10. [APIs: all]: 添加了 logger.setLevel(INFO)，只有添加这个，单个模块内才生效

8. [APIs: aio.py]: 将日志框输出的内容，也保存至日志文件
9. [APIs: do_brake.py]
   - 修改获取初始速度的逻辑，只获取configs文件中配置的时间内的速度
   - 新增 configs 参数 single_brake，可针对特定条件做测试

aio/README.md

@@ -561,13 +561,19 @@ v0.2.0.3(2024/07/27)
    - 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
 
+v0.2.0.4(2024/07/30)
+1. [APIs: do_brake.py]: 修复制动数据处理过程中，只取曲线的最后 240 个数据
+2. [APIs: aio.py]: 判定版本处，删除 self.destroy()，因为该语句会导致异常发生
+   - 心跳修改为 1s，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
+
 v0.2.0.5(2024/07/31)
 此版本改动较大，公共部分做了规整，放置到新建文件夹 commons 当中，并所有自定义模块引入 logging 模块，记录重要信息
 1. [t_change_ui: clibs.py]
    - 调整代码组织结构，新增模块，将公共函数以及类合并入此
    - 将一些常量放入该模块
    - 引入logging/concurrent_log_handler模块，并作初始化操作，供其他模块使用，按50M切割，最多保留10份
-   - prj_to_xcore函数设置工程名部分重写，修复了多个prj工程可能不能执行的问题
+   - prj_to_xcore函数设置工程名部分重写，修复了多个prj工程可能不能执行的问题，并优化输入密码的部分
 2. [t_change_ui: openapi.py]
    - 完全重写了 get_from_id 函数，使更精准
    - 在 msg_storage 函数中，增加 logger，保留所有响应消息
@@ -576,10 +582,17 @@ v0.2.0.5(2024/07/31)
 3. [t_change_ui: aio.py]
    - 增加了日志初始化部分
    - detect_network 函数中修改重新实例化HR间隔为 4s，对应心跳
+   - create_plot 函数中增加 close('all')，解决循环画图不销毁占用内存的问题
 4. [t_change_ui: do_brake.py]
    - 使用一直打开曲线的方法规避解决了 OOM 的问题，同时修改数据处理方式，只取最后 12s
+   - 优化 ssh 输入密码的部分
 5. [t_change_ui: do_current.py]
    - 保持电流，只取最后 15s
+   - 优化 ssh 输入密码的部分
 6. [t_change_ui: all the part]: 引入 commons 包，并定制了 logging 输出，后续持续优化
-
-
+7. [APIs: btn_functions.py]: 重写了告警输出函数，从日志中拿数据
+8. [APIs: aio.py]: 将日志框输出的内容，也保存至日志文件
+9. [APIs: do_brake.py]
+   - 修改获取初始速度的逻辑，只获取configs文件中配置的时间内的速度
+   - 新增 configs 参数 single_brake，可针对特定条件做测试
+10. [APIs: all]: 添加了 logger.setLevel(INFO)，只有添加这个，单个模块内才生效

aio/code/aio.py

@@ -11,10 +11,10 @@ from data_process import brake, current, iso, wavelogger
 from automatic_test import do_current, do_brake, btn_functions
 from durable_action import factory_test
 from commons import openapi, clibs
-from matplotlib.pyplot import rcParams, figure, subplots_adjust
+from matplotlib.pyplot import rcParams, figure, subplots_adjust, close
 from matplotlib import use
 from pandas import DataFrame, read_excel
-import logging
+from logging import getLogger, INFO
 
 with open(clibs.log_data, 'w') as _:
     for i in range(1, 11):
@@ -22,7 +22,8 @@ with open(clibs.log_data, 'w') as _:
             remove(f'{clibs.log_data}.{i}')
         except FileNotFoundError:
             pass
-logger = logging.getLogger(__file__)
+logger = getLogger(__file__)
+logger.setLevel(INFO)
 logger.info("日志文件初始化完成...")
 
