1. [current: do_current.py] 增加了 hw_sensor_trq_feedback 曲线的采集

2. [current: current.py] 增加了 hw_sensor_trq_feedback 曲线数据的处理，以及修改了之前数据处理的逻辑
3. [current: clibs.py] 新增可手动修改连接 IP 地址的功能，存储在 assets/templates/ipaddr.txt 中，默认是 192.168.0.160

.gitignore

@@ -7,8 +7,8 @@ aio/venv
 aio/__pycache__/
 aio/code/automatic_test/__pycache__/
 aio/code/data_process/__pycache__/
-aio/assets/templates/c_msg.log*
 aio/code/durable_action/__pycache__/
 aio/assets/templates/durable/
-aio/assets/templates/.__c_msg.lock
-aio/code/commons/__pycache__/
+aio/code/commons/__pycache__/
+aio/assets/templates/logs/
+dial_gauge/results.xlsx

aio/README.md

@@ -34,7 +34,7 @@
 打包时，只需要修改 clibs.py 中的 PREFIX 即可，调试时再修改回来
 
 ```
-pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory . --upx-dir "D:/Syncthing/common/A_Program/upx-4.2.4-win64/" --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --add-data "D:/Syncthing/company/D-测试工作/X-自动化测试/01-AIO/rokae/aio/assets/templates:templates" --version-file ../assets/file_version_info.txt -i ../assets/icon.ico ../code/aio.py -p ../code/data_process/brake.py -p ../code/data_process/iso.py -p ../code/data_process/current.py -p ../code/data_process/wavelogger.py -p ../code/commons/openapi.py -p ../code/commons/clibs.py -p ../code/automatic_test/btn_functions.py -p ../code/automatic_test/do_current.py -p ../code/automatic_test/do_brake.py -p ../code/durable_action/factory_test.py
+pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory . --upx-dir "D:/Syncthing/common/A_Program/upx-4.2.4-win64/" --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --add-data "D:\Syncthing\company\D-测试工作\X-自动化测试\01-Gitea\aio\aio\assets\templates:templates" --version-file ../assets/file_version_info.txt -i ../assets/templates/icon.ico ../code/aio.py -p ../code/data_process/brake.py -p ../code/data_process/iso.py -p ../code/data_process/current.py -p ../code/data_process/wavelogger.py -p ../code/commons/openapi.py -p ../code/commons/clibs.py -p ../code/automatic_test/btn_functions.py -p ../code/automatic_test/do_current.py -p ../code/automatic_test/do_brake.py -p ../code/durable_action/factory_test.py
 ```
 
 ---
@@ -146,6 +146,7 @@ pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory .
 10. 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
 11. 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
 12. 工程文件可以手动重命名，按照机型存档，或者导出用于自动化测试
+13. （可废弃，但未验证）自动化测试前，需要将HMI程序速度设置为100%并同步至控制器，也即左下方速度滑条滑动至最大
 
 #### 6) 电机电流自动化测试
 
@@ -274,7 +275,7 @@ v0.1.5.1(2024/06/12)
 5. [requirements.txt] 新增必要库配置文件
 
 v0.1.5.2(2024/06/13)
-1. [brake.py/aio.py]: 将sto修改为estop
+1. [brake.py/aio.py]： 将sto修改为estop
 2. [brake.py] 修改了速度计算逻辑，新版本的vel列数据遵循如下规则，av = vel * 180 / pi，根据av再计算speed
 3. [brake.py] 将threshold修改为常量50
 4. [brake.py] 提高了输出提示语的明确性，删除了不必要的省略号
@@ -448,18 +449,18 @@ v0.1.7.6(2024/07/04)
 3. [APIs: openapi.py]
    - 增加了modbus读取浮点数的功能
    - 优化了get_from_id的逻辑
-4. [autotest.xml]: 新增了scenario_time只写寄存器
+4. [autotest.xml]： 新增了scenario_time只写寄存器
 
 v0.1.8.0(2024/07/04)
-1. [APIs: do_current.py]: 完成了堵转电流和惯量负载电机电流的采集和处理，至此，电机电流的自动化工作基本完成
+1. [APIs: do_current.py]： 完成了堵转电流和惯量负载电机电流的采集和处理，至此，电机电流的自动化工作基本完成
 
 v0.1.8.1(2024/07/05)
-1. [APIs: do_brake.py]: 完成了制动性能测试框架的搭建，可以顺利执行完整的测试程序，但是未实现急停和数据处理
-2. [APIs: aio.py]: 修改了do_brake主函数的参数
+1. [APIs: do_brake.py]： 完成了制动性能测试框架的搭建，可以顺利执行完整的测试程序，但是未实现急停和数据处理
+2. [APIs: aio.py]： 修改了do_brake主函数的参数
 3. 增加工程文件target.zip
 
 v0.1.8.2(2024/07/08)
-1. [APIs: do_brake.py]: 完成了制动性能测试逻辑，只不过制动信号传递生效延迟不可控，暂时pending
+1. [APIs: do_brake.py]： 完成了制动性能测试逻辑，只不过制动信号传递生效延迟不可控，暂时pending
 2. [APIs: do_current.py]: 修改曲线数据时序，主要是value data取反即可，解决了波形锯齿明细的问题
 3. [APIs: openapi.py]: modbus新增了触发急停信号的寄存器 stop0_signal，并重写了解除急停，socket新增了register.set_value协议
 
@@ -558,6 +559,12 @@ v0.2.0.3(2024/07/27)
 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
+
+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
 
@@ -584,5 +591,47 @@ 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
+
+v0.2.0.7(2024/08/16)
+1. [t_change_ui: clibs.py]：修改了 hmi.log 的日志等级为 WARNING
+2. [t_change_ui: openapi.py]：根据第一步的修改，将此模块日志记录等级调整至 warning
+3. [current: current.py]
+   - README新增了整机自动化测试的前置条件，即滑块需要滑动到最右端
+   - current修改了文件校验的逻辑
+4. [t_change_ui: aio.py]
+   - 修改变量命名，widgit -> widget
+   - 根据第 5 点变动，同步修改代码实现
+   - 调整 UI 界面代码顺序，使之符合 layout.xlsx 描述
+   - 将版本检查的部分单独封装成一个函数，在 detect_network 线程初始化时调用一次，并且程序启动也不会受到阻塞
+5. [t_change_ui: layout.xlsx]：修改了组件布局方式
 
 
+> 前两个修改点，修复的是网络提示的颜色不正确问题，因为日志将 textbox 中的内容也作为 debug 信息写入 hmi.log 了
+
+v0.2.0.8(2024/08/20)
+1. [t_change_ui: clibs.py]
+   - 从外部拷贝 icon.ico 文件到 templates 目录
+   - 在 assets 目录新建 logs 目录，存放日志文件，并增加了相应的逻辑保证正常执行
+2. [t_change_ui: aio.py]：增加 App 窗口图标代码
+3. [t_change_ui: openapi.py]：将重复输出的网络错误提示，从 textbox 中转移到 debug.log 日志文件中
+4. [main: openapi.py]：新增 rl_task.set_run_params 指令支持，可设定速度滑块以及是否重复运行
+5. [main: do_brake/do_current/factory_test.py]：在初始化运动时增加 `clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)` 
+
+v0.2.0.9(2024/10/09)
+1. [main: do_brake.py] 采集完成后，pending 3s，使速度完全将为 0
+
+v0.2.1.0(2024/12/05)
+1. [current: do_current.py] 增加了 hw_sensor_trq_feedback 曲线的采集
+2. [current: current.py] 增加了 hw_sensor_trq_feedback 曲线数据的处理，以及修改了之前数据处理的逻辑
+3. [current: clibs.py] 新增可手动修改连接 IP 地址的功能，存储在 assets/templates/ipaddr.txt 中，默认是 192.168.0.160

