2t
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4. [aio.py] 修改customtkinter库中C:\Users\Administrator\AppData\Local\Programs\Python\Python312\Lib\site-packages\customtkinter\windows\widgets\ctk_tabview.py文件，参考https://github.com/TomSchimansky/CustomTkinter/issues/2296，实现修改tabview组件的字体大小，使用原生字体，同时将segmented button字体修改为原生，为了解决segmented button在禁用和启用时，屏幕抖动的问题，并将大小修改为16
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5. [aio.py] 修改了segmented_button_callback的实现逻辑，使代码更简洁
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6. [aio.py] 修改了在tabview_click函数中对于实例化openapi的动作，使每次切换标签都会重新实例化，也就是每次都会重新连接，修复显示不正确的问题
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6. [aio.py] 修改了在tabview_click函数中对于实例化HmiRequest的动作，使每次切换标签都会重新实例化，也就是每次都会重新连接，修复显示不正确的问题
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7. [openapi.py] 新增了socket关闭的函数，并增加msg_id为None的处理逻辑
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8. [btn_functions.py] 完善了状态获取的功能，新增告警获取以及功能切换的逻辑
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9. [aio.py] 修改了版本
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10. [current.py] max/avg功能结束之前会将结果数据追加写入源文件，avg算法更改为average+3×std
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11. [wavelogger.py] 算法更改为 average+3×std
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v0.1.7.1(2024/06/29)
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1. [t_change_ui: aio.py/brake.py/current.py] 整体修改了操作界面，删除了大部分的配置输入框，改用 configs.xlsx 配置文件替代，并优化了max/avg功能中写入结果数据的方式
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2.
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v0.1.7.1.0(2024/06/29)
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1. [APIs: aio.py]
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- 对于automatic test删除了输入框，使用configs.xlsx配置文件作为参数输入
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- 完善initialization/param_check/func_start_callback函数中对于automatic test的处理
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- 将textbox组件一直设置为normal状态，不再频繁切换disabled
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- 将所有的f_h文件对象修改为f_hb，并将connection_state修改为c_state
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- 在detect_network函数中，实例化HmiRequest，并在无限循环中检测心跳是否正常，如异常，则销毁hr，重新生成
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- 取消在tabview切换时，检测心跳的逻辑，这样做无法保证实时性
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2. [APIs: openapi.py]
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- 将sock_conn函数移出__init__，单独作为连接函数存在
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- 新增全局变量self.t_bool，控制所有的线程中无限循环的启停，也就是可以人为的退出线程
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- 移除close_sock函数
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- heartbeat函数中新增打印所有消息的代码，调试时打开，平常关闭
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- execution函数中，新增对overview.set_autoload和overview.reload的支持
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- execution函数中，对send动作增加异常处理逻辑
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3. [APIs: do_brake.py]
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- 新增文件，处理制动测试流程，建立连接，导入project，pp2main，run，采集并处理曲线数据，本地修改RL程序，推送至控制器等
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- 目前完成：
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- 文件合规性检查
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- 导入工程并设置为运行工程
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4. [APIs: current.py] 修改scenario/single电机电流最大长度为150s
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5. 在本文件中更新关于制动自动化测试的相关内容
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6. [t_change_ui: aio.py/brake.py/current.py] 整体修改了操作界面，删除了大部分的配置输入框，改用 configs.xlsx 配置文件替代，并优化了max/avg功能中写入结果数据的方式
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v0.1.7.1.1(2024/06/29)
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1. [APIs: aio.py]
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- 修改detect_network函数中sleep语句放到最后，重新生成HmiRequest实例中增加sleep(4)，这个停顿时间一定是比openapi中heartbeat函数的sleep要长1s以上才能正常工作
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- 修改write2textbox函数，新增默认参数tab_name，只有当该值与当前tab一致时，函数才会有输出
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- 第二条改动影响到了automatic_test文件夹下所有的文件
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2. [APIs: openapi.py]
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- 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理
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- execution函数中合并了case条件
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- 增加了N多指令，多为诊断曲线和rl程序相关
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3. [APIs: do_brake.py]
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- 实现自动推送工程到xCore并自动运行
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- 初步实现了Modbus发送消息和检测状态
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4. [APIs: do_current.py]
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- 将do_brake.py的内容完全拷贝到此文件，待修改
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8
aio/assets/templates/diagnosis.get_params.json
Normal file
8
aio/assets/templates/diagnosis.get_params.json
Normal file
@ -0,0 +1,8 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "robot",
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"command": "diagnosis.get_params",
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"data": {
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"version": "1.4.1"
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}
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}
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12
aio/assets/templates/diagnosis.open.json
Normal file
12
aio/assets/templates/diagnosis.open.json
Normal file
@ -0,0 +1,12 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "robot",