 use('Agg')
@@ -94,7 +95,7 @@ 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: 0.2.0.3\nDate: 07/27/2024", font=self.my_font, text_color="#4F4F4F")
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.5\nDate: 08/02/2024", 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')
         # =====================================================================
@@ -230,6 +231,7 @@ class App(customtkinter.CTk):
             self.flg = 1
             self.df_copy = df.copy()
             self.old_curve = widgits_da['curvesel']['optionmenu'].get()
+            close('all')
             _figure = figure(frameon=True, facecolor='#E9E9E9')
             subplots_adjust(left=0.04, right=0.98, bottom=0.1, top=0.95)
 
@@ -448,6 +450,7 @@ class App(customtkinter.CTk):
         self.textbox.tag_add(color, 'insert', 'end')
         self.textbox.tag_config(tagName=color, foreground=color)
         tab_name_cur = self.tabview.get()
+        logger.info(text)
 
         if tab_name == tab_name_cur:
             if wait != 0:

aio/code/automatic_test/btn_functions.py

@@ -1,10 +1,11 @@
 from json import loads
 from sys import argv
-from logging import getLogger
+from logging import getLogger, INFO
 from commons import clibs
 
 tab_name = clibs.tab_names['at']
 logger = getLogger(__file__)
+logger.setLevel(INFO)
 
 
 def trigger_estop(md, w2t):
@@ -38,12 +39,15 @@ def get_state(hr, w2t):
 
 
 def warning_info(hr, w2t):
-    for msg in hr.c_msg:
-        if 'alarm' in msg.lower():
-            w2t(str(loads(msg)), tab_name=tab_name)
-    for msg in hr.c_msg_xs:
-        if 'alarm' in msg.lower():
-            w2t(str(loads(msg)), tab_name=tab_name)
+    for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
+        log_name = clibs.log_data + postfix
+        try:
+            with open(log_name, 'r', encoding='utf-8') as f_log:
+                for line in f_log:
+                    if 'alarm' in line:
+                        w2t(line.strip(), tab_name=tab_name)
+        except FileNotFoundError:
+            pass
 
 
 def main(hr, md, func, w2t):

aio/code/automatic_test/do_brake.py

@@ -5,11 +5,12 @@ from paramiko import SSHClient, AutoAddPolicy
 from json import loads
 from openpyxl import load_workbook
 from pandas import DataFrame, concat
-from logging import getLogger
+from logging import getLogger, INFO
 from commons import clibs
 
 tab_name = clibs.tab_names['at']
 logger = getLogger(__file__)
+logger.setLevel(INFO)
 
 
 def check_files(path, loadsel, data_dirs, data_files, w2t):
@@ -61,7 +62,7 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
     _d2d_vel = {'hw_joint_vel_feedback': []}
     _d2d_trq = {'device_servo_trq_feedback': []}
     _d2d_stop = {'device_safety_estop': []}
-    for data in curve_data[-240:]:
+    for data in curve_data[-240:]:  # 保留最后12s的数据
         dict_results = data['data']
         for item in dict_results:
             try:
@@ -85,6 +86,7 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
 
 def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
     _count = 0
+    _total = 63
     display_pdo_params = [
         {"name": "hw_joint_vel_feedback", "channel": 0},
         {"name": "hw_joint_vel_feedback", "channel": 1},
@@ -104,6 +106,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
     ws = wb['Target']
     write_diagnosis = float(ws.cell(row=3, column=10).value)
     get_init_speed = float(ws.cell(row=4, column=10).value)
+    single_brake = str(ws.cell(row=5, column=10).value)
+
     if ws.cell(row=1, column=1).value == 'positive':
         md.write_pon(1)
     elif ws.cell(row=1, column=1).value == 'negative':
@@ -118,7 +122,19 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
         _load = condition.split('_')[1].removeprefix('load')
         _speed = condition.split('_')[2].removeprefix('speed')
 