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, 5),
-    prodvers=(0, 2, 0, 5),
+    filevers=(0, 2, 1, 0),
+    prodvers=(0, 2, 1, 0),
     # 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', '0.2.0.5 (2024-08-02)'),
+        StringStruct('FileVersion', '0.2.1.0 (2024-12-05)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.2.0.5 (2024-08-02)')])
+        StringStruct('ProductVersion', '0.2.1.0 (2024-12-05)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/templates/ipaddr.txt

@@ -0,0 +1 @@
+192.168.0.160

aio/assets/templates/json/rl_task.set_run_params.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.set_run_params",
+  "data": {
+	"loop_mode": true,
+	"override": 1.0
+  }
+}

aio/assets/vers

@@ -1 +1 @@
-0.2.0.5 @ 08/02/2024
+0.2.1.0 @ 12/05/2024

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')
@@ -38,21 +37,21 @@ btns_func = {
     'log': {'btn': '', 'row': 3, 'text': '保存日志'},
     'end': {'btn': '', 'row': 4, 'text': '结束运行'},
 }
-widgits_dp = {
-    'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
-    'dur': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '周期时间'},
-    'vel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 4, 'text': ''},
-    'trq': {'label': '', 'optionmenu': '', 'row': 2, 'col': 6, 'text': ''},
-    'trqh': {'label': '', 'optionmenu': '', 'row': 2, 'col': 8, 'text': ''},
-    'estop': {'label': '', 'optionmenu': '', 'row': 2, 'col': 10, 'text': ''},
+widgets_dp = {
+    'path': {'label': '', 'entry': '', 'row': 0, 'col': 1, 'text': '数据文件夹路径'},
+    'dur': {'label': '', 'entry': '', 'row': 1, 'col': 9, 'text': '周期时间'},
+    'vel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': ''},
+    'trq': {'label': '', 'optionmenu': '', 'row': 1, 'col': 3, 'text': ''},
+    'trqh': {'label': '', 'optionmenu': '', 'row': 1, 'col': 5, 'text': ''},
+    'estop': {'label': '', 'optionmenu': '', 'row': 1, 'col': 7, 'text': ''},
 }
-widgits_at = {
-    'path': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '数据文件夹路径'},
-    'loadsel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 1, 'text': '负载信息'},
+widgets_at = {
+    'path': {'label': '', 'entry': '', 'row': 1, 'col': 1, 'text': '数据文件夹路径'},
+    'loadsel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 0, 'text': '负载信息'},
 }
-widgits_da = {
-    'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
-    'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '指标选择'},
+widgets_da = {
+    'path': {'label': '', 'entry': '', 'row': 0, 'col': 1, 'text': '数据文件夹路径'},
+    'curvesel': {'label': '', 'optionmenu': '', 'row': 0, 'col': 0, 'text': '指标选择'},
 }
 
