diff --git a/aio/README.md b/aio/README.md index 3919528..0bf3d67 100644 --- a/aio/README.md +++ b/aio/README.md @@ -550,4 +550,12 @@ v0.2.0.2(2024/07/26) 5. 补充了do_current/do_brake的流程图 6. [main: openapi.py] - 将modbus motor_on/off的实现方法改为高电平脉冲触发 -7. configs.xlsx配置表新增write_diagnosis/get_init_speed两个参数 \ No newline at end of file +7. configs.xlsx配置表新增write_diagnosis/get_init_speed两个参数 + +v0.2.0.3(2024/07/27) +1. [APIs: do_brake.py]: 精简程序，解决 OOM 问题 +2. [APIs: do_current.py]: 精简程序，解决 OOM 问题 +3. [APIs: factory_test.py]: 精简程序，解决 OOM 问题 +4. [APIsL openapi.py] + - 心跳修改为 1 s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳 + - 新增 diagnosis.save 命令，但是执行时，有问题，待解决 \ No newline at end of file diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index 8cb640c..c35dab9 100644 Binary files a/aio/assets/configs.xlsx and b/aio/assets/configs.xlsx differ diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index 56adeda..a4ff150 100644 --- a/aio/assets/file_version_info.txt +++ b/aio/assets/file_version_info.txt @@ -6,8 +6,8 @@ VSVersionInfo( ffi=FixedFileInfo( # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4) # Set not needed items to zero 0. - filevers=(0, 2, 0, 2), - prodvers=(0, 2, 0, 2), + filevers=(0, 2, 0, 3), + prodvers=(0, 2, 0, 3), # Contains a bitmask that specifies the valid bits 'flags'r mask=0x3f, # Contains a bitmask that specifies the Boolean attributes of the file. @@ -31,12 +31,12 @@ VSVersionInfo( '040904b0', [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'), StringStruct('FileDescription', 'All in one automatic toolbox'), - StringStruct('FileVersion', '0.2.0.2 (2024-07-26)'), + StringStruct('FileVersion', '0.2.0.3 (2024-07-27)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.2.0.2 (2024-07-26)')]) + StringStruct('ProductVersion', '0.2.0.3 (2024-07-27)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/target_brake_current.zip b/aio/assets/target_brake_current.zip index 7f9f06e..b3d356f 100644 Binary files a/aio/assets/target_brake_current.zip and b/aio/assets/target_brake_current.zip differ diff --git a/aio/assets/target_durable.zip b/aio/assets/target_durable.zip index 54fa8d0..695dfb5 100644 Binary files a/aio/assets/target_durable.zip and b/aio/assets/target_durable.zip differ diff --git a/aio/assets/templates/heartbeat b/aio/assets/templates/heartbeat index c227083..56a6051 100644 --- a/aio/assets/templates/heartbeat +++ b/aio/assets/templates/heartbeat @@ -1 +1 @@ -0 \ No newline at end of file +1 \ No newline at end of file diff --git a/aio/assets/templates/json/diagnosis.open.json b/aio/assets/templates/json/diagnosis.open.json index 915ff6a..7fe21c2 100644 --- a/aio/assets/templates/json/diagnosis.open.json +++ b/aio/assets/templates/json/diagnosis.open.json @@ -5,8 +5,8 @@ "data": { "open": false, "display_open": false, - "overrun": true, - "turn_area": true, + "overrun": false, + "turn_area": false, "delay_motion": false } } \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 71d38ea..e90793b 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -105,7 +105,7 @@ class App(customtkinter.CTk): btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback)) btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback)) # create version info - self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.2\nDate: 07/26/2024", font=self.my_font, text_color="#4F4F4F") + self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.3\nDate: 07/27/2024", font=self.my_font, text_color="#4F4F4F") self.frame_func.rowconfigure(6, weight=1) self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s') # ===================================================================== diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 28469e7..33868d5 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -90,9 +90,8 @@ def prj_to_xcore(prj_file): print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo print(stderr.read().decode()) # 顺便也执行以下stderr - # _prj_name = prj_file.split('\\')[-1].removesuffix('.zip') cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' + cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -120,13 +119,18 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): for data in curve_data: dict_results = data['data'] for item in dict_results: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback': _d2d_trq['device_servo_trq_feedback'].extend(item['value']) elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop': _d2d_stop['device_safety_estop'].extend(item['value']) + if len(_d2d_trq['device_servo_trq_feedback']) / 1000 > 10: + break df1 = pandas.DataFrame.from_dict(_d2d_vel) df2 = pandas.DataFrame.from_dict(_d2d_trq) @@ -164,6 +168,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): else: w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name) + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) for condition in result_dirs: _reach = condition.split('_')[0].removeprefix('reach') _load = condition.split('_')[1].removeprefix('load') @@ -189,9 +195,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): md.reset_estop() md.clear_alarm() md.write_act(0) - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) while count == 1: # 2. 修改未要执行的场景 @@ -236,16 +240,12 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): else: sleep(1) # 4. 打开诊断曲线，并执行采集，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录 - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) sleep(get_init_speed) # 获取实际最大速度，可通过configs.xlsx配置 _response = execution('rl_task.stop', hr, w2t, tasks=['brake']) - sleep(1) - _response = execution('state.switch_motor_off', hr, w2t) - _response = execution('state.switch_manual', hr, w2t) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + # sleep(1) # 找出最大速度 - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: dict_results = loads(_msg)['data'] for item in dict_results: @@ -262,14 +262,10 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', tab_name) md.write_speed_max(speed_max) - sleep(1) - for _msg in hr.c_msg: - if 'diagnosis.result' in _msg: - _index = hr.c_msg.index(_msg) - del hr.c_msg[_index:] - hr.c_msg_xs.clear() - break + hr.c_msg_xs.clear() + if len(hr.c_msg) > 240: + del hr.c_msg[240:] if speed_max < 10: md.clear_alarm() @@ -296,8 +292,6 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): else: w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name) - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) sleep(10) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间 md.write_probe(1) _t_start = time() @@ -305,29 +299,25 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): if md.read_brake_done() == 1: sleep(1) # 保证速度归零 md.write_probe(0) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) break else: if (time() - _t_start) > 30: w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题，比如正负方向速度是否一致...", 0, 0, 'red', tab_name) md.write_probe(0) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) break else: sleep(1) # 6. 保留数据并处理输出 curve_data = [] - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: curve_data.insert(0, loads(_msg)) else: - for _msg in hr.c_msg: - if 'diagnosis.result' in _msg: - _index = hr.c_msg.index(_msg) - del hr.c_msg[_index:] - hr.c_msg_xs.clear() - break + hr.c_msg_xs.clear() + if len(hr.c_msg) > 240: + del hr.c_msg[240:] gen_result_file(path, curve_data, axis, _reach, _load, _speed, count) else: w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', tab_name) diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index d46e0e0..b47a77d 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -7,6 +7,20 @@ from paramiko import SSHClient, AutoAddPolicy from json import loads import pandas +display_pdo_params = [ + {"name": "hw_joint_vel_feedback", "channel": 0}, + {"name": "hw_joint_vel_feedback", "channel": 1}, + {"name": "hw_joint_vel_feedback", "channel": 2}, + {"name": "hw_joint_vel_feedback", "channel": 3}, + {"name": "hw_joint_vel_feedback", "channel": 4}, + {"name": "hw_joint_vel_feedback", "channel": 5}, + {"name": "device_servo_trq_feedback", "channel": 0}, + {"name": "device_servo_trq_feedback", "channel": 