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"command": "diagnosis.open",
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"data": {
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"open": false,
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"display_open": false,
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"overrun": true,
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"turn_area": true,
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"delay_motion": false
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}
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}
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8
aio/assets/templates/diagnosis.save.json
Normal file
8
aio/assets/templates/diagnosis.save.json
Normal file
@ -0,0 +1,8 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "robot",
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"command": "diagnosis.save",
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"data": {
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"save": true
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}
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}
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10
aio/assets/templates/diagnosis.set_params.json
Normal file
10
aio/assets/templates/diagnosis.set_params.json
Normal file
@ -0,0 +1,10 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "robot",
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"command": "diagnosis.set_params",
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"data": {
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"display_pdo_params": [],
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"frequency": 50,
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"version": "1.4.1"
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}
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}
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5
aio/assets/templates/overview.get_autoload.json
Normal file
5
aio/assets/templates/overview.get_autoload.json
Normal file
@ -0,0 +1,5 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "project",
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"command": "overview.get_autoload"
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}
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5
aio/assets/templates/overview.get_cur_prj.json
Normal file
5
aio/assets/templates/overview.get_cur_prj.json
Normal file
@ -0,0 +1,5 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "project",
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"command": "overview.get_cur_prj"
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}
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9
aio/assets/templates/overview.reload.json
Normal file
9
aio/assets/templates/overview.reload.json
Normal file
@ -0,0 +1,9 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "project",
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"command": "overview.reload",
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"data": {
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"prj_path": "",
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"tasks": []
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}
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}
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8
aio/assets/templates/overview.set_autoload.json
Normal file
8
aio/assets/templates/overview.set_autoload.json
Normal file
@ -0,0 +1,8 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "project",
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"command": "overview.set_autoload",
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"data": {
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"autoload_prj_path": ""
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}
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}
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8
aio/assets/templates/rl_task.pp_to_main.json
Normal file
8
aio/assets/templates/rl_task.pp_to_main.json
Normal file
@ -0,0 +1,8 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "project",
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"command": "rl_task.pp_to_main",
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"data": {
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"tasks": []
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}
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}
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8
aio/assets/templates/rl_task.run.json
Normal file
8
aio/assets/templates/rl_task.run.json
Normal file
@ -0,0 +1,8 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "project",
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"command": "rl_task.run",
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"data": {
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"tasks": []
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}
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}
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8
aio/assets/templates/rl_task.stop.json
Normal file
8
aio/assets/templates/rl_task.stop.json
Normal file
@ -0,0 +1,8 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "project",
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"command": "rl_task.stop",
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"data": {
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"tasks": []
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}
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}
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134
aio/code/aio.py
134
aio/code/aio.py
