v0.2.0.6(2024/08/09)

1. [t_change_ui: all files]
   - 修改了 logger 的实现
   - 尤其是 clibs.py，使用日志字典，重写了日志记录的功能

.gitignore

@@ -12,3 +12,4 @@ aio/code/durable_action/__pycache__/
 aio/assets/templates/durable/
 aio/assets/templates/.__c_msg.lock
 aio/code/commons/__pycache__/
+aio/assets/templates/debug.log

aio/README.md

@@ -561,6 +561,12 @@ 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]
@@ -584,5 +590,14 @@ v0.2.0.5(2024/07/31)
    - 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
 
-
+v0.2.0.6(2024/08/09)
+1. [t_change_ui: all files]
+   - 修改了 logger 的实现
+   - 尤其是 clibs.py，使用日志字典，重写了日志记录的功能

aio/code/aio.py

@@ -14,15 +14,14 @@ from commons import openapi, clibs
 from matplotlib.pyplot import rcParams, figure, subplots_adjust, close
 from matplotlib import use
 from pandas import DataFrame, read_excel
-import logging
 
-with open(clibs.log_data, 'w') as _:
+with open(clibs.log_data_hmi, 'w') as _hmi, open(clibs.log_data_debug, 'w', encoding='utf-8') as _debug:
     for i in range(1, 11):
         try:
-            remove(f'{clibs.log_data}.{i}')
+            remove(f'{clibs.log_data_hmi}.{i}')
         except FileNotFoundError:
             pass
-logger = logging.getLogger(__file__)
+logger = clibs.log_prod
 logger.info("日志文件初始化完成...")
 
 use('Agg')
@@ -449,6 +448,7 @@ 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 +1,8 @@
-from json import loads
 from sys import argv
-from logging import getLogger
 from commons import clibs
 
 tab_name = clibs.tab_names['at']
-logger = getLogger(__file__)
+logger = clibs.log_prod
 
 
 def trigger_estop(md, w2t):
@@ -38,12 +36,15 @@ def get_state(hr, w2t):
 
 
 def warning_info(hr, w2t):
-    for msg in hr.c_msg:
+    for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
-        if 'alarm' in msg.lower():
+        log_name = clibs.log_data_hmi + postfix
-            w2t(str(loads(msg)), tab_name=tab_name)
+        try:
-    for msg in hr.c_msg_xs:
+            with open(log_name, 'r', encoding='utf-8') as f_log:
-        if 'alarm' in msg.lower():
+                for line in f_log:
-            w2t(str(loads(msg)), tab_name=tab_name)
+                    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 +5,10 @@ from paramiko import SSHClient, AutoAddPolicy
 from json import loads
 from openpyxl import load_workbook
 from pandas import DataFrame, concat
-from logging import getLogger
 from commons import clibs
 
 tab_name = clibs.tab_names['at']
-logger = getLogger(__file__)
+logger = clibs.log_prod
 
 
 def check_files(path, loadsel, data_dirs, data_files, w2t):
@@ -61,7 +60,7 @@ 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 +84,7 @@ 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 +104,9 @@ 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)
+    logger.info(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}")
+
     if ws.cell(row=1, column=1).value == 'positive':
         md.write_pon(1)
     elif ws.cell(row=1, column=1).value == 'negative':
@@ -118,7 +121,19 @@ 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 +145,7 @@ 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()
@@ -180,13 +195,17 @@ 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
+                # 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)  # 获取实际最大速度，可通过configs.xlsx配置
+                    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':
@@ -195,7 +214,7 @@ 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 +4,9 @@ from sys import argv
 from paramiko import SSHClient, AutoAddPolicy
 from json import loads
 from pandas import DataFrame, concat
-from logging import getLogger
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
 tab_name = clibs.tab_names['at']
 display_pdo_params = [
     {"name": "hw_joint_vel_feedback", "channel": 0},
@@ -64,7 +63,7 @@ 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 +167,7 @@ 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:

aio/code/commons/clibs.py

@@ -4,10 +4,12 @@ from time import sleep
 from os.path import exists
 from paramiko import SSHClient, AutoAddPolicy
 from socket import setdefaulttimeout
-from logging import DEBUG, INFO, WARNING, ERROR, CRITICAL, Formatter, StreamHandler, basicConfig
+from logging import getLogger
-from concurrent_log_handler import ConcurrentRotatingFileHandler
+from logging.config import dictConfig
+import concurrent_log_handler
 