+        # for single condition test
+        _single_axis = 0
+        if single_brake != '0':
+            _total = 3
+            _single_axis = int(single_brake.split('-')[0])
+            if _reach != single_brake.split('-')[1] or _load != single_brake.split('-')[2] or _speed != single_brake.split('-')[3]:
+                continue
+
         for axis in range(1, 4):
+            # for single condition test
+            if _single_axis != 0 and _single_axis != axis:
+                continue
+
             md.write_axis(axis)
             speed_max = 0
             if axis == 3 and _reach != '100':
@@ -130,7 +146,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                 _count += 1
                 this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
                 prj_path = 'target/_build/target.prj'
-                w2t(f"[{this_time} | {_count}/63] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
+                w2t(f"[{this_time} | {_count}/{_total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
 
                 # 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
                 md.trigger_estop()
@@ -161,9 +177,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                     cmd += f'sudo sed -i "/VelSet/i {_rl_tool}" projects/target/_build/brake/main.mod; '
                     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
+                    stdout.read().decode()  # 需要read一下才能正常执行
+                    stderr.read().decode()
 
                     # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
                     clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
@@ -181,13 +196,17 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                                 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', tab_name)
                             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
-                    sleep(get_init_speed)  # 获取实际最大速度，可通过configs.xlsx配置
+                # 4. 找出最大速度，传递给RL程序，最后清除相关记录
+                    sleep(get_init_speed+5)  # 冗余5s，指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置
                     clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['brake'])
                     # 找出最大速度
                     _c_msg = hr.c_msg.copy()
+                    _number = 0
                     for _msg in _c_msg:
+                        if _number > get_init_speed*20:  # 最开始回零点的时候，二轴速度可以达到最大值，实际摆动时，某一方向可能达不到
+                            break
                         if 'diagnosis.result' in _msg:
+                            _number += 1
                             dict_results = loads(_msg)['data']
                             for item in dict_results:
                                 if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
@@ -196,7 +215,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                                         speed_max = max(_, speed_max)
                                     elif ws.cell(row=1, column=1).value == 'negative':
                                         speed_max = min(_, speed_max)
-                    print(f"speed max = {speed_max}")
+                    logger.info(f"speed max = {speed_max}")
                     speed_max = abs(speed_max)
                     speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
                     if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:

aio/code/automatic_test/do_current.py

@@ -4,10 +4,12 @@ from sys import argv
 from paramiko import SSHClient, AutoAddPolicy
 from json import loads
 from pandas import DataFrame, concat
-from logging import getLogger
+from logging import getLogger, INFO
 from commons import clibs
 
 logger = getLogger(__file__)
+logger.setLevel(INFO)
+
 tab_name = clibs.tab_names['at']
 display_pdo_params = [
     {"name": "hw_joint_vel_feedback", "channel": 0},
@@ -64,7 +66,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel = {'hw_joint_vel_feedback': []}
             _d2d_trq = {'device_servo_trq_feedback': []}
-            for line in lines:
+            for line in lines[-500:]:  # 保留最后25s的数据
                 data = eval(line.strip())['data']
                 for item in data:
                     try:
@@ -168,7 +170,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel = {'hw_joint_vel_feedback': []}
             _d2d_trq = {'device_servo_trq_feedback': []}
-            for line in lines[-300:]:
+            for line in lines[-300:]:  # 保留最后15s的数据
                 data = eval(line.strip())['data']
                 for item in data:
                     try:
@@ -280,9 +282,8 @@ def run_rl(path, hr, md, loadsel, w2t):
         cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod'
         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
+        stdout.read().decode()  # 需要read一下才能正常执行
+        stderr.read().decode()
 
         # 2. reload工程后，pp2main，并且自动模式和上电
         prj_path = 'target/_build/target.prj'

aio/code/commons/clibs.py

@@ -38,21 +38,16 @@ durable_data_current_max = {
     'axis6': [0 for _ in range(18)],
 }
 
-fmt = Formatter('%(asctime)s # %(levelname)s-%(filename)s-%(funcName)s # %(message)s')
-# file_handler = logging.FileHandler(log_data)
-# file_handler = RotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8')
 file_handler = ConcurrentRotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8')
-file_handler.setFormatter(fmt)
 file_handler.setLevel(INFO)
 console_handler = StreamHandler()
-console_handler.setFormatter(fmt)
-console_handler.setLevel(ERROR)
+console_handler.setLevel(WARNING)
 