 
@@ -71,21 +70,24 @@ class App(customtkinter.CTk):
         # =====================================================================
         # configure window
         self.title("AIO - All in one automatic toolbox")
-        # self.iconbitmap('./icon.ico')
+        self.wm_iconbitmap(clibs.app_icon)
         self.geometry("1200x550+30+30")
         self.protocol("WM_DELETE_WINDOW", self.func_end_callback)
         self.config(bg='#E9E9E9')
-        self.grid_rowconfigure(6, weight=1)
-        self.grid_columnconfigure((1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13), weight=1)
+        self.grid_rowconfigure(0, weight=1)
+        self.grid_rowconfigure(1, weight=19)
+        self.grid_columnconfigure(0, weight=1)
+        self.grid_columnconfigure(1, weight=19)
         self.minsize(1200, 550)
         # =====================================================================
-        # create frame sidebar(left)
-        self.frame_func = customtkinter.CTkFrame(self, width=120, corner_radius=0, fg_color='#E9E9E9')
-        self.frame_func.grid(row=0, column=0, rowspan=7, sticky='nsew')
-        # create AIO logo
+        # 1. create frame sidebar(left)
+        # =====================================================================
+        self.frame_func = customtkinter.CTkFrame(self, width=200, corner_radius=0, fg_color='#E9E9E9')
+        self.frame_func.grid(row=0, column=0, rowspan=2, sticky='nsew')
+        # 1.1 create AIO logo
         self.label_logo = customtkinter.CTkLabel(self.frame_func, text="Rokae AIO", height=60, font=customtkinter.CTkFont(family="Segoe Script Bold", size=24, weight="bold"), text_color="#4F4F4F")
         self.label_logo.grid(row=0, column=0, padx=15, pady=15)
-        # create buttons
+        # 1.2 create buttons
         for func in btns_func:
             btns_func[func]['btn'] = customtkinter.CTkButton(self.frame_func, corner_radius=10, text=btns_func[func]['text'], fg_color='#4F4F4F', font=self.my_font)
             btns_func[func]['btn'].grid(row=btns_func[func]['row'], column=0, sticky='new', padx=10, pady=10, ipadx=5, ipady=5)
@@ -93,95 +95,104 @@ class App(customtkinter.CTk):
         btns_func['check']['btn'].configure(command=lambda: self.thread_it(self.func_check_callback))
         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: 0.2.0.5\nDate: 08/02/2024", font=self.my_font, text_color="#4F4F4F")
+        # 1.3 create version info
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.1.0\nDate: 12/05/2024", 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')
         # =====================================================================
-        # create tabviews
-        self.tabview = customtkinter.CTkTabview(self, width=10000, height=100, anchor='w', fg_color='#E9E9E9', border_width=2, border_color='#CDCDCD', command=self.tabview_click)
+        # 2. create tabviews
+        # =====================================================================
+        self.tabview = customtkinter.CTkTabview(self, anchor='w', fg_color='#E9E9E9', width=1000, height=45, border_width=2, border_color='#CDCDCD', command=self.tabview_click)
         self.tabview.grid(row=0, column=1, padx=10, pady=5, sticky="nsew")
         self.tabview.add("Data Process")
         self.tabview.add("Automatic Test")
         self.tabview.add("Durable Action")
-        # create main menu for data process
+        # 2.1 create widgets of tab "Data Process"
+        # 2.1.1 create main menu
         self.menu_main_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), values=["init", "brake", "current", "iso", "wavelogger"], font=self.my_font, text_color='yellow', button_color='red', fg_color='green', command=self.func_main_callback)
-        self.menu_main_dp.grid(row=1, column=1, sticky='we', padx=5, pady=10)
+        self.menu_main_dp.grid(row=0, column=0, sticky='we', padx=5, pady=10)
         self.menu_main_dp.set("Start Here!")
-        # create sub menu for data process
+        # 2.2.2 create sub menu
         self.menu_sub_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'))
-        # create main menu for automatic test
+        # 2.2.3 create labels, entries and option menus
+        for widget in widgets_dp:
+            if widget == 'path':
+                self.tabview.tab('Data Process').columnconfigure(12, weight=1)
+                widgets_dp[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f'{widget.upper()}', font=self.my_font)
+                widgets_dp[widget]['label'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col'], sticky='e', pady=10)
+                widgets_dp[widget]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), placeholder_text=widgets_dp[widget]['text'], font=self.my_font)
+                widgets_dp[widget]['entry'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
+                widgets_dp[widget]['entry'].configure(state='disabled')
+            elif widget in ['dur']:
+                widgets_dp[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widget.upper()}", font=self.my_font)
+                widgets_dp[widget]['label'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col'], sticky='e', pady=5)
+                widgets_dp[widget]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=self.w_param, placeholder_text=f"{widgets_dp[widget]['text']}", font=self.my_font)
+                widgets_dp[widget]['entry'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col']+1, padx=(5, 10), pady=5, sticky='w')
+                widgets_dp[widget]['entry'].configure(state='disabled')
+            elif widget in ['vel', 'trq', 'trqh', 'estop']:
+                widgets_dp[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widget.upper()}", font=self.my_font)
+                widgets_dp[widget]['label'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col'], sticky='e', pady=5)
+                widgets_dp[widget]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), button_color='#708090', fg_color='#778899', values=["1", "2", "3", "4", "5", "6", "7"], width=self.w_param, font=self.my_font)
+                widgets_dp[widget]['optionmenu'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col']+1, padx=(5, 10), pady=5, sticky='w')
+                widgets_dp[widget]['optionmenu'].configure(state='disabled')
+        # =====================================================================
+        # 2.2 create widgets of tab "Automatic Test"
+        # 2.2.1 create main menu
         self.menu_main_at = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), values=["init", "brake", "current"], font=self.my_font, text_color='yellow', button_color='red', fg_color='green', command=self.func_main_callback)
-        self.menu_main_at.grid(row=1, column=1, sticky='we', padx=5, pady=5)
+        self.menu_main_at.grid(row=0, column=0, sticky='we', padx=5, pady=5)
         self.menu_main_at.set("Start Here!")
-        # For data process tab START =====================================================================
-        # create widgits_dp
-        for widgit in widgits_dp:
-            if widgit == 'path':
-                widgits_dp[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f'{widgit.upper()}', font=self.my_font)
-                widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=10)
-                widgits_dp[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=670, placeholder_text=widgits_dp[widgit]['text'], font=self.my_font)
-                widgits_dp[widgit]['entry'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
-                widgits_dp[widgit]['entry'].configure(state='disabled')
-            elif widgit in ['dur']:
-                widgits_dp[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widgit.upper()}", font=self.my_font)
-                widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=5)
-                widgits_dp[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=self.w_param, placeholder_text=f"{widgits_dp[widgit]['text']}", font=self.my_font)
-                widgits_dp[widgit]['entry'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col']+1, padx=(5, 10), pady=5, sticky='w')
-                widgits_dp[widgit]['entry'].configure(state='disabled')
-            elif widgit in ['vel', 'trq', 'trqh', 'estop']:
-                widgits_dp[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widgit.upper()}", font=self.my_font)
-                widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=5)
-                widgits_dp[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), button_color='#708090', fg_color='#778899', values=["1", "2", "3", "4", "5", "6", "7"], width=self.w_param, font=self.my_font)
-                widgits_dp[widgit]['optionmenu'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col']+1, padx=(5, 10), pady=5, sticky='w')
-                widgits_dp[widgit]['optionmenu'].configure(state='disabled')
-        # For data process tab END =====================================================================
-        # For automatic test tab START =====================================================================
-        # create buttons
+        # 2.2.2 create segment buttons
         self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), dynamic_resizing=False, font=customtkinter.CTkFont(size=16, weight='bold'), command=lambda value='机器状态': self.thread_it(self.segmented_button_callback))
-        self.seg_button.grid(row=1, column=2, columnspan=12, padx=(65, 10), pady=(10, 10), sticky="ew")
+        self.seg_button.grid(row=0, column=1, columnspan=12, padx=(65, 10), pady=(10, 10), sticky="ew")
         self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "恢复急停", "待定功能", "功能待定", "机器状态", "告警信息"])
         self.seg_button.set("功能切换")
-        # create progress bar
+        # 2.2.3 create progress bar
         self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
-        self.progressbar.grid(row=5, column=1, padx=5, pady=5, sticky="ew")
-        self.progressbar.configure(mode="determinnate", width=10)
+        self.progressbar.grid(row=2, column=0, padx=5, pady=5, sticky="ew")
+        self.progressbar.configure(mode="determinnate", width=self.w_param)
         self.progressbar.start()
-        # create widgits_at
-        for widgit in widgits_at:
-            if widgit == 'path':
-                widgits_at[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Automatic Test'), text=f'{widgit.upper()}', font=self.my_font)
-                widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', padx=(20, 5), pady=5)
-                widgits_at[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), width=670, placeholder_text=widgits_at[widgit]['text'], font=self.my_font)
-                widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
-                widgits_at[widgit]['entry'].configure(state='disabled')
-            elif widgit in ['loadsel', ]:
-                widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100", "inertia"], width=self.w_param, font=self.my_font)
-                widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we')
-                widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
-                widgits_at[widgit]['optionmenu'].configure(state='disabled')
-        # For automatic test tab END =====================================================================
-        # For durable_action tab START =====================================================================
-        # create progress bar
+        # 2.2.4 create labels, entries and option menus
+        for widget in widgets_at:
+            if widget == 'path':
+                self.tabview.tab('Automatic Test').columnconfigure(12, weight=1)
+                widgets_at[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Automatic Test'), text=f'{widget.upper()}', font=self.my_font)
+                widgets_at[widget]['label'].grid(row=widgets_at[widget]['row'], column=widgets_at[widget]['col'], sticky='e', padx=(20, 5), pady=5)
+                widgets_at[widget]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), placeholder_text=widgets_at[widget]['text'], font=self.my_font)
+                widgets_at[widget]['entry'].grid(row=widgets_at[widget]['row'], column=widgets_at[widget]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
+                widgets_at[widget]['entry'].configure(state='disabled')
+            elif widget in ['loadsel', ]:
+                widgets_at[widget]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100", "inertia"], width=self.w_param, font=self.my_font)
+                widgets_at[widget]['optionmenu'].grid(row=widgets_at[widget]['row'], column=widgets_at[widget]['col'], padx=5, pady=5, sticky='we')
+                widgets_at[widget]['optionmenu'].set(widgets_at[widget]['text'])
+                widgets_at[widget]['optionmenu'].configure(state='disabled')
+        # =====================================================================
+        # 2.3 create widgets of tab "Durable Action"
+        # 2.3.1 create progress bar
         self.progressbar_da = customtkinter.CTkProgressBar(self.tabview.tab('Durable Action'))
-        self.progressbar_da.grid(row=2, column=1, padx=5, pady=5, sticky="ew")
+        self.progressbar_da.grid(row=1, column=0, padx=5, pady=5, sticky="ew")
         self.progressbar_da.configure(mode="determinnate", width=self.w_param)
         self.progressbar_da.start()
-        for widgit in widgits_da:
-            if widgit == 'path':
-                widgits_da[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Durable Action'), text=f'{widgit.upper()}', font=self.my_font)
-                widgits_da[widgit]['label'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], sticky='e', padx=(20, 5), pady=10)
-                widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font)
-                widgits_da[widgit]['entry'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we')
-            elif widgit in ['curvesel']:
-                widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=['device_servo_trq_feedback', '[max] device_servo_trq_feedback'], font=self.my_font)
-                widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we')
-                widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
-        # For durable_action tab END =====================================================================
-        # create textbox
+        # 2.3.2 create labels, entries and option menus
+        for widget in widgets_da:
+            if widget == 'path':
+                self.tabview.tab('Durable Action').columnconfigure(12, weight=1)
+                widgets_da[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Durable Action'), text=f'{widget.upper()}', font=self.my_font)
+                widgets_da[widget]['label'].grid(row=widgets_da[widget]['row'], column=widgets_da[widget]['col'], sticky='e', padx=(20, 5), pady=10)
+                widgets_da[widget]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), placeholder_text=widgets_da[widget]['text'], font=self.my_font)
+                widgets_da[widget]['entry'].grid(row=widgets_da[widget]['row'], column=widgets_da[widget]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we')
+            elif widget in ['curvesel']:
+                widgets_da[widget]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=['device_servo_trq_feedback', '[max] device_servo_trq_feedback'], font=self.my_font)
+                widgets_da[widget]['optionmenu'].grid(row=widgets_da[widget]['row'], column=widgets_da[widget]['col'], padx=5, pady=10, sticky='we')
+                widgets_da[widget]['optionmenu'].set(widgets_da[widget]['text'])
+        # =====================================================================
+        # 3. create textbox
+        # =====================================================================
         self.textbox = customtkinter.CTkTextbox(self, wrap='none', font=customtkinter.CTkFont(family="consolas", size=14), text_color="blue", fg_color='#E9E9E9', border_width=2, border_color='#CDCDCD', border_spacing=5)
-        self.textbox.grid(row=6, column=1, columnspan=13, ipadx=10, ipady=10, padx=10, pady=(5, 10), sticky='nsew')
+        self.textbox.grid(row=1, column=1, columnspan=13, ipadx=10, ipady=10, padx=10, pady=(5, 10), sticky='nsew')
         self.textbox.configure(state='normal')
+    # functions below ↓ ----------------------------------------------------------------------------------------
+
+    def version_check(self):
         # =====================================================================
         # version check
         cur_vers = self.label_version.cget("text").replace('\n', ' @ ').replace("Vers: ", '').replace("Date: ", '')
@@ -193,13 +204,12 @@ class App(customtkinter.CTk):
                 tkinter.messagebox.showwarning(title="版本更新", message=msg)
         except:
             tkinter.messagebox.showwarning(title="版本更新", message="连接服务器失败，无法确认当前是否是最新版本......")
-    # functions below ↓ ----------------------------------------------------------------------------------------
 