@ -34,24 +34,6 @@ widgits_dp = {
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widgits_at = {
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'path': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '数据文件夹路径'},
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'loadsel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 1, 'text': '负载信息'},
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'av1': {'label': '', 'entry': '', 'row': 3, 'col': 2, 'text': '角速度'},
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'av2': {'label': '', 'entry': '', 'row': 3, 'col': 4, 'text': '角速度'},
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'av3': {'label': '', 'entry': '', 'row': 3, 'col': 6, 'text': '角速度'},
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'av4': {'label': '', 'entry': '', 'row': 3, 'col': 8, 'text': '角速度'},
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'av5': {'label': '', 'entry': '', 'row': 3, 'col': 10, 'text': '角速度'},
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'av6': {'label': '', 'entry': '', 'row': 3, 'col': 12, 'text': '角速度'},
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'rc1': {'label': '', 'entry': '', 'row': 4, 'col': 2, 'text': '额定电流'},
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'rc2': {'label': '', 'entry': '', 'row': 4, 'col': 4, 'text': '额定电流'},
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'rc3': {'label': '', 'entry': '', 'row': 4, 'col': 6, 'text': '额定电流'},
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'rc4': {'label': '', 'entry': '', 'row': 4, 'col': 8, 'text': '额定电流'},
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'rc5': {'label': '', 'entry': '', 'row': 4, 'col': 10, 'text': '额定电流'},
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'rc6': {'label': '', 'entry': '', 'row': 4, 'col': 12, 'text': '额定电流'},
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'rr1': {'label': '', 'entry': '', 'row': 5, 'col': 2, 'text': '额定转速'},
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'rr2': {'label': '', 'entry': '', 'row': 5, 'col': 4, 'text': '额定转速'},
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'rr3': {'label': '', 'entry': '', 'row': 5, 'col': 6, 'text': '额定转速'},
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'rr4': {'label': '', 'entry': '', 'row': 5, 'col': 8, 'text': '额定转速'},
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'rr5': {'label': '', 'entry': '', 'row': 5, 'col': 10, 'text': '额定转速'},
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'rr6': {'label': '', 'entry': '', 'row': 5, 'col': 12, 'text': '额定转速'},
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}
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@ -147,12 +129,6 @@ class App(customtkinter.CTk):
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widgits_at[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), width=670, placeholder_text=widgits_at[widgit]['text'], font=self.my_font)
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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')
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widgits_at[widgit]['entry'].configure(state='disabled')
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elif widgit in ['av1', 'av2', 'av3', 'av4', 'av5', 'av6', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6', 'rr1', 'rr2', 'rr3', 'rr4', 'rr5', 'rr6']:
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widgits_at[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Automatic Test'), text=f"{widgit.upper()}", font=self.my_font)
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widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', pady=5)
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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)
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widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, padx=(5, 10), pady=5, sticky='w')
|
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widgits_at[widgit]['entry'].configure(state='disabled')
|
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elif widgit in ['loadsel', ]:
|
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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)
|
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widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we')
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@ -162,7 +138,7 @@ class App(customtkinter.CTk):
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# create textbox
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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)
|
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self.textbox.grid(row=6, column=1, columnspan=13, ipadx=10, ipady=10, padx=10, pady=(5, 10), sticky='nsew')
|
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self.textbox.configure(state='disabled')
|
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self.textbox.configure(state='normal')
|
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# =====================================================================
|
||||
# version check
|
||||
cur_vers = self.label_version.cget("text").replace('\n', ' @ ').replace("Vers: ", '').replace("Date: ", '')
|
||||
@ -187,13 +163,12 @@ class App(customtkinter.CTk):
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value = self.seg_button.get()
|
||||
|
||||
self.seg_button.configure(state='disabled')
|
||||
self.textbox.configure(state='normal')
|
||||
# self.tabview.configure(state='disabled')
|
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self.textbox.delete(index1='1.0', index2='end')
|
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with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