-ip_addr = '192.168.0.160'
+ip_addr = '192.168.0.160'  # for product
+# ip_addr = '192.168.84.129'  # for test
 RADIAN = 57.3  # 180 / 3.1415926
 MAX_FRAME_SIZE = 1024
 TIMEOUT = 5
@@ -15,7 +17,8 @@ setdefaulttimeout(TIMEOUT)
 tab_names = {'dp': 'Data Process', 'at': 'Automatic Test', 'da': 'Duration Action', 'op': 'openapi'}
 # PREFIX = ''  # for pyinstaller packaging
 PREFIX = '../assets/'  # for source code debug
-log_data = f'{PREFIX}templates/c_msg.log'
+log_data_hmi = f'{PREFIX}templates/c_msg.log'
+log_data_debug = f'{PREFIX}templates/debug.log'
 heartbeat = f'{PREFIX}templates/heartbeat'
 durable_data_current_xlsx = f'{PREFIX}templates/durable/durable_data_current.xlsx'
 durable_data_current_max_xlsx = f'{PREFIX}templates/durable/durable_data_current_max.xlsx'
@@ -38,21 +41,80 @@ durable_data_current_max = {
     'axis6': [0 for _ in range(18)],
 }
 
-fmt = Formatter('%(asctime)s # %(levelname)s-%(filename)s-%(funcName)s # %(message)s')
+# version：表示版本，该键值为从1开始的整数。该key必选，除此之外，其它key都是可选。
-# file_handler = logging.FileHandler(log_data)
+# formatters：日志格式化器，其value值为一个字典，该字典的每个键值对都代表一个Formatter，键值对中，key代表Formatter ID(自定义ID)，value为字典，描述如何配置相应的Formatter实例。默认格式为 ‘%(message)s’
-# file_handler = RotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8')
+# filters：日志过滤器，其value值为一个字典，该字典的每个键值对都代表一个Filter，键值对中，key代表Filter ID(自定义ID)，value为字典，描述如何配置相应的Filter实例。
-file_handler = ConcurrentRotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8')
+# handlers：日志处理器，其value值为一个字典，该字典的每个键值对都代表一个Handler，键值对中，key代表Handler ID(自定义ID)，value为字典，描述如何配置相应的Handler实例，包含以下配置key：
-file_handler.setFormatter(fmt)
+# class (必选)：日志处理器类全称
-file_handler.setLevel(INFO)
+# level (可选)：指定该日志处理器需要处理哪些级别的日志，低于该级别的日志将不被该handler处理。level可以为代表日志级别的整数或者表大写字符串，字符串日志级别和数字日志级别对应关系如下：
-console_handler = StreamHandler()
+#   CRITICAL 50
-console_handler.setFormatter(fmt)
+#   ERROR    40
-console_handler.setLevel(ERROR)
+#   WARNING  30
-
+#   INFO     20
-# basicConfig(level=WARNING,  # for product
+#   DEBUG    10
-basicConfig(level=WARNING,
+#   NOTSET    0
-            datefmt='%Y-%m-%dT%H:%M:%S',
+f_complex = '%(asctime)s # %(name)s-%(levelname)s-%(module)s-%(funcName)s-%(lineno)d # %(message)s'
-            # handlers=[file_handler])  # for product
+f_simple = '%(levelname)s-%(module)s-%(funcName)s-%(lineno)d: %(message)s'
-            handlers=[file_handler, console_handler])
+log_dicts = {
+    'version': 1,
+    'disable_existing_loggers': True,
+    'formatters': {
+        'standard': {
+            'format': f_complex,
+            'style': '%',
+            'datefmt': '%Y-%m-%dT%H:%M:%S',
+        },
+        'test': {
+            'format': f_simple,
+            'style': '%',
+            'datefmt': '%Y-%m-%dT%H:%M:%S',
+        },
+    },
+    'filters': {},
+    'handlers': {
+        'console': {
+            'level': 'DEBUG',
+            'class': 'logging.StreamHandler',
+            'formatter': 'test',
+        },
+        'hmi.log': {
+            'level': 'DEBUG',
+            'class': 'concurrent_log_handler.ConcurrentRotatingFileHandler',
+            'filename': log_data_hmi,
+            'maxBytes': 1024*1024*50,
+            'backupCount': 10,
+            'encoding': 'utf-8',
+            'formatter': 'standard',
+        },
+        'debug.log': {
+            'level': 'INFO',
+            'class': 'logging.FileHandler',
+            'filename': log_data_debug,
+            'encoding': 'utf-8',
+            'formatter': 'standard',
+        },
+    },
+    'loggers': {
+        'normal': {
+            'handlers': ['hmi.log', 'debug.log'],
+            'level': 'DEBUG',
+            'propagate': False
+        },
+        'debug': {
+            'handlers': ['console'],
+            'level': 'DEBUG',
+            'propagate': False
+        },
+        '': {
+            'handlers': ['hmi.log', 'debug.log'],
+            'level': 'DEBUG',
+            'propagate': False
+        },
+    }
+}
+dictConfig(log_dicts)
+log_prod = getLogger('normal')
+log_debug = getLogger('debug')
 