     def create_canvas(self, _figure):
         self.canvas = FigureCanvasTkAgg(_figure, self.tabview.tab('Durable Action'))
         self.canvas.draw()
         self.canvas.get_tk_widget().configure(height=600)
-        self.canvas.get_tk_widget().grid(row=3, column=1, rowspan=3, columnspan=13, padx=20, pady=10, sticky="nsew")
+        self.canvas.get_tk_widget().grid(row=2, column=0, columnspan=13, padx=10, pady=10, sticky="nsew")
 
     def create_plot(self):
         rcParams['font.sans-serif'] = ['SimHei']
@@ -208,7 +218,7 @@ class App(customtkinter.CTk):
         rcParams['font.size'] = 14
         rcParams['lines.marker'] = 'o'
 
-        curvesel = widgits_da['curvesel']['optionmenu'].get()
+        curvesel = widgets_da['curvesel']['optionmenu'].get()
         while True:
             if not self.hr.durable_lock:
                 self.hr.durable_lock = 1
@@ -229,7 +239,7 @@ class App(customtkinter.CTk):
         if not df.equals(self.df_copy) or self.flg == 0 or curvesel != self.old_curve:
             self.flg = 1
             self.df_copy = df.copy()
-            self.old_curve = widgits_da['curvesel']['optionmenu'].get()
+            self.old_curve = widgets_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)
@@ -277,6 +287,7 @@ class App(customtkinter.CTk):
         # self.tabview.configure(state='normal')
 
     def detect_network(self):
+        self.version_check()
         df = DataFrame(clibs.durable_data_current)
         df.to_excel(clibs.durable_data_current_xlsx, index=False)
         df = DataFrame(clibs.durable_data_current_max)
@@ -320,135 +331,136 @@ class App(customtkinter.CTk):
         tab_name = self.tabview.get()
         self.textbox.delete(index1='1.0', index2='end')
         if tab_name == 'Data Process':
-            for widgit in widgits_dp:
-                if widgit in ['path', 'dur']:
-                    widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
-                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
-                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
-                    widgits_dp[widgit]['entry'].configure(state='disabled')
-                elif widgit in ['vel', 'trq', 'trqh', 'estop']:
-                    widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color="black")
-                    widgits_dp[widgit]['optionmenu'].configure(state='normal')
-                    widgits_dp[widgit]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='disabled')
+            for widget in widgets_dp:
+                if widget in ['path', 'dur']:
+                    widgets_dp[widget]['label'].configure(text=f'{widget.upper()}', text_color='black')
+                    widgets_dp[widget]['entry'].delete(0, tkinter.END)
+                    widgets_dp[widget]['entry'].configure(placeholder_text=widgets_dp[widget]['text'], state='normal')
+                    widgets_dp[widget]['entry'].configure(state='disabled')
+                elif widget in ['vel', 'trq', 'trqh', 'estop']:
+                    widgets_dp[widget]['label'].configure(text=f'{widget.upper()}', text_color="black")
+                    widgets_dp[widget]['optionmenu'].configure(state='normal')
+                    widgets_dp[widget]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].configure(state='disabled')
 
             self.menu_sub_dp.grid_forget()
         elif tab_name == 'Automatic Test':
-            for widgit in widgits_at:
-                if widgit in ['path', ]:
-                    widgits_at[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
-                    widgits_at[widgit]['entry'].delete(0, tkinter.END)
-                    widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
-                    widgits_at[widgit]['entry'].configure(state='disabled')
-                elif widgit in ['loadsel']:
-                    widgits_at[widgit]['optionmenu'].configure(state='normal')
-                    widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
-                    widgits_at[widgit]['optionmenu'].configure(state='disabled')
+            for widget in widgets_at:
+                if widget in ['path', ]:
+                    widgets_at[widget]['label'].configure(text=f'{widget.upper()}', text_color='black')
+                    widgets_at[widget]['entry'].delete(0, tkinter.END)
+                    widgets_at[widget]['entry'].configure(placeholder_text=widgets_at[widget]['text'], state='normal')
+                    widgets_at[widget]['entry'].configure(state='disabled')
+                elif widget in ['loadsel']:
+                    widgets_at[widget]['optionmenu'].configure(state='normal')
+                    widgets_at[widget]['optionmenu'].set(widgets_at[widget]['text'])
+                    widgets_at[widget]['optionmenu'].configure(state='disabled')
             self.seg_button.set("功能切换")
         elif tab_name == 'Durable Action':
-            for widgit in widgits_da:
-                if widgit in ['path', ]:
-                    widgits_da[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
-                    widgits_da[widgit]['entry'].delete(0, tkinter.END)
-                    widgits_da[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
-                elif widgit in ['curvesel']:
-                    widgits_da[widgit]['optionmenu'].configure(state='normal')
-                    widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
+            for widget in widgets_da:
+                if widget in ['path', ]:
+                    widgets_da[widget]['label'].configure(text=f'{widget.upper()}', text_color='black')
+                    widgets_da[widget]['entry'].delete(0, tkinter.END)
+                    widgets_da[widget]['entry'].configure(placeholder_text=widgets_at[widget]['text'], state='normal')
+                elif widget in ['curvesel']:
+                    widgets_da[widget]['optionmenu'].configure(state='normal')
+                    widgets_da[widget]['optionmenu'].set(widgets_da[widget]['text'])
 
