Merge branch 'main' of gitea.rustle.cc:gitea/rokae into profile

fetch the newest codes of main

aio/README.md

@@ -132,13 +132,16 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 
 > **需要注意的点**
 
-1. 使用之前需要手动修改点位信息，确保所有点位不会发生撞击之后，再进行自动化测试
+1. 【重要】使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击，确保所有程序正常运行之后，导出工程，再进行自动化测试
 2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为
 3. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停，但不完全保证100%，大概有95%左右的准确度
 4. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行
 5. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察
 6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停
 7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页
+8. 注意观察二轴100%臂展时，是否可以获取到正确的数据
+9. 将autotest.xml导入到寄存器，并新建一个modbus，命名为autotest
+10. 针对五轴机型，六轴数据可以填写1-5轴任意一轴的点位信息
 
 #### 6) 电机电流自动化测试
 
@@ -451,3 +454,29 @@ v0.1.9.0(2024/07/10)
 1. 完成了制动性能的自动化采集
 2. 完善了modbus浮点数读写相关的功能
 3. 修改了target.zip工程，该工程目前适配电机电流和制动性能
+
+v0.1.9.1(2024/07/12)
+1. [APIs: do_brake.py]
+   - 修改正负方向拍急停的逻辑，基本原理为：运行之前发送正负方向信号pon给RL，RL根据信号以及速度正负号运作
+   - 由于上述修改，正负方向急停准确率可达100%
+2. [APIs: aio.py]
+   - 修改write2textbox的输出逻辑，实现更加灵活的自定义输出，同时修改相关部分
+3. [APIs: openapi.py]
+   - modbus类新增指示政府方向急停的信号pon，将modbus类入参中的tab_name删除，并修改tab_name的值为'openapi'
+   - socket类种修改tab_name的值为'openapi'
+
+v0.1.9.2(2024/07/13)
+1. [APIs: do_brake.py]
+   - 修改ready_to_go信号的接收逻辑，适配大负载机型
+2. [APIs: do_current.py]
+   - 修改ready_to_go信号的接收逻辑，适配大负载机型
+   - 调整单轴测试时间为35s，适配大负载机型，调整堵转电流持续时间15s，适当减少测试时间
+   - 将act信号置为False的动作放在初始化，增加程序健壮性
+   - 修改所有输出文件的命名，在扩展名之前加入时间戳
+   - 删除多余的时序矫正语句——item['value'].reverse()，使输出的曲线为平滑的自然顺序
+3. [current: current.py]
+   - 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行
+   - max功能计算逻辑矫正，应该是取绝对值的最大值
+   - 整体梳理了trq/trqh的传递路径，现已修正完毕
+   - 减速比rr数据源修改为configs.xlsx
+4. 在current工程main函数增加 VelSet 100语句