|
||||
connection_state = f_h.read().strip()
|
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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')
|
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else:
|
||||
for _func in _btn_funcs:
|
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@ -202,23 +177,29 @@ class App(customtkinter.CTk):
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break
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||||
self.seg_button.configure(state='normal')
|
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self.textbox.configure(state='disable')
|
||||
# self.tabview.configure(state='normal')
|
||||
|
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def detect_network(self):
|
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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":
|
||||
@ -340,10 +328,12 @@ 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 tab_name == tab_name_cur:
|
||||
if wait != 0:
|
||||
self.textbox.insert(index='end', text=text, tags=color)
|
||||
self.textbox.update()
|
||||
@ -352,7 +342,6 @@ class App(customtkinter.CTk):
|
||||
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)
|
||||
@ -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:
|
||||
|
||||
@ -1 +1 @@
|
||||
__all__ = ['openapi', 'btn_functions']
|
||||
__all__ = ['openapi', 'btn_functions', 'do_brake', 'do_current']
|
||||
@ -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':
|
||||
|
||||
175
aio/code/automatic_test/do_brake.py
Normal file
175
aio/code/automatic_test/do_brake.py
Normal file
@ -0,0 +1,175 @@
|
||||
from time import sleep
|
||||
from sys import argv
|
||||
from os import scandir
|
||||
from os.path import exists
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from json import loads
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
|
||||
|
||||
def check_files(data_dirs, data_files, w2t):
|
||||
if len(data_dirs) != 0 or len(data_files) != 5:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
config_file = reach33 = reach66 = reach100 = prj_file = None
|
||||
for data_file in data_files:
|
||||
filename = data_file.split('\\')[-1]
|
||||
if filename == 'configs.xlsx':
|
||||
config_file = data_file
|
||||
elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
|
||||
reach33 = data_file
|
||||
elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
|
||||
reach66 = data_file
|
||||
elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
|
||||
reach100 = data_file
|
||||
elif filename.endswith('.zip'):
|
||||
prj_file = data_file
|
||||
else:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
|
||||
|
||||
if config_file and reach33 and reach66 and reach100 and prj_file:
|
||||
w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
|
||||
return config_file, reach33, reach66, reach100, prj_file
|
||||
else:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def prj_to_xcore(prj_file):
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
sftp = ssh.open_sftp()
|
||||
# stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
|
||||
# ssh.exec_command('rm /tmp/target.zip')
|
||||
sftp.put(prj_file, '/tmp/target.zip')
|
||||
cmd = 'cd /tmp; '
|
||||
cmd += 'rm -rf target/; '
|
||||
cmd += 'mkdir target; '
|
||||
cmd += 'unzip -d target/ -q target.zip; '
|
||||
cmd += 'rm target.zip; '
|
||||
ssh.exec_command(cmd)
|
||||
|
||||
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
|
||||
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
|
||||
cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj '
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
|
||||
ssh.close()
|
||||
|
||||
|
||||
def modify_prj():
|
||||
pass
|
||||
|
||||
|
||||
def validate_resp(_id, response, w2t):
|
||||
match _id:
|
||||
case 'DATA ERR':
|
||||
w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
|
||||
case 'DATA READ ERR':
|
||||
w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
|
||||
case 'NOT SUPPORT':
|
||||
w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
|
||||
if not response:
|
||||
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.excution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
validate_resp(_id, _response, w2t)
|
||||
return _response
|
||||
|
||||
|
||||
def run_rl(hr, w2t):
|
||||
# prj_path = 'target/_build/target.prj'
|
||||
# _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
|
||||
# print(f"reload prj: {_response}")
|
||||
# # _response = execution('overview.get_cur_prj', hr, w2t)
|
||||
# # print(f"get cur prj name: {_response}")
|
||||
# _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
|
||||
# print(f"set pp2main of prj: {_response}")
|
||||
#
|
||||
# _response = execution('state.switch_auto', hr, w2t)
|
||||
# _response = execution('state.switch_motor_on', hr, w2t)
|
||||
#
|
||||
# _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
|
||||
# print(f"run prj: {_response}")
|
||||
# sleep(10)
|
||||
#
|
||||
# _response = execution('state.switch_motor_off', hr, w2t)
|
||||
# _response = execution('state.switch_manual', hr, w2t)
|
||||
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
print(f"打开诊断: {_response}")
|
||||
# _response = execution('diagnosis.get_params', hr, w2t)
|
||||
# print(f"显示诊断状态: {_response}")
|
||||
display_pdo_params = [
|
||||
{"name": "device_servo_trq_feedback", "channel": 0}
|
||||
]
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
print(f"执行采样: {_response}")
|
||||
sleep(5)
|
||||
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
print(f"关闭诊断: {_response}")
|
||||
# sleep(1)
|
||||
for _msg in hr.c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
print(_msg)
|
||||