1}, + {"name": "device_servo_trq_feedback", "channel": 2}, + {"name": "device_servo_trq_feedback", "channel": 3}, + {"name": "device_servo_trq_feedback", "channel": 4}, + {"name": "device_servo_trq_feedback", "channel": 5}, +] def traversal_files(path, w2t): if not exists(path): @@ -75,9 +89,8 @@ def prj_to_xcore(prj_file): print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo print(stderr.read().decode()) # 顺便也执行以下stderr - # _prj_name = prj_file.split('\\')[-1].removesuffix('.zip') cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' + cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -107,7 +120,10 @@ def data_proc_regular(path, filename, channel, scenario_time): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback': @@ -136,7 +152,10 @@ def data_proc_regular(path, filename, channel, scenario_time): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback': @@ -205,7 +224,10 @@ def data_proc_regular(path, filename, channel, scenario_time): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback': @@ -226,7 +248,10 @@ def data_proc_inertia(path, filename, channel): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback': @@ -287,20 +312,19 @@ def run_rl(path, hr, md, loadsel, w2t): conditions = c_inertia disc = disc_inertia + # preparation 触发软急停，并解除，目的是让可能正在运行着的机器停下来 + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + # _response = execution('diagnosis.save', hr, w2t, save=True) # 这条命令有问题 + md.trigger_estop() + md.reset_estop() + for condition in conditions: number = conditions.index(condition) w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test') - # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - md.trigger_estop() - md.reset_estop() + # 1. 将act重置为False，并修改未要执行的场景 md.write_act(False) - sleep(1) # 让曲线彻底关闭 - _response = execution('state.switch_manual', hr, w2t) - _response = execution('state.switch_motor_off', hr, w2t) - - # 2. 修改未要执行的场景 ssh = SSHClient() ssh.set_missing_host_key_policy(AutoAddPolicy()) ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') @@ -313,15 +337,14 @@ def run_rl(path, hr, md, loadsel, w2t): print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo print(stderr.read().decode()) # 顺便也执行以下stderr - # 3. reload工程后，pp2main，并且自动模式和上电 + # 2. reload工程后，pp2main，并且自动模式和上电 prj_path = 'target/_build/target.prj' _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current']) - _response = execution('overview.get_cur_prj', hr, w2t) _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current']) _response = execution('state.switch_auto', hr, w2t) _response = execution('state.switch_motor_on', hr, w2t) - # 4. 开始运行程序，单轴运行15s + # 3. 开始运行程序，单轴运行35s _response = execution('rl_task.run', hr, w2t, tasks=['current']) _t_start = time() while True: @@ -334,25 +357,8 @@ def run_rl(path, hr, md, loadsel, w2t): else: sleep(1) - # 5. 打开诊断曲线，并执行采集 + # 4. 打开诊断曲线，并执行采集 sleep(10) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定 - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - display_pdo_params = [ - {"name": "hw_joint_vel_feedback", "channel": 0}, - {"name": "hw_joint_vel_feedback", "channel": 1}, - {"name": "hw_joint_vel_feedback", "channel": 2}, - {"name": "hw_joint_vel_feedback", "channel": 3}, - {"name": "hw_joint_vel_feedback", "channel": 4}, - {"name": "hw_joint_vel_feedback", "channel": 5}, - {"name": "device_servo_trq_feedback", "channel": 0}, - {"name": "device_servo_trq_feedback", "channel": 1}, - {"name": "device_servo_trq_feedback", "channel": 2}, - {"name": "device_servo_trq_feedback", "channel": 3}, - {"name": "device_servo_trq_feedback", "channel": 4}, - {"name": "device_servo_trq_feedback", "channel": 5}, - {"name": "device_safety_estop", "channel": 0}, - ] - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) scenario_time = 0 if number < 6: sleep(35) @@ -374,24 +380,16 @@ def run_rl(path, hr, md, loadsel, w2t): scenario_time = md.read_scenario_time() sleep(float(scenario_time)*0.2) # 再运行周期的20%即可 - # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + # 5.