     def func_main_callback(self, func_name):
         self.initialization()
         tab_name = self.tabview.get()
         if tab_name == 'Data Process':
             if func_name == 'brake':
-                for widgit in widgits_dp:
-                    if widgit in ['path']:
-                        widgits_dp[widgit]['label'].configure(text_color='red')
-                        widgits_dp[widgit]['entry'].configure(state='normal')
-                    elif widgit in ['vel', 'trq', 'estop']:
-                        widgits_dp[widgit]['label'].configure(text_color="red")
-                        widgits_dp[widgit]['optionmenu'].configure(state='normal')
+                for widget in widgets_dp:
+                    if widget in ['path']:
+                        widgets_dp[widget]['label'].configure(text_color='red')
+                        widgets_dp[widget]['entry'].configure(state='normal')
+                    elif widget in ['vel', 'trq', 'estop']:
+                        widgets_dp[widget]['label'].configure(text_color="red")
+                        widgets_dp[widget]['optionmenu'].configure(state='normal')
             elif func_name == 'current':
                 self.menu_sub_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), values=["max", "avg", "cycle"], font=self.my_font, button_color='red', fg_color='green', command=self.func_sub_callback)
-                self.menu_sub_dp.grid(row=2, column=1, sticky='we', padx=5, pady=5)
+                self.menu_sub_dp.grid(row=1, column=0, sticky='we', padx=5, pady=5)
                 self.menu_sub_dp.set("--select--")
                 self.menu_sub_dp.configure(text_color='yellow')
 
             elif func_name == 'iso' or func_name == 'wavelogger':
-                for widgit in widgits_dp:
-                    if widgit in ['path']:
-                        widgits_dp[widgit]['label'].configure(text_color='red')
-                        widgits_dp[widgit]['entry'].configure(state='normal')
+                for widget in widgets_dp:
+                    if widget in ['path']:
+                        widgets_dp[widget]['label'].configure(text_color='red')
+                        widgets_dp[widget]['entry'].configure(state='normal')
             else:
                 self.initialization()
                 self.menu_main_dp.set("Start Here!")
         elif tab_name == 'Automatic Test':
             if func_name == 'brake':
-                for widgit in widgits_at:
-                    if widgit in ['path',]:
-                        widgits_at[widgit]['label'].configure(text_color='red')
-                        widgits_at[widgit]['entry'].delete(0, tkinter.END)
-                        widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
-                        widgits_at[widgit]['entry'].configure(state='normal')
-                    elif widgit in ['loadsel', ]:
-                        widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
-                        widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
+                for widget in widgets_at:
+                    if widget in ['path',]:
+                        widgets_at[widget]['label'].configure(text_color='red')
+                        widgets_at[widget]['entry'].delete(0, tkinter.END)
+                        widgets_at[widget]['entry'].configure(placeholder_text=widgets_at[widget]['text'], state='normal')
+                        widgets_at[widget]['entry'].configure(state='normal')
+                    elif widget in ['loadsel', ]:
+                        widgets_at[widget]['optionmenu'].set(widgets_at[widget]['text'])
+                        widgets_at[widget]['optionmenu'].configure(state='normal', text_color='red')
             elif func_name == 'current':
-                for widgit in widgits_at:
-                    if widgit in ['path',]:
-                        widgits_at[widgit]['label'].configure(text_color='red')
-                        widgits_at[widgit]['entry'].delete(0, tkinter.END)
-                        widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
-                        widgits_at[widgit]['entry'].configure(state='normal')
-                    elif widgit in ['loadsel', ]:
-                        widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
-                        widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
+                for widget in widgets_at:
+                    if widget in ['path',]:
+                        widgets_at[widget]['label'].configure(text_color='red')
+                        widgets_at[widget]['entry'].delete(0, tkinter.END)
+                        widgets_at[widget]['entry'].configure(placeholder_text=widgets_at[widget]['text'], state='normal')
+                        widgets_at[widget]['entry'].configure(state='normal')
+                    elif widget in ['loadsel', ]:
+                        widgets_at[widget]['optionmenu'].set(widgets_at[widget]['text'])
+                        widgets_at[widget]['optionmenu'].configure(state='normal', text_color='red')
             else:
                 self.initialization()
                 self.menu_main_at.set("Start Here!")
 
     def func_sub_callback(self, func_name):
         if func_name == "max" or func_name == "avg":
-            for widgit in widgits_dp:
-                if widgit in ['path']:
-                    widgits_dp[widgit]['label'].configure(text_color='red')
-                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
-                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
-                    widgits_dp[widgit]['entry'].configure(state='normal')
-                elif widgit in ['dur']:
-                    widgits_dp[widgit]['label'].configure(text_color='black')
-                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
-                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
-                    widgits_dp[widgit]['entry'].configure(state='disabled')
-                elif widgit in ['vel', 'trqh', 'estop']:
-                    widgits_dp[widgit]['label'].configure(text_color='black')
-                    widgits_dp[widgit]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='disabled')
-                elif widgit in ['trq']:
-                    widgits_dp[widgit]['label'].configure(text_color='red')
-                    widgits_dp[widgit]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='normal')
+            for widget in widgets_dp:
+                if widget in ['path']:
+                    widgets_dp[widget]['label'].configure(text_color='red')
+                    widgets_dp[widget]['entry'].delete(0, tkinter.END)
+                    widgets_dp[widget]['entry'].configure(placeholder_text=widgets_dp[widget]['text'], state='normal')
+                    widgets_dp[widget]['entry'].configure(state='normal')
+                elif widget in ['dur']:
+                    widgets_dp[widget]['label'].configure(text_color='black')
+                    widgets_dp[widget]['entry'].delete(0, tkinter.END)
+                    widgets_dp[widget]['entry'].configure(placeholder_text=widgets_dp[widget]['text'], state='normal')
+                    widgets_dp[widget]['entry'].configure(state='disabled')
+                elif widget in ['vel', 'trqh', 'estop']:
+                    widgets_dp[widget]['label'].configure(text_color='black')
+                    widgets_dp[widget]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].configure(state='disabled')
+                elif widget in ['trq']:
+                    widgets_dp[widget]['label'].configure(text_color='red')
+                    widgets_dp[widget]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].configure(state='normal')
         elif func_name == 'cycle':
-            for widgit in widgits_dp:
-                if widgit in ['path', 'dur']:
-                    color = 'blue' if widgit == 'dur' else 'red'
-                    widgits_dp[widgit]['label'].configure(text_color=color)
-                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
-                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
-                    widgits_dp[widgit]['entry'].configure(state='normal')
-                elif widgit in ['vel', 'trq', 'trqh']:
-                    color = 'blue' if widgit == 'trqh' else 'red'
-                    widgits_dp[widgit]['label'].configure(text_color=color)
-                    widgits_dp[widgit]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='normal')
-                elif widgit in ['estop']:
-                    widgits_dp[widgit]['label'].configure(text_color="black")
-                    widgits_dp[widgit]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='disabled')
+            for widget in widgets_dp:
+                if widget in ['path', 'dur']:
+                    color = 'blue' if widget == 'dur' else 'red'
+                    widgets_dp[widget]['label'].configure(text_color=color)
+                    widgets_dp[widget]['entry'].delete(0, tkinter.END)
+                    widgets_dp[widget]['entry'].configure(placeholder_text=widgets_dp[widget]['text'], state='normal')
+                    widgets_dp[widget]['entry'].configure(state='normal')
+                elif widget in ['vel', 'trq', 'trqh']:
+                    color = 'blue' if widget == 'trqh' else 'red'
+                    widgets_dp[widget]['label'].configure(text_color=color)
+                    widgets_dp[widget]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].configure(state='normal')
+                elif widget in ['estop']:
+                    widgets_dp[widget]['label'].configure(text_color="black")
+                    widgets_dp[widget]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].configure(state='disabled')
 