# _msg = json.loads(_msg)
|
||||
# if 'channel' in _msg and 'name' in _msg:
|
||||
# if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
|
||||
# print(f"diagnosis.result: {_msg}")
|
||||
# count += 1
|
||||
# if count * 50 > 5 * 1000:
|
||||
# break
|
||||
|
||||
|
||||
else:
|
||||
sleep(1)
|
||||
|
||||
|
||||
def main(path, hr, loadsel, w2t):
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
|
||||
# prj_to_xcore(prj_file)
|
||||
run_rl(hr, w2t)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main(*argv[1:])
|
||||
175
aio/code/automatic_test/do_current.py
Normal file
175
aio/code/automatic_test/do_current.py
Normal file
@ -0,0 +1,175 @@
|
||||
from time import sleep
|
||||
from sys import argv
|
||||
from os import scandir
|
||||
from os.path import exists
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from json import loads
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
|
||||
|
||||
def check_files(data_dirs, data_files, w2t):
|
||||
if len(data_dirs) != 0 or len(data_files) != 5:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
config_file = reach33 = reach66 = reach100 = prj_file = None
|
||||
for data_file in data_files:
|
||||
filename = data_file.split('\\')[-1]
|
||||
if filename == 'configs.xlsx':
|
||||
config_file = data_file
|
||||
elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
|
||||
reach33 = data_file
|
||||
elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
|
||||
reach66 = data_file
|
||||
elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
|
||||
reach100 = data_file
|
||||
elif filename.endswith('.zip'):
|
||||
prj_file = data_file
|
||||
else:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
|
||||
|
||||
if config_file and reach33 and reach66 and reach100 and prj_file:
|
||||
w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
|
||||
return config_file, reach33, reach66, reach100, prj_file
|
||||
else:
|
||||
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def prj_to_xcore(prj_file):
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
sftp = ssh.open_sftp()
|
||||
# stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
|
||||
# ssh.exec_command('rm /tmp/target.zip')
|
||||
sftp.put(prj_file, '/tmp/target.zip')
|
||||
cmd = 'cd /tmp; '
|
||||
cmd += 'rm -rf target/; '
|
||||
cmd += 'mkdir target; '
|
||||
cmd += 'unzip -d target/ -q target.zip; '
|
||||
cmd += 'rm target.zip; '
|
||||
ssh.exec_command(cmd)
|
||||
|
||||
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
|
||||
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
|
||||
cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj '
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
|
||||
ssh.close()
|
||||
|
||||
|
||||
def modify_prj():
|
||||
pass
|
||||
|
||||
|
||||
def validate_resp(_id, response, w2t):
|
||||
match _id:
|
||||
case 'DATA ERR':
|
||||
w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
|
||||
case 'DATA READ ERR':
|
||||
w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
|
||||
case 'NOT SUPPORT':
|
||||
w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
|
||||
if not response:
|
||||
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.excution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
validate_resp(_id, _response, w2t)
|
||||
return _response
|
||||
|
||||
|
||||
def run_rl(hr, w2t):
|
||||
# prj_path = 'target/_build/target.prj'
|
||||
# _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
|
||||
# print(f"reload prj: {_response}")
|
||||
# # _response = execution('overview.get_cur_prj', hr, w2t)
|
||||
# # print(f"get cur prj name: {_response}")
|
||||
# _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
|
||||
# print(f"set pp2main of prj: {_response}")
|
||||
#
|
||||
# _response = execution('state.switch_auto', hr, w2t)
|
||||
# _response = execution('state.switch_motor_on', hr, w2t)
|
||||
#
|
||||
# _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
|
||||
# print(f"run prj: {_response}")
|
||||
# sleep(10)
|
||||
#
|
||||
# _response = execution('state.switch_motor_off', hr, w2t)
|
||||
# _response = execution('state.switch_manual', hr, w2t)
|
||||
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
print(f"打开诊断: {_response}")
|
||||
# _response = execution('diagnosis.get_params', hr, w2t)
|
||||
# print(f"显示诊断状态: {_response}")
|
||||
display_pdo_params = [
|
||||
{"name": "device_servo_trq_feedback", "channel": 0}
|
||||
]
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
print(f"执行采样: {_response}")
|
||||
sleep(5)
|
||||
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
print(f"关闭诊断: {_response}")
|
||||
# sleep(1)
|
||||
for _msg in hr.c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
print(_msg)
|
||||
# _msg = json.loads(_msg)
|
||||
# if 'channel' in _msg and 'name' in _msg:
|
||||
# if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
|
||||
# print(f"diagnosis.result: {_msg}")
|
||||
# count += 1
|
||||
# if count * 50 > 5 * 1000:
|
||||
# break
|
||||
|
||||
|
||||
else:
|
||||
sleep(1)
|
||||
|
||||
|
||||
def main(path, hr, loadsel, w2t):
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
|
||||
# prj_to_xcore(prj_file)
|
||||
run_rl(hr, w2t)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main(*argv[1:])
|
||||
@ -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=(',', ':'))
|
||||
cmd = dumps(req, separators=(',', ':'))
|
||||
try:
|
||||
self.c.send(self.package(cmd))
|
||||
time.sleep(2)
|
||||
sleep(2)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
|
||||
|
||||
return req['id']
|
||||
|
||||
else: # for xService
|
||||
pass
|
||||
|
||||
@ -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}"
|
||||
|
||||
Reference in New Issue
Block a user