aio/assets/autotest.xml

@@ -943,6 +943,7 @@
         <c name="type" type="10" value="float"/>
         <c name="value"/>
         <c name="value_single" type="10" value="0"/>
+        <c name="bias" type="2" value="0"/>
     </l>
     <l>
         <c name="addr" type="2" value="41004"/>
@@ -950,7 +951,7 @@
         <c name="addr_2nd" type="2" value="0"/>
         <c name="bit_bias" type="2" value="0"/>
         <c name="byte_bias" type="4" value="0"/>
-        <c name="description" type="10" value="触发或者接触急停"/>
+        <c name="description" type="10" value="【弃用】触发或者接触急停"/>
         <c name="dev_name" type="10" value="autotest"/>
         <c name="dev_type" type="10" value="MODBUS"/>
         <c name="end_addr" type="2" value="41004"/>
@@ -961,7 +962,8 @@
         <c name="rw" type="10" value="rd"/>
         <c name="type" type="10" value="bool"/>
         <c name="value"/>
-        <c name="value_single" type="10" value="true"/>
+        <c name="value_single" type="10" value=""/>
+        <c name="bias" type="2" value="0"/>
     </l>
     <l>
         <c name="addr" type="2" value="41005"/>
@@ -969,7 +971,7 @@
         <c name="addr_2nd" type="2" value="0"/>
         <c name="bit_bias" type="2" value="0"/>
         <c name="byte_bias" type="4" value="0"/>
-        <c name="description" type="10" value=""/>
+        <c name="description" type="10" value="pc to robot，指定工况下的速度值"/>
         <c name="dev_name" type="10" value="autotest"/>
         <c name="dev_type" type="10" value="MODBUS"/>
         <c name="end_addr" type="2" value="41006"/>
@@ -980,7 +982,8 @@
         <c name="rw" type="10" value="rd"/>
         <c name="type" type="10" value="float"/>
         <c name="value"/>
-        <c name="value_single" type="10" value="0"/>
+        <c name="value_single" type="10" value=""/>
+        <c name="bias" type="2" value="0"/>
     </l>
     <l>
         <c name="addr" type="2" value="41007"/>
@@ -988,7 +991,7 @@
         <c name="addr_2nd" type="2" value="0"/>
         <c name="bit_bias" type="2" value="0"/>
         <c name="byte_bias" type="4" value="0"/>
-        <c name="description" type="10" value=""/>
+        <c name="description" type="10" value="robot to pc，已触发急停标志"/>
         <c name="dev_name" type="10" value="autotest"/>
         <c name="dev_type" type="10" value="MODBUS"/>
         <c name="end_addr" type="2" value="41007"/>
@@ -999,7 +1002,8 @@
         <c name="rw" type="10" value="rdwr"/>
         <c name="type" type="10" value="bool"/>
         <c name="value"/>
-        <c name="value_single" type="10" value="true"/>
+        <c name="value_single" type="10" value=""/>
+        <c name="bias" type="2" value="0"/>
     </l>
     <l>
         <c name="addr" type="2" value="41008"/>
@@ -1007,7 +1011,7 @@
         <c name="addr_2nd" type="2" value="0"/>
         <c name="bit_bias" type="2" value="0"/>
         <c name="byte_bias" type="4" value="0"/>
-        <c name="description" type="10" value=""/>
+        <c name="description" type="10" value="pc to robot，轴的位置"/>
         <c name="dev_name" type="10" value="autotest"/>
         <c name="dev_type" type="10" value="MODBUS"/>
         <c name="end_addr" type="2" value="41009"/>
@@ -1019,6 +1023,7 @@
         <c name="type" type="10" value="int32"/>
         <c name="value"/>
         <c name="value_single" type="10" value=""/>
+        <c name="bias" type="2" value="0"/>
     </l>
     <l>
         <c name="addr" type="2" value="41010"/>
@@ -1026,7 +1031,7 @@
         <c name="addr_2nd" type="2" value="0"/>
         <c name="bit_bias" type="2" value="0"/>
         <c name="byte_bias" type="4" value="0"/>
-        <c name="description" type="10" value=""/>
+        <c name="description" type="10" value="pc to robot，急停开始标志"/>
         <c name="dev_name" type="10" value="autotest"/>
         <c name="dev_type" type="10" value="MODBUS"/>
         <c name="end_addr" type="2" value="41010"/>
@@ -1038,5 +1043,25 @@
         <c name="type" type="10" value="bool"/>
         <c name="value"/>
         <c name="value_single" type="10" value=""/>
+        <c name="bias" type="2" value="0"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41011"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value="pc to robot，指示正负方向拍急停"/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41011"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="pon"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
     </l>
 </m>

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, 1, 9, 0),
+    filevers=(0, 1, 9, 2),
-    prodvers=(0, 1, 9, 0),
+    prodvers=(0, 1, 9, 2),
     # Contains a bitmask that specifies the valid bits 'flags'r
     mask=0x3f,
     # Contains a bitmask that specifies the Boolean attributes of the file.
@@ -31,12 +31,12 @@ VSVersionInfo(
         '040904b0',
         [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
         StringStruct('FileDescription', 'All in one automatic toolbox'),
-        StringStruct('FileVersion', '0.1.9.0 (2024-07-10)'),
+        StringStruct('FileVersion', '0.1.9.2 (2024-07-13)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.1.9.0 (2024-07-10)')])
+        StringStruct('ProductVersion', '0.1.9.2 (2024-07-13)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/vers