 
 class GetThreadResult(Thread):

aio/code/commons/openapi.py

@@ -6,10 +6,10 @@ 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 commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
+
 
 class ModbusRequest(object):
     def __init__(self, w2t):
@@ -261,7 +261,7 @@ 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.debug(f"{loads(response)}")
         if 'move.monitor' in response:
             pass
         elif len(messages) < 10000:
@@ -502,7 +502,7 @@ class HmiRequest(object):
 
     def get_from_id(self, msg_id, flag=0):
         for i in range(3):
-            with open(clibs.log_data, mode='r', encoding='utf-8') as f_log:
+            with open(clibs.log_data_hmi, mode='r', encoding='utf-8') as f_log:
                 for line in f_log:
                     if msg_id in line.strip():
                         return line
@@ -510,7 +510,7 @@ class HmiRequest(object):
         else:  # 尝试在上一次分割的日志中查找，只做一次
             sleep(1)
             try:
-                with open(clibs.log_data+'.1', mode='r', encoding='utf-8') as f_log:
+                with open(clibs.log_data_hmi+'.1', mode='r', encoding='utf-8') as f_log:
                     for line in f_log:
                         if msg_id in line.strip():
                             return line
@@ -615,7 +615,7 @@ class HmiRequest(object):
                 self.c.send(self.package(cmd))
                 sleep(0.5)
             except Exception as Err:
-                self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
+                self.w2t(f"{cmd}: 请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
 
             return req['id']
 

aio/code/data_process/brake.py

@@ -1,14 +1,12 @@
-# coding: utf-8
 from os.path import isfile
 from sys import argv
 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 commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
 
 
 def check_files(path, raw_data_dirs, result_files, w2t):

aio/code/data_process/current.py

@@ -5,10 +5,9 @@ from re import match
 from threading import Thread
 from time import sleep
 from csv import reader, writer
-from logging import getLogger
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
 
 
 def w2t_local(msg, wait, w2t):

aio/code/data_process/iso.py

@@ -1,12 +1,10 @@
-# _*_ encoding：utf-8 _*_
 import pdfplumber
 from openpyxl import load_workbook
 from os import remove
 from sys import argv
-from logging import getLogger
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
 
 
 def p_iso(file, p_files, ws, tmpfile):

aio/code/data_process/wavelogger.py

@@ -2,10 +2,9 @@ from pandas import read_csv
 from csv import reader
 from sys import argv
 from openpyxl import Workbook
-from logging import getLogger
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
 
 
 def find_point(bof, step, pos, data_file, flag, df, row, w2t):

aio/code/durable_action/factory_test.py

@@ -6,10 +6,9 @@ from openpyxl import load_workbook
 from math import sqrt
 from numpy import power
 from csv import writer
-from logging import getLogger
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
 tab_name = clibs.tab_names['da']
 count = 0
 display_pdo_params = [