     def write2textbox(self, text, wait=0, exitcode=0, color='blue', tab_name='Data Process'):
         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:
@@ -497,10 +509,10 @@ class App(customtkinter.CTk):
         if tab_name == 'Data Process':
             func_name = self.menu_main_dp.get()
             if func_name == 'brake':
-                path = widgits_dp['path']['entry'].get().strip()
-                vel = widgits_dp['vel']['optionmenu'].get()
-                trq = widgits_dp['trq']['optionmenu'].get()
-                estop = widgits_dp['estop']['optionmenu'].get()
+                path = widgets_dp['path']['entry'].get().strip()
+                vel = widgets_dp['vel']['optionmenu'].get()
+                trq = widgets_dp['trq']['optionmenu'].get()
+                estop = widgets_dp['estop']['optionmenu'].get()
 
                 c1 = exists(path)
                 c2 = True if len({vel, trq, estop}) == 3 else False
@@ -510,11 +522,11 @@ class App(customtkinter.CTk):
                     return 0, 0
             # =======================================================
             elif func_name == 'current':
-                path = widgits_dp['path']['entry'].get().strip()
-                dur = widgits_dp['dur']['entry'].get().strip()
-                vel = widgits_dp['vel']['optionmenu'].get()
-                trq = widgits_dp['trq']['optionmenu'].get()
-                trqh = widgits_dp['trqh']['optionmenu'].get()
+                path = widgets_dp['path']['entry'].get().strip()
+                dur = widgets_dp['dur']['entry'].get().strip()
+                vel = widgets_dp['vel']['optionmenu'].get()
+                trq = widgets_dp['trq']['optionmenu'].get()
+                trqh = widgets_dp['trqh']['optionmenu'].get()
                 sub = self.menu_sub_dp.get()
 
                 c1 = exists(path)
@@ -533,14 +545,14 @@ class App(customtkinter.CTk):
                     return 0, 0
             # =======================================================
             elif func_name == 'iso':
-                path = widgits_dp['path']['entry'].get().strip()
+                path = widgets_dp['path']['entry'].get().strip()
                 if exists(path):
                     return 3, path
                 else:
                     return 0, 0
             # =======================================================
             elif func_name == 'wavelogger':
-                path = widgits_dp['path']['entry'].get().strip()
+                path = widgets_dp['path']['entry'].get().strip()
                 if exists(path):
                     return 4, path
                 else:
@@ -551,8 +563,8 @@ class App(customtkinter.CTk):
         elif tab_name == 'Automatic Test':
             func_name = self.menu_main_at.get()
             if func_name == 'brake':
-                path = widgits_at['path']['entry'].get().strip()
-                loadsel = widgits_at['loadsel']['optionmenu'].get()
+                path = widgets_at['path']['entry'].get().strip()
+                loadsel = widgets_at['loadsel']['optionmenu'].get()
                 c1 = exists(path)
                 c2 = loadsel in ['tool100', 'tool66', 'tool33']
                 if c1 and c2:
@@ -560,8 +572,8 @@ class App(customtkinter.CTk):
                 else:
                     return 0, 0
             elif func_name == 'current':
-                path = widgits_at['path']['entry'].get().strip()
-                loadsel = widgits_at['loadsel']['optionmenu'].get()
+                path = widgets_at['path']['entry'].get().strip()
+                loadsel = widgets_at['loadsel']['optionmenu'].get()
                 c1 = exists(path)
                 c2 = loadsel in ['tool100', 'inertia']
                 if c1 and c2:
@@ -571,8 +583,8 @@ class App(customtkinter.CTk):
             else:
                 return 0, 0
         elif tab_name == 'Durable Action':
-            path = widgits_da['path']['entry'].get().strip()
-            curvesel = widgits_da['curvesel']['optionmenu'].get()
+            path = widgets_da['path']['entry'].get().strip()
+            curvesel = widgets_da['curvesel']['optionmenu'].get()
             c1 = exists(path)
             c2 = curvesel in ['device_servo_trq_feedback', '[max] device_servo_trq_feedback']
             if c1 and c2:

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:
-        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_hmi + 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 +5,10 @@ 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()
@@ -169,6 +184,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                     clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
                     clibs.execution('state.switch_auto', hr, w2t, tab_name)
                     clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
+                    clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
                     clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
                     _t_start = time()
                     while True:
@@ -180,13 +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':
@@ -195,7 +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:
@@ -237,7 +257,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                 _t_start = time()
                 while True:
                     if md.read_brake_done() == 1:
-                        sleep(1)  # 保证速度归零
+                        sleep(4)  # 保证速度归零
                         md.write_probe(0)
                         break
                     else:

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},
@@ -22,6 +21,12 @@ display_pdo_params = [
     {"name": "device_servo_trq_feedback", "channel": 3},
     {"name": "device_servo_trq_feedback", "channel": 4},
     {"name": "device_servo_trq_feedback", "channel": 5},
+    {"name": "hw_sensor_trq_feedback", "channel": 0},
+    {"name": "hw_sensor_trq_feedback", "channel": 1},
+    {"name": "hw_sensor_trq_feedback", "channel": 2},
+    {"name": "hw_sensor_trq_feedback", "channel": 3},
+    {"name": "hw_sensor_trq_feedback", "channel": 4},
+    {"name": "hw_sensor_trq_feedback", "channel": 5},
 ]
 
 
@@ -64,7 +69,8 @@ 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:
+            _d2d_sensor = {'hw_sensor_trq_feedback': []}
+            for line in lines[-500:]:  # 保留最后25s的数据
                 data = eval(line.strip())['data']
                 for item in data:
                     try:
@@ -75,10 +81,13 @@ def data_proc_regular(path, filename, channel, scenario_time):
                         _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
 
             df1 = DataFrame.from_dict(_d2d_vel)
             df2 = DataFrame.from_dict(_d2d_trq)
-            df = concat([df1, df2], axis=1)
+            df3 = DataFrame.from_dict(_d2d_sensor)
+            df = concat([df1, df2, df3], axis=1)
             _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)):
@@ -86,16 +95,22 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel_0 = {'hw_joint_vel_feedback': []}
             _d2d_trq_0 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_0 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_1 = {'hw_joint_vel_feedback': []}
             _d2d_trq_1 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_1 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_2 = {'hw_joint_vel_feedback': []}
             _d2d_trq_2 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_2 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_3 = {'hw_joint_vel_feedback': []}
             _d2d_trq_3 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_3 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_4 = {'hw_joint_vel_feedback': []}
             _d2d_trq_4 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_4 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_5 = {'hw_joint_vel_feedback': []}
             _d2d_trq_5 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_5 = {'hw_sensor_trq_feedback': []}
             for line in lines:
                 data = eval(line.strip())['data']
                 for item in data:
@@ -107,60 +122,78 @@ def data_proc_regular(path, filename, channel, scenario_time):
                         _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':
                         _d2d_trq_0['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 0 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_0['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_1['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_1['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_1['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_2['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_2['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_2['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_3['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_3['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_3['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_4['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_4['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_4['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_5['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_5['hw_sensor_trq_feedback'].extend(item['value'])
 
             df_01 = DataFrame.from_dict(_d2d_vel_0)
             df_02 = DataFrame.from_dict(_d2d_trq_0)
-            df = concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_0)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = DataFrame.from_dict(_d2d_vel_1)
             df_02 = DataFrame.from_dict(_d2d_trq_1)
-            df = concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_1)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = DataFrame.from_dict(_d2d_vel_2)
             df_02 = DataFrame.from_dict(_d2d_trq_2)
-            df = concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_2)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = DataFrame.from_dict(_d2d_vel_3)
             df_02 = DataFrame.from_dict(_d2d_trq_3)
-            df = concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_3)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = DataFrame.from_dict(_d2d_vel_4)
             df_02 = DataFrame.from_dict(_d2d_trq_4)
-            df = concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_4)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
             df_01 = DataFrame.from_dict(_d2d_vel_5)
             df_02 = DataFrame.from_dict(_d2d_trq_5)
-            df = concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_5)
+            df = concat([df_01, df_02, df_03], axis=1)
             _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)):
@@ -168,7 +201,8 @@ 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:]:
+            _d2d_sensor = {'hw_sensor_trq_feedback': []}
+            for line in lines[-300:]:  # 保留最后15s的数据
                 data = eval(line.strip())['data']
                 for item in data:
                     try:
@@ -179,10 +213,13 @@ def data_proc_regular(path, filename, channel, scenario_time):
                         _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':
                         _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
 