@@ -1 +1 @@
-0.1.9.0 @ 07/10/2024
+0.1.9.2 @ 07/13/2024

aio/code/aio.py

@@ -49,8 +49,7 @@ class App(customtkinter.CTk):
         self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
         self.w_param = 84
         self.hr = None
-        self.md_at = None
+        self.md = None
-        self.md_dp = None
         # =====================================================================
         # configure window
         self.title("AIO - All in one automatic toolbox")
@@ -77,7 +76,7 @@ class App(customtkinter.CTk):
         btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
         btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
         # create version info
-        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.0\nDate: 07/10/2024", font=self.my_font, text_color="#4F4F4F")
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.2\nDate: 07/13/2024", 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')
         # =====================================================================
@@ -209,7 +208,7 @@ class App(customtkinter.CTk):
         else:
             for _func in _btn_funcs:
                 if _btn_funcs[_func] == value:
-                    btn_functions.main(self.hr, self.md_at, _func, self.write2textbox)
+                    btn_functions.main(self.hr, self.md, _func, self.write2textbox)
                     break
 
         self.seg_button.configure(state='normal')
@@ -219,8 +218,7 @@ class App(customtkinter.CTk):
         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)
-        self.md_at = openapi.ModbusRequest(self, 'Automatic Test')
+        self.md = openapi.ModbusRequest(self.write2textbox)
-        self.md_dp = openapi.ModbusRequest(self, 'Data Process')
 
         while True:
             with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb:
@@ -229,7 +227,6 @@ class App(customtkinter.CTk):
                 self.progressbar.configure(progress_color=pb_color)
                 self.progressbar_pr.configure(progress_color=pb_color)
                 if c_state == '0':
-                    # self.textbox.delete(index1='1.0', index2='end')
                     self.hr.t_bool = False
                     sleep(3)
                     del self.hr
@@ -238,7 +235,6 @@ class App(customtkinter.CTk):
 
     def tabview_click(self):
         self.initialization()
-        # self.textbox.delete(index1='1.0', index2='end')
 
         tab_name = self.tabview.get()
         if tab_name == 'Data Process':
@@ -386,6 +382,20 @@ class App(customtkinter.CTk):
                 self.textbox.insert(index='end', text=text + '\n', tags=color)
                 self.textbox.update()
                 self.textbox.see('end')
+        elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test':
+            if wait != 0:
+                self.textbox.insert(index='end', text=text, tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
+            elif exitcode != 0:
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
+                raise Exception(f"Error code: {exitcode}")
+            else:
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
                 
     def is_float(self, flag, *args):
         for item in args:
@@ -494,10 +504,10 @@ class App(customtkinter.CTk):
             func_dict[flag](path=args[0], w2t=self.write2textbox)
         elif flag == 5:
             self.pre_warning()
-            func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox)
+            func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox)
         elif flag == 6:
             self.pre_warning()
-            func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox)
+            func_dict[flag](path=args[0], hr=self.hr, md=self.md, 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！", )
 

aio/code/automatic_test/do_brake.py

@@ -168,6 +168,13 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
     ]
     wb = load_workbook(config_file, read_only=True)
     ws = wb['Target']
+    if ws.cell(row=1, column=1).value == 'positive':
+        md.write_pon(True)
+    elif ws.cell(row=1, column=1).value == 'negative':
+        md.write_pon(False)
+    else:
+        w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
+
     for condition in result_dirs:
         _reach = condition.split('_')[0].removeprefix('reach')
         _load = condition.split('_')[1].removeprefix('load')
@@ -196,17 +203,17 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                 ssh.set_missing_host_key_policy(AutoAddPolicy())
                 ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
                 if ws.cell(row=1, column=1).value == 'positive':
-                    _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
-                elif ws.cell(row=1, column=1).value == 'negative':
                     _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
+                elif ws.cell(row=1, column=1).value == 'negative':
+                    _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
                 else:
                     w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
                 _rl_speed = f"VelSet {_speed}"
                 cmd = 'cd /home/luoshi/bin/controller/; '
                 cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
                 cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; '
-                cmd += f'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
+                cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
-                cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod; '
+                cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod'
                 stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
                 stdin.write('luoshi2019' + '\n')
                 stdin.flush()
@@ -220,20 +227,21 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                 _response = execution('state.switch_auto', hr, w2t)
                 _response = execution('state.switch_motor_on', hr, w2t)
                 _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
-                for i in range(3):
+                _t_start = time()
+                while True:
                     if md.read_ready_to_go() == 1:
                         md.write_act(True)
                         break
                     else:
-                        sleep(1)
+                        if (time() - _t_start) // 20 > 1:
-                else:
+                            w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
-                    w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                        else:
-
+                            sleep(1)
                 # 4. 第一次打开诊断曲线，并执行采集8s，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
                 if count == 1:
                     _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
                     _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-                    sleep(8)  # 前八秒获取实际最大速度
+                    sleep(10)  # 前10秒获取实际最大速度
 
