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

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
+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

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),
+    filevers=(0, 2, 0, 3),
-    prodvers=(0, 2, 0, 2),
+    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])])
   ]

aio/assets/templates/heartbeat

@@ -1 +1 @@
-0
+1

aio/assets/templates/json/diagnosis.open.json

@@ -5,8 +5,8 @@
   "data": {
 	  "open": false,
 	  "display_open": false,
-	  "overrun": true,
+	  "overrun": false,
-	  "turn_area": true,
+	  "turn_area": false,
 	  "delay_motion": false
   }
 }

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')
         # =====================================================================

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)
+                    # sleep(1)
-                    _response = execution('state.switch_motor_off', hr, w2t)
-                    _response = execution('state.switch_manual', hr, w2t)
-                    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
                     # 找出最大速度
-                    for _msg in hr.c_msg:
+                    _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:
+                    hr.c_msg_xs.clear()
-                        if 'diagnosis.result' in _msg:
+                    if len(hr.c_msg) > 240:
-                            _index = hr.c_msg.index(_msg)
+                        del hr.c_msg[240:]
-                            del hr.c_msg[_index:]
-                            hr.c_msg_xs.clear()
-                            break
 
                     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:
+                    hr.c_msg_xs.clear()
-                        if 'diagnosis.result' in _msg:
+                    if len(hr.c_msg) > 240:
-                            _index = hr.c_msg.index(_msg)
+                        del hr.c_msg[240:]
-                            del hr.c_msg[_index:]
-                            hr.c_msg_xs.clear()
-                            break
                     gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
     else:
         w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', tab_name)

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
+        # 1. 将act重置为False，并修改未要执行的场景
-        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-        md.trigger_estop()
-        md.reset_estop()
         md.write_act(False)
-        sleep(1)  # 让曲线彻底关闭
-        _response = execution('state.switch_manual', hr, w2t)
-        _response = execution('state.switch_motor_off', hr, w2t)
-
-        # 2. 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
+        # 5.停止程序运行，保留数据并处理输出
-        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
         _response = execution('rl_task.stop', hr, w2t, tasks=['current'])
-        _response = execution('state.switch_motor_off', hr, w2t)
+        _c_msg = hr.c_msg.copy()
-        _response = execution('state.switch_manual', hr, w2t)
+        for _msg in _c_msg:
-        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:
             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':

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)
+    sleep(20)  # 初始化 scenario time 为 0
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
     _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)
+        sleep(wait_time+scenario_time+7)
-        _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)
         # 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:

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)
+                    t = time()
-            # with open(f"{current_path}/../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
+                    with open(f"{current_path}/../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
-            #     for msg in self.c_msg:
+                        for msg in self.c_msg:
-            #         f.write(str(loads(msg)) + '\n')
+                            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