-# basicConfig(level=WARNING,  # for product
-basicConfig(level=WARNING,
+basicConfig(  # level=INFO,
             datefmt='%Y-%m-%dT%H:%M:%S',
-            # handlers=[file_handler])  # for product
-            handlers=[file_handler, console_handler])
+            format='%(asctime)s # %(levelname)s-%(filename)s-%(funcName)s # %(message)s',
+            handlers=[file_handler, console_handler],
+            )
 
 
 class GetThreadResult(Thread):
@@ -107,18 +102,16 @@ def prj_to_xcore(prj_file):
     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
+    stdout.read().decode()  # 需要read一下才能正常执行
+    stderr.read().decode()
 
     cmd = 'cd /home/luoshi/bin/controller/; '
     cmd += 'sudo chmod -R 755 projects; rm /tmp/*.prj; sudo mv projects/target/_build/*.prj /tmp; cd /tmp; '
     cmd += 'prj=($(ls *.prj)); sudo mv ${prj[0]} /home/luoshi/bin/controller/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
+    stdout.read().decode()  # 需要read一下才能正常执行
+    stderr.read().decode()
     ssh.close()
 
 

aio/code/commons/openapi.py

@@ -6,10 +6,12 @@ from time import time, sleep
 from pymodbus.client.tcp import ModbusTcpClient
 from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
 from pymodbus.constants import Endian
-from logging import getLogger
+from logging import getLogger, INFO
 from commons import clibs
 
 logger = getLogger(__file__)
+logger.setLevel(INFO)
+
 
 class ModbusRequest(object):
     def __init__(self, w2t):
@@ -261,7 +263,7 @@ class HmiRequest(object):
     def msg_storage(self, response, flag=0):
         # response是解码后的字符串
         messages = self.c_msg if flag == 0 else self.c_msg_xs
-        logger.warning(f"{loads(response)}")
+        logger.info(f"{loads(response)}")
         if 'move.monitor' in response:
             pass
         elif len(messages) < 10000:

aio/code/data_process/brake.py

@@ -5,10 +5,11 @@ from openpyxl import load_workbook
 from time import time, sleep, strftime, localtime
 from threading import Thread
 from pandas import read_csv
-from logging import getLogger
+from logging import getLogger, INFO
 from commons import clibs
 
 logger = getLogger(__file__)
+logger.setLevel(INFO)
 
 
 def check_files(path, raw_data_dirs, result_files, w2t):

aio/code/data_process/current.py

@@ -5,10 +5,11 @@ from re import match
 from threading import Thread
 from time import sleep
 from csv import reader, writer
-from logging import getLogger
+from logging import getLogger, INFO
 from commons import clibs
 
 logger = getLogger(__file__)
+logger.setLevel(INFO)
 
 
 def w2t_local(msg, wait, w2t):

aio/code/data_process/iso.py

@@ -3,10 +3,11 @@ import pdfplumber
 from openpyxl import load_workbook
 from os import remove
 from sys import argv
-from logging import getLogger
+from logging import getLogger, INFO
 from commons import clibs
 
 logger = getLogger(__file__)
+logger.setLevel(INFO)
 
 
 def p_iso(file, p_files, ws, tmpfile):

aio/code/data_process/wavelogger.py

@@ -2,10 +2,11 @@ from pandas import read_csv
 from csv import reader
 from sys import argv
 from openpyxl import Workbook
-from logging import getLogger
+from logging import getLogger, INFO
 from commons import clibs
 
 logger = getLogger(__file__)
+logger.setLevel(INFO)
 
 
 def find_point(bof, step, pos, data_file, flag, df, row, w2t):

aio/code/durable_action/factory_test.py

@@ -6,10 +6,12 @@ from openpyxl import load_workbook
 from math import sqrt
 from numpy import power
 from csv import writer
-from logging import getLogger
+from logging import getLogger, INFO
 from commons import clibs
 
 logger = getLogger(__file__)
+logger.setLevel(INFO)
+
 tab_name = clibs.tab_names['da']
 count = 0
 display_pdo_params = [