                     md.trigger_estop()
                     _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
@@ -277,7 +285,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
 
                 _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
                 _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-                # sleep(randint(3, 6))
+                sleep(randint(3, 6))
                 md.write_probe(True)
                 _t_start = time()
                 while True:
@@ -288,8 +296,12 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                         sleep(1)  # 保证所有数据均已返回
                         break
                     else:
-                        if (time() - _t_start) // 60 > 1:
+                        if (time() - _t_start) > 30:
-                            w2t(f"规定时间内未找到合适的点触发急停，需要确认RL/Python程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                            w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题...", 0, 0, 'red', 'Automatic Test')
+                            md.write_probe(False)
+                            _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                            sleep(1)  # 保证所有数据均已返回
+                            break
                         else:
                             sleep(1)
 

aio/code/automatic_test/do_current.py

@@ -120,16 +120,14 @@ def data_proc_regular(path, filename, channel, scenario_time):
                 for item in data:
                     item['value'].reverse()
                     if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
-                        item['value'].reverse()
                         _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
-                        item['value'].reverse()
                         _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
 
             df1 = pandas.DataFrame.from_dict(_d2d_vel)
             df2 = pandas.DataFrame.from_dict(_d2d_trq)
             df = pandas.concat([df1, df2], axis=1)
-            _filename = f'{path}\\single\\j{channel+1}_single.data'
+            _filename = f'{path}\\single\\j{channel+1}_single_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
     elif channel in list(range(6, 9)):
         with open(filename, 'r', encoding='utf-8') as f_obj:
@@ -178,37 +176,37 @@ def data_proc_regular(path, filename, channel, scenario_time):
             df_01 = pandas.DataFrame.from_dict(_d2d_vel_0)
             df_02 = pandas.DataFrame.from_dict(_d2d_trq_0)
             df = pandas.concat([df_01, df_02], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}.data'
+            _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = pandas.DataFrame.from_dict(_d2d_vel_1)
             df_02 = pandas.DataFrame.from_dict(_d2d_trq_1)
             df = pandas.concat([df_01, df_02], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}.data'
+            _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = pandas.DataFrame.from_dict(_d2d_vel_2)
             df_02 = pandas.DataFrame.from_dict(_d2d_trq_2)
             df = pandas.concat([df_01, df_02], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}.data'
+            _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = pandas.DataFrame.from_dict(_d2d_vel_3)
             df_02 = pandas.DataFrame.from_dict(_d2d_trq_3)
             df = pandas.concat([df_01, df_02], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}.data'
+            _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = pandas.DataFrame.from_dict(_d2d_vel_4)
             df_02 = pandas.DataFrame.from_dict(_d2d_trq_4)
             df = pandas.concat([df_01, df_02], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}.data'
+            _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = pandas.DataFrame.from_dict(_d2d_vel_5)
             df_02 = pandas.DataFrame.from_dict(_d2d_trq_5)
             df = pandas.concat([df_01, df_02], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}.data'
+            _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
     elif channel in list(range(9, 15)):
         with open(filename, 'r', encoding='utf-8') as f_obj:
@@ -227,7 +225,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             df1 = pandas.DataFrame.from_dict(_d2d_vel)
             df2 = pandas.DataFrame.from_dict(_d2d_trq)
             df = pandas.concat([df1, df2], axis=1)
-            _filename = f'{path}\\single\\j{channel-8}_hold.data'
+            _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
 