             df1 = DataFrame.from_dict(_d2d_vel)
             df2 = DataFrame.from_dict(_d2d_trq)
-            df = concat([df1, df2], axis=1)
+            df3 = DataFrame.from_dict(_d2d_sensor)
+            df = concat([df1, df2, df3], axis=1)
             _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
@@ -192,6 +229,7 @@ def data_proc_inertia(path, filename, channel):
         lines = f_obj.readlines()
         _d2d_vel = {'hw_joint_vel_feedback': []}
         _d2d_trq = {'device_servo_trq_feedback': []}
+        _d2d_sensor = {'hw_sensor_trq_feedback': []}
         for line in lines:
             data = eval(line.strip())['data']
             for item in data:
@@ -203,10 +241,13 @@ def data_proc_inertia(path, filename, channel):
                     _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':
                     _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+                elif item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                    _d2d_trq['hw_sensor_trq_feedback'].extend(item['value'])
 
         df1 = DataFrame.from_dict(_d2d_vel)
         df2 = DataFrame.from_dict(_d2d_trq)
-        df = concat([df1, df2], axis=1)
+        df3 = DataFrame.from_dict(_d2d_sensor)
+        df = concat([df1, df2, df3], axis=1)
         _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
         df.to_csv(_filename, sep='\t', index=False)
 
@@ -291,6 +332,7 @@ def run_rl(path, hr, md, loadsel, w2t):
         clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
 
         # 3. 开始运行程序，单轴运行35s
+        clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
         clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
         _t_start = time()
         while True:

aio/code/commons/clibs.py

@@ -1,21 +1,25 @@
-from os import scandir
+from os import scandir, mkdir
 from threading import Thread
 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 concurrent_log_handler import ConcurrentRotatingFileHandler
+from logging import getLogger
+from logging.config import dictConfig
+import concurrent_log_handler
 
-ip_addr = '192.168.0.160'
 RADIAN = 57.3  # 180 / 3.1415926
 MAX_FRAME_SIZE = 1024
 TIMEOUT = 5
 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'
+PREFIX = '../assets/'  # for source code testing and debug
+app_icon = f'{PREFIX}templates/icon.ico'
+ip_file = f'{PREFIX}templates/ipaddr.txt'
+log_path = f'{PREFIX}templates/logs/'
+log_data_hmi = f'{PREFIX}templates/logs/c_msg.log'
+log_data_debug = f'{PREFIX}templates/logs/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'
@@ -37,22 +41,92 @@ durable_data_current_max = {
     'axis5': [0 for _ in range(18)],
     'axis6': [0 for _ in range(18)],
 }
+try:
+    with open(ip_file, mode="r", encoding="utf-8") as f_ipaddr:
+        ip_addr = f_ipaddr.read().strip()
+except:
+    ip_addr = '192.168.0.160'
 
-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)
+# ip_addr = '192.168.0.160'  # for product
+# ip_addr = '192.168.84.129'  # for test
 
-# basicConfig(level=WARNING,  # for product
-basicConfig(level=WARNING,
-            datefmt='%Y-%m-%dT%H:%M:%S',
-            # handlers=[file_handler])  # for product
-            handlers=[file_handler, console_handler])
+if not exists(log_path):
+    mkdir(log_path)
+
+# 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。
+# 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’
+# 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。
+# 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：
+# class (必选)：日志处理器类全称
+# 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：
+#   CRITICAL 50
+#   ERROR    40
+#   WARNING  30
+#   INFO     20
+#   DEBUG    10
+#   NOTSET    0
+f_complex = '%(asctime)s # %(name)s-%(levelname)s-%(module)s-%(funcName)s-%(lineno)d # %(message)s'
+f_simple = '%(levelname)s-%(module)s-%(funcName)s-%(lineno)d: %(message)s'
+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': 'WARNING',
+            '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):
@@ -19,7 +19,7 @@ class ModbusRequest(object):
         self.host = clibs.ip_addr
         self.port = 502
         self.interval = 0.3
-        self.c = ModbusTcpClient(self.host, self.port)
+        self.c = ModbusTcpClient(host=self.host, port=self.port)
         self.c.connect()
 
     def motor_off(self):
@@ -203,7 +203,7 @@ class HmiRequest(object):
                 self.c_xs.connect((clibs.ip_addr, 6666))
                 self.c_xs.setblocking(False)
 
-                self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
+                logger.info("Connection success...")
                 with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
                     f_hb.write('1')
                 md = ModbusRequest(self.w2t)
@@ -213,7 +213,7 @@ class HmiRequest(object):
                 md.write_probe(False)
                 md.write_axis(1)
             except Exception as Err:
-                self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
+                logger.info("Connection failed...")
                 with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
                     f_hb.write('0')
 
@@ -255,7 +255,7 @@ class HmiRequest(object):
             with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
                 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)
+                logger.info(f"{_id} 心跳丢失，连接失败，重新连接中...")
             sleep(2)
 
     def msg_storage(self, response, flag=0):
@@ -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
@@ -539,14 +539,17 @@ class HmiRequest(object):
                 sel.unregister(conn)
                 conn.close()
 
-        sel = selectors.DefaultSelector()
-        sel.register(sock, selectors.EVENT_READ, to_read)
+        try:
+            sel = selectors.DefaultSelector()
+            sel.register(sock, selectors.EVENT_READ, to_read)
 
-        while self.t_bool:
-            events = sel.select()
-            for key, mask in events:
-                callback = key.data
-                callback(key.fileobj, mask)
+            while self.t_bool:
+                events = sel.select()
+                for key, mask in events:
+                    callback = key.data
+                    callback(key.fileobj, mask)
+        except Exception as Err:
+            logger.warning(Err)
 
     def unpackage_xs(self, sock):
         def to_read(conn, mask):
@@ -559,14 +562,17 @@ class HmiRequest(object):
                 sel.unregister(conn)
                 conn.close()
 
-        sel = selectors.DefaultSelector()
-        sel.register(sock, selectors.EVENT_READ, to_read)
+        try:
+            sel = selectors.DefaultSelector()
+            sel.register(sock, selectors.EVENT_READ, to_read)
 
-        while self.t_bool:
-            events = sel.select()
-            for key, mask in events:
-                callback = key.data
-                callback(key.fileobj, mask)
+            while self.t_bool:
+                events = sel.select()
+                for key, mask in events:
+                    callback = key.data
+                    callback(key.fileobj, mask)
+        except Exception as Err:
+            logger.warning(Err)
 
     def gen_id(self, command):
         _now = time()
@@ -593,6 +599,9 @@ class HmiRequest(object):
                     req['data']['tasks'] = kwargs['tasks']
                 case 'rl_task.pp_to_main' | 'rl_task.run' | 'rl_task.stop':
                     req['data']['tasks'] = kwargs['tasks']
+                case 'rl_task.set_run_params':
+                    req['data']['loop_mode'] = kwargs['loop_mode']
+                    req['data']['override'] = kwargs['override']
                 case 'diagnosis.set_params':
                     req['data']['display_pdo_params'] = kwargs['display_pdo_params']
                 case 'diagnosis.open':
@@ -615,7 +624,8 @@ 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)
+                logger.info(f"{cmd}: 请求发送失败...{Err}")
 
