last commit

2. [main: wavelogger.py] 新增异常数据校验功能

.gitignore

@@ -7,10 +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/assets/templates/debug.log
+aio/assets/templates/logs/
 dial_gauge/results.xlsx

README.md

@@ -1,3 +0,0 @@
-# rokae
-
-测试内容自动化处理

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
+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
+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
 
@@ -590,8 +591,8 @@ 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
+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
+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
@@ -616,4 +617,27 @@ v0.2.0.7(2024/08/16)
 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
+> 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
+
+v0.2.1.1(2024/12/16)
+1. [main: do_brake.py] 修改了 SSH 的固定 IP 为 clibs 中读取的内容，并删除了每次都 reload 工程的动作，改为只在修改 RL 工程时 reload 一次，旨在减少最近频繁出现的“无法获取overview.reload-xxxxxx”请求的响应，初步判断是 xCore 的问题，非 AIO 问题，已反馈待版本修复
+2. [main: wavelogger.py] 新增异常数据校验功能
+
+

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),
+    filevers=(0, 2, 1, 1),
-    prodvers=(0, 2, 0, 5),
+    prodvers=(0, 2, 1, 1),
     # 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', '0.2.1.1 (2024-12-16)'),
         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', '0.2.1.1 (2024-12-16)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/templates/ipaddr.txt

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

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

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

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
+0.2.1.1 @ 12/16/2024

aio/code/aio.py

@@ -39,7 +39,7 @@ btns_func = {
 }
 widgets_dp = {
     'path': {'label': '', 'entry': '', 'row': 0, 'col': 1, 'text': '数据文件夹路径'},
-    'dur': {'label': '', 'entry': '', 'row': 1, 'col': 1, 'text': '周期时间'},
+    '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': ''},
@@ -70,14 +70,14 @@ 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.rowconfigure(0, weight=1)
+        self.grid_rowconfigure(0, weight=1)
-        self.rowconfigure(1, weight=19)
+        self.grid_rowconfigure(1, weight=19)
-        self.columnconfigure(0, weight=1)
+        self.grid_columnconfigure(0, weight=1)
-        self.columnconfigure(1, weight=19)
+        self.grid_columnconfigure(1, weight=19)
         self.minsize(1200, 550)
         # =====================================================================
         # 1. create frame sidebar(left)
@@ -96,7 +96,7 @@ class App(customtkinter.CTk):
         btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
         btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
         # 1.3 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")
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.1.1\nDate: 12/16/2024", font=self.my_font, text_color="#4F4F4F")
         self.frame_func.rowconfigure(6, weight=1)
         self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
         # =====================================================================

aio/code/automatic_test/do_brake.py

@@ -155,10 +155,10 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                 sleep(write_diagnosis)  # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置
 
                 while count == 1:
-                    # 2. 修改未要执行的场景
+                    # 2. 修改要执行的场景
                     ssh = SSHClient()
                     ssh.set_missing_host_key_policy(AutoAddPolicy())
-                    ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+                    ssh.connect(hostname=clibs.ip_addr, port=22, username='luoshi', password='luoshi2019')
                     if ws.cell(row=1, column=1).value == 'positive':
                         _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
                     elif ws.cell(row=1, column=1).value == 'negative':
@@ -184,6 +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:
@@ -237,7 +238,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                 md.reset_estop()  # 其实没必要
                 md.clear_alarm()
 
-                clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                # clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
                 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)
@@ -256,7 +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

@@ -21,6 +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},
 ]
 
 
@@ -63,6 +69,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel = {'hw_joint_vel_feedback': []}
             _d2d_trq = {'device_servo_trq_feedback': []}
+            _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:
@@ -74,10 +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)):
@@ -85,16 +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:
@@ -106,60 +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)):
@@ -167,6 +201,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel = {'hw_joint_vel_feedback': []}
             _d2d_trq = {'device_servo_trq_feedback': []}
+            _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:
@@ -178,10 +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)
 
@@ -191,6 +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:
@@ -202,10 +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)
 
@@ -290,6 +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

@@ -1,4 +1,4 @@
-from os import scandir
+from os import scandir, mkdir
 from threading import Thread
 from time import sleep
 from os.path import exists
@@ -8,17 +8,18 @@ from logging import getLogger
 from logging.config import dictConfig
 import concurrent_log_handler
 
-ip_addr = '192.168.0.160'  # for product
-# ip_addr = '192.168.84.129'  # for test
 RADIAN = 57.3  # 180 / 3.1415926
 MAX_FRAME_SIZE = 1024
 TIMEOUT = 5
 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
+PREFIX = '../assets/'  # for source code testing and debug
-log_data_hmi = f'{PREFIX}templates/c_msg.log'
+app_icon = f'{PREFIX}templates/icon.ico'
-log_data_debug = f'{PREFIX}templates/debug.log'
+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'
@@ -40,6 +41,17 @@ 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'
+
+# ip_addr = '192.168.0.160'  # for product
+# ip_addr = '192.168.84.129'  # for test
+
+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’

aio/code/commons/openapi.py

@@ -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):
@@ -539,14 +539,17 @@ class HmiRequest(object):
                 sel.unregister(conn)
                 conn.close()
 