@@ -248,7 +246,7 @@ def data_proc_inertia(path, filename, channel):
         df1 = pandas.DataFrame.from_dict(_d2d_vel)
         df2 = pandas.DataFrame.from_dict(_d2d_trq)
         df = pandas.concat([df1, df2], axis=1)
-        _filename = f'{path}\\inertia\\j{channel+4}_inertia.data'
+        _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
         df.to_csv(_filename, sep='\t', index=False)
 
 
@@ -308,6 +306,8 @@ def run_rl(path, hr, md, loadsel, w2t):
         _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)
 
@@ -334,19 +334,19 @@ def run_rl(path, hr, md, loadsel, w2t):
 
         # 4. 开始运行程序，单轴运行15s
         _response = execution('rl_task.run', hr, w2t, tasks=['current'])
-        for i in range(3):
+        _t_start = time()
+        while True:
             if md.read_ready_to_go() == 1:
                 md.write_act(True)
-                sleep(1)
-                md.write_act(False)
                 break
             else:
-                sleep(1)
+                if (time() - _t_start) // 20 > 1:
-        else:
+                    w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
-            w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                else:
+                    sleep(1)
 
         # 5. 打开诊断曲线，并执行采集
-        sleep(7)  # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定
+        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},
@@ -365,7 +365,9 @@ def run_rl(path, hr, md, loadsel, w2t):
         ]
         _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
         scenario_time = 0
-        if number < 6 or number > 8:
+        if number < 6:
+            sleep(35)
+        elif number > 8:
             sleep(15)
         else:
             _t_start = time()

aio/code/automatic_test/openapi.py

@@ -1,4 +1,4 @@
-from json import load, dumps, loads
+from json import load, dumps
 from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
 from threading import Thread
 import selectors
@@ -14,10 +14,10 @@ current_path = dirname(__file__)
 
 
 class ModbusRequest(object):
-    def __init__(self, w2t, tab_name):
+    def __init__(self, w2t):
         super().__init__()
         self.w2t = w2t
-        self.tab_name = tab_name
+        self.tab_name = 'openapi'
         self.host = '192.168.0.160'
         self.port = 502
         self.c = ModbusTcpClient(self.host, self.port)
@@ -167,6 +167,13 @@ class ModbusRequest(object):
             self.w2t(f"{Err}")
             self.w2t("无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
+    def write_pon(self, pon):  # positive or negative
+        try:
+            self.c.write_register(41011, pon)
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            self.w2t("无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
 
 class HmiRequest(object):
     def __init__(self, w2t):
@@ -182,7 +189,7 @@ class HmiRequest(object):
         self.flag_xs = 0
         self.response_xs = ''
         self.t_bool = True
-        self.tab_name = 'Automatic Test'
+        self.tab_name = 'openapi'
         self.pkg_size = 0
         self.broke = 0
         self.half = 0
@@ -219,7 +226,7 @@ class HmiRequest(object):
                 # 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')
-                md = ModbusRequest(self.w2t, self.tab_name)
+                md = ModbusRequest(self.w2t)
                 md.reset_estop()
                 md.clear_alarm()
                 md.write_act(False)

aio/code/data_process/current.py

@@ -79,7 +79,7 @@ def initialization(path, sub, w2t):
     return data_files
 
 
-def current_max(data_files, rcs, trqh, w2t):
+def current_max(data_files, rcs, trq, w2t):
     current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
     for data_file in data_files:
         if data_file.endswith('.data'):
@@ -93,8 +93,8 @@ def current_max(data_files, rcs, trqh, w2t):
         axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
         rca = rcs[axis-1]
 
-        col = df.columns.values[trqh-1]
+        col = df.columns.values[trq-1]
-        c_max = df[col].max()
+        c_max = df[col].abs().max()
 
         scale = 1 if data_file.endswith('.csv') else 1000
         _ = abs(c_max/scale*rca)
@@ -118,7 +118,7 @@ def current_max(data_files, rcs, trqh, w2t):
     return current
 