             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):
@@ -29,16 +28,17 @@ def initialization(path, sub, w2t):
         filename = data_file.split('\\')[-1]
         if data_file.endswith('configs.xlsx'):
             count += 1
-        elif sub == 'cycle' and data_file.endswith('.xlsx'):
+        elif sub == 'cycle' and data_file.endswith('T_电机电流.xlsx'):
             count += 1
         else:
             if not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)):
                 msg = f"不合规 {data_file}\n"
-                msg += f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。"
+                msg += f"所有数据文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），配置文件需要命名为\"configs.xlsx\"，结果文件需要命名为\"T_电机电流.xlsx\"，请检查后重新运行。\n"
+                msg += "使用max/avg功能时，需要有配置文件表格\"configs.xlsx\"；使用cycle功能时，需要有电机电流数据处理\"T_电机电流.xlsx\"和配置文件\"configs.xlsx\"两个表格，确认后重新运行！"
                 w2t(msg, 0, 6, 'red')
 
     if not ((sub == 'cycle' and count == 2) or (sub != 'cycle' and count == 1)):
-        w2t("使用max/avg功能时，需要有配置文件表格；使用cycle功能时，需要有电机电流数据处理和配置文件两个表格，确认后重新运行！", 0, 5, 'red')
+        w2t("使用max/avg功能时，需要有配置文件表格\"configs.xlsx\"；使用cycle功能时，需要有电机电流数据处理\"T_电机电流.xlsx\"和配置文件\"configs.xlsx\"两个表格，确认后重新运行！", 0, 5, 'red')
 
     return data_files
 
@@ -187,7 +187,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
             else:
                 return _row_s, _row_e
         else:
-            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red')
+            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, 0, 'red')
     elif flag == 'gt':
         while _row_e > end_point:
             speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean()
@@ -198,7 +198,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
             else:
                 return _row_s, _row_e
         else:
-            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')
+            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, 0, 'red')
 
 
 def p_single(wb, single, vel, trq, rpms, rrs, w2t):
@@ -233,6 +233,7 @@ def p_single(wb, single, vel, trq, rpms, rrs, w2t):
         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_origin = df
         df = concat([df_1, df_2], axis=1)
 
         _step = 5 if data_file.endswith('.csv') else 50
@@ -269,11 +270,12 @@ def p_single(wb, single, vel, trq, rpms, rrs, w2t):
         row_start = _row_s + _adjust
         data = []
         for row in range(row_start, row_end):
-            data.append(df.iloc[row, 0])
-            data.append(df.iloc[row, 1])
+            data.append(df_origin.iloc[row, 0])
+            data.append(df_origin.iloc[row, 1])
+            data.append(df_origin.iloc[row, 2])
 
         i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=4):
             for cell in row:
                 try:
                     _ = f"{data[i]:.2f}"
@@ -325,7 +327,7 @@ def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
             data.append(df.iloc[row, 1])
 
         i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=3):
             for cell in row:
                 try:
                     _ = f"{data[i]:.2f}"

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 = [
@@ -62,6 +61,7 @@ def run_rl(path, config_file, data_all, hr, md, w2t):
     clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
 
     # 3. 开始运行程序
+    clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
     clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
     _t_start = time()
     while True:

dial_gauge/README.md

@@ -0,0 +1,2 @@
+## 千分表数据自动采集
+

dial_gauge/conf.ini

@@ -0,0 +1,6 @@
+[md_rtu]
+port = COM10
+
+[md_tcp]
+addr = 192.168.0.160
+port = 502

dial_gauge/gauge.py

@@ -0,0 +1,99 @@
+from configparser import ConfigParser
+from pymodbus.client import ModbusSerialClient, ModbusTcpClient
+from time import sleep, strftime, localtime, time
+from openpyxl import load_workbook, Workbook
+from os import rename
+# import pymodbus
+# pymodbus.pymodbus_apply_logging_config("DEBUG")
+
+
+def initializations():
+    try:
+        now = strftime("%Y%m%d%H%M%S", localtime(time()))
+        rename('results.xlsx', f'results_{now}.xlsx')
+    except FileNotFoundError:
+        pass
+
+    wb = Workbook()
+    ws = wb.active
+    ws.title = 'results'
+    ws['A1'].value = '时间'
+    ws['B1'].value = '次数'
+    ws['C1'].value = '结果'
+    wb.save('results.xlsx')
+    wb.close()
+
+
+def do_connections():
+    configs = ConfigParser()
+    configs.read('conf.ini')
+
+    # ================ 配置Modbus TCP客户端 ================
+    tcp_host = configs.get('md_tcp', 'addr')
+    tcp_port = configs.getint('md_tcp', 'port')
+
+    client_tcp = ModbusTcpClient(tcp_host, tcp_port)
+    if client_tcp.connect():
+        print(f"Modbus TCP已连接到{tcp_host}:{tcp_port}...")
+    else:
+        raise Exception(f"Modbus TCP无法连接到{tcp_host}:{tcp_port}...")
+
+    # ================ 配置Modbus RTU客户端 ================
+    rtu_port = configs.get('md_rtu', 'port')
+
+    client_rtu = ModbusSerialClient(
+        method='rtu',
+        port=rtu_port,    # 根据实际情况调整端口，Windows上可能是 'COM3'
+        baudrate=38400,  # 根据协议设定波特率为38400
+        timeout=1,
+        parity='N',      # 无奇偶校验
+        stopbits=2,      # 2个停止位
+        bytesize=8       # 8个数据位
+    )
+    if client_rtu.connect():
+        print(f"Modbus RTU已连接到系统{rtu_port}端口...")
+    else:
+        raise Exception(f"Modbus RTU无法连接到系统{rtu_port}端口...")
+
+    return client_tcp, client_rtu
+
+
+def get_gauge_data(client_tcp, client_rtu):
+    count = 2
+    client_tcp.write_register(41000, 1)  # 将 act 信号置为 True
+    # ================ 功能实现 ================
+    while True:
+        while True:
+            res_tcp = client_tcp.read_holding_registers(41001, 1)  # 获取 time_to_go 的值
+            sleep(0.5)
+            if not res_tcp.registers[0]:
+                continue
+            else:
+                break
+        try:
+            res_rtu = client_rtu.read_holding_registers(0x0000, 2, slave=1)
+            plus_or_minus = 1 if res_rtu.registers[0] == 0 else -1
+            result = res_rtu.registers[1] * plus_or_minus / 10000
+            now = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
+            wb = load_workbook('results.xlsx')
+            ws = wb['results']
+            ws[f'A{count}'].value = now
+            ws[f'B{count}'].value = count-1
+            ws[f'C{count}'].value = float(result)
+            wb.save('results.xlsx')
+            wb.close()
+            count += 1
+        except:
+            client_tcp.write_register(41000, 0)  # 将 act 信号置为 False
+
+        sleep(2)  #
+
+
+def main():
+    initializations()
+    client_tcp, client_rtu = do_connections()
+    get_gauge_data(client_tcp, client_rtu)
+
+
+if __name__ == '__main__':
+    main()

dial_gauge/gauge.xml

@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<m>
+    <l>
+        <c name="addr" type="2" value="41000"/>
+        <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"/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41000"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="act"/>
+        <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=""/>
+        <c name="bias" type="2" value="0"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41001"/>
+        <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="robot to pc"/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41001"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="time_to_go"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <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>
+</m>