-        sel = selectors.DefaultSelector()
+        try:
-        sel.register(sock, selectors.EVENT_READ, to_read)
+            sel = selectors.DefaultSelector()
+            sel.register(sock, selectors.EVENT_READ, to_read)
 
-        while self.t_bool:
+            while self.t_bool:
-            events = sel.select()
+                events = sel.select()
-            for key, mask in events:
+                for key, mask in events:
-                callback = key.data
+                    callback = key.data
-                callback(key.fileobj, mask)
+                    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()
+        try:
-        sel.register(sock, selectors.EVENT_READ, to_read)
+            sel = selectors.DefaultSelector()
+            sel.register(sock, selectors.EVENT_READ, to_read)
 
-        while self.t_bool:
+            while self.t_bool:
-            events = sel.select()
+                events = sel.select()
-            for key, mask in events:
+                for key, mask in events:
-                callback = key.data
+                    callback = key.data
-                callback(key.fileobj, mask)
+                    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}: 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/current.py

@@ -28,16 +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
 
@@ -186,7 +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()
@@ -197,7 +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):
@@ -232,6 +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
@@ -247,32 +249,40 @@ def p_single(wb, single, vel, trq, rpms, rrs, w2t):
             row_end = _row_e - _adjust
             _row_e -= _end_point
             _row_s -= _end_point
-            _row_s, _row_e = find_point(data_file, 'a2', 'gt', df, _row_s, _row_e, w2t, 3, threshold=5, step=_step, end_point=_end_point)
+            _row_s, _row_e = find_point(data_file, 'a2', 'gt', df, _row_s, _row_e, w2t, 2, threshold=5, step=_step, end_point=_end_point)
             # 速度已经快要降为零了，继续寻找下一个速度上升点
+            _row_middle = _row_s
             _row_e -= _end_point
             _row_s -= _end_point
             _row_s, _row_e = find_point(data_file, 'a3', 'lt', df, _row_s, _row_e, w2t, 3, threshold=5, step=_step, end_point=_end_point)
+            if abs((_row_s-_row_middle)-(_row_middle-row_end)) > 1000:  # 两段相差太大，判定后者较小（很罕见的情况，所以只假设之前遇到的情况，所以可能有bug）
+                row_end = _row_middle
+                _row_e -= _end_point
+                _row_s -= _end_point
+                _row_s, _row_e = find_point(data_file, 'a4', 'gt', df, _row_s, _row_e, w2t, 4, threshold=5, step=_step, end_point=_end_point)
+
         elif speed_avg > 2:
             # 过滤尾部非零无效数据
-            _row_s, _row_e = find_point(data_file, 'b1', 'gt', df, _row_s, _row_e, w2t, 2, threshold=5, step=_step, end_point=_end_point)
+            _row_s, _row_e = find_point(data_file, 'b1', 'gt', df, _row_s, _row_e, w2t, 1, threshold=5, step=_step, end_point=_end_point)
             # 找到第一个起始点 row_end，继续找到有数据的部分，后面有一段零数据区
             row_end = _row_e - _adjust
             _row_e -= _end_point
             _row_s -= _end_point
-            _row_s, _row_e = find_point(data_file, 'b2', 'lt', df, _row_s, _row_e, w2t, 4, threshold=5, step=_step, end_point=_end_point)
+            _row_s, _row_e = find_point(data_file, 'b2', 'lt', df, _row_s, _row_e, w2t, 2, threshold=5, step=_step, end_point=_end_point)
             # 目前已经有一点的速度值了，继续往前搜寻下一个速度为零的点
             _row_e -= _end_point
             _row_s -= _end_point
-            _row_s, _row_e = find_point(data_file, 'b3', 'gt', df, _row_s, _row_e, w2t, 4, threshold=5, step=_step, end_point=_end_point)
+            _row_s, _row_e = find_point(data_file, 'b3', 'gt', df, _row_s, _row_e, w2t, 3, threshold=5, step=_step, end_point=_end_point)
 
         row_start = _row_s + _adjust
         data = []
         for row in range(row_start, row_end):
-            data.append(df.iloc[row, 0])
+            data.append(df_origin.iloc[row, 0])
-            data.append(df.iloc[row, 1])
+            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}"
@@ -311,6 +321,7 @@ def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
         col_names = list(df.columns)
         df_1 = df[col_names[vel-1]].multiply(rpm*addition)
         df_2 = df[col_names[trq-1]].multiply(scale)
+        df_origin = df
         df = concat([df_1, df_2], axis=1)
 
         row_start = 300
@@ -320,