 
-def current_avg(data_files, rcs, trqh, w2t):
+def current_avg(data_files, rcs, trq, w2t):
     current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
     for data_file in data_files:
         if data_file.endswith('.data'):
@@ -132,7 +132,7 @@ def current_avg(data_files, rcs, trqh, w2t):
         axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
         rca = rcs[axis-1]
 
-        col = df.columns.values[trqh - 1]
+        col = df.columns.values[trq-1]
         c_std = df[col].std()
         c_avg = df[col].mean()
 
@@ -158,7 +158,7 @@ def current_avg(data_files, rcs, trqh, w2t):
     return current
 
 
-def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
+def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
     result = None
     hold = []
     single = []
@@ -194,9 +194,9 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
                 pass
 
     if dur == 0:
-        p_single(wb, single, vel, trq, rpms, w2t)
+        p_single(wb, single, vel, trq, rpms, rrs, w2t)
     else:
-        p_scenario(wb, single, vel, trq, rpms, dur, w2t)
+        p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t)
 
     w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange')
     stop = 0
@@ -237,7 +237,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
             w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')
 
 
-def p_single(wb, single, vel, trq, rpms, w2t):
+def p_single(wb, single, vel, trq, rpms, rrs, w2t):
     # 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑
     # 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑
     # 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置
@@ -251,7 +251,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
         set_option("display.precision", 2)
         if data_file.endswith('.data'):
             df = read_csv(data_file, sep='\t')
-            rr = float(wb['统计'].cell(row=2, column=axis+1).value)
+            rr = rrs[axis+1]
             addition = 180 / 3.1415926 * 60 / 360 * rr
         elif data_file.endswith('.csv'):
             df = read_csv(data_file, sep=',', encoding='gbk', header=8)
@@ -268,6 +268,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
         col_names = list(df.columns)
         df_1 = df[col_names[vel-1]].multiply(rpm*addition)
         df_2 = df[col_names[trq-1]].multiply(scale)
+        print(df_1.abs().max())
         df = concat([df_1, df_2], axis=1)
 
         _step = 5 if data_file.endswith('.csv') else 50
@@ -318,7 +319,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
                     cell.value = None
 
 
-def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
+def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
     for data_file in single:
         cycle = 0.001
         axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
@@ -330,7 +331,7 @@ def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
         set_option("display.precision", 2)
         if data_file.endswith('.data'):
             df = read_csv(data_file, sep='\t')
-            rr = float(wb['统计'].cell(row=2, column=axis+1).value)
+            rr = rrs[axis+1]
             addition = 180 / 3.1415926 * 60 / 360 * rr
         elif data_file.endswith('.csv'):
             df = read_csv(data_file, sep=',', encoding='gbk', header=8)
@@ -374,6 +375,7 @@ def get_configs(configfile, w2t):
     _wb = load_workbook(configfile, read_only=True)
     _ws = _wb['Target']
     rcs = []
+    rrs = []
     rpms = []
     for i in range(2, 9):
         try:
@@ -386,18 +388,23 @@ def get_configs(configfile, w2t):
         except:
             rcs.append(0.0)
 
-    return rpms, rcs
+        try:
+            rrs.append(float(_ws.cell(row=2, column=i).value))
+        except:
+            rrs.append(0.0)
+
+    return rpms, rcs, rrs
 
 
 def main(path, sub, dur, vel, trq, trqh, w2t):
     data_files = initialization(path, sub, w2t)
-    rpms, rcs = get_configs(path + '\\configs.xlsx', w2t)
+    rpms, rcs, rrs = get_configs(path + '\\configs.xlsx', w2t)
     if sub == 'max':
-        current_max(data_files, rcs, trqh, w2t)
+        current_max(data_files, rcs, trq, w2t)
     elif sub == 'avg':
-        current_avg(data_files, rcs, trqh, w2t)
+        current_avg(data_files, rcs, trq, w2t)
     elif sub == 'cycle':
-        current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t)
+        current_cycle(dur, data_files, rcs, rrs,  vel, trq, trqh, rpms, w2t)
     else:
         pass