停止程序运行，保留数据并处理输出 _response = execution('rl_task.stop', hr, w2t, tasks=['current']) - _response = execution('state.switch_motor_off', hr, w2t) - _response = execution('state.switch_manual', hr, w2t) - sleep(1) # 保证所有数据均已返回 - # 7. 保留数据并处理输出 - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: disc[number][1].insert(0, loads(_msg)) else: - _index = 210 - for _msg in hr.c_msg: - if 'diagnosis.result' in _msg: - _index = hr.c_msg.index(_msg) - break - del hr.c_msg[_index:] hr.c_msg_xs.clear() + if len(hr.c_msg) > 240: + del hr.c_msg[240:] gen_result_file(path, loadsel, disc, number, scenario_time) else: if loadsel == 'tool100': diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index c596ad5..094b416 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -81,9 +81,8 @@ def prj_to_xcore(prj_file): print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo print(stderr.read().decode()) # 顺便也执行以下stderr - _prj_name = prj_file.split('\\')[-1].removesuffix('.zip') cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj' + cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -106,7 +105,8 @@ def execution(cmd, hr, w2t, **kwargs): def run_rl(path, config_file, data_all, hr, md, w2t): # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) md.trigger_estop() md.reset_estop() md.write_act(False) @@ -115,7 +115,6 @@ def run_rl(path, config_file, data_all, hr, md, w2t): # 2. reload工程后，pp2main，并且自动模式和上电 prj_path = 'target/_build/target.prj' _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current']) - _response = execution('overview.get_cur_prj', hr, w2t) _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current']) _response = execution('state.switch_auto', hr, w2t) _response = execution('state.switch_motor_on', hr, w2t) @@ -134,8 +133,7 @@ def run_rl(path, config_file, data_all, hr, md, w2t): sleep(1) # 4. 获取初始数据，周期时间，首次的各轴平均电流值，打开诊断曲线，并执行采集 - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + sleep(20) # 初始化 scenario time 为 0 _t_start = time() while True: scenario_time = md.read_scenario_time() @@ -162,36 +160,26 @@ def run_rl(path, config_file, data_all, hr, md, w2t): for i in range(6): rcs.append(float(_ws.cell(row=6, column=i + 2).value)) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 保证所有数据均已返回 get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t) # 7. 继续运行 while True: # 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线 - sleep(wait_time) - _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - sleep(scenario_time+5) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(2) + sleep(wait_time+scenario_time+7) # 保留数据并处理输出 get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t) def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t): _data_list = [] - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: _data_list.insert(0, loads(_msg)) else: - _index = 210 - for _msg in hr.c_msg: - if 'diagnosis.result' in _msg: - _index = hr.c_msg.index(_msg) - break - del hr.c_msg[_index:] hr.c_msg_xs.clear() + if len(hr.c_msg) > 240: + del hr.c_msg[240:] # with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj: # for _ in _data_list: diff --git a/aio/code/openapi.py b/aio/code/openapi.py index fd86742..ed70430 100644 --- a/aio/code/openapi.py +++ b/aio/code/openapi.py @@ -261,10 +261,12 @@ class HmiRequest(object): f_hb.write(_flag) if _flag == '0': self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name) - sleep(2) - # with open(f"{current_path}/../assets/templates/c_msg.log", "w", encoding='utf-8') as f: - # for msg in self.c_msg: - # f.write(str(loads(msg)) + '\n') + t = time() + with open(f"{current_path}/../assets/templates/c_msg.log", "w", encoding='utf-8') as f: + for msg in self.c_msg: + f.write(str(t) + '-' + str(loads(msg)) + '\n') + sleep(1) + def msg_storage(self, response, flag=0): # response是解码后的字符串 @@ -604,6 +606,8 @@ class HmiRequest(object): req['data']['type'] = kwargs['type'] req['data']['bias'] = kwargs['bias'] req['data']['value'] = kwargs['value'] + case 'diagnosis.save': + req['data']['save'] = kwargs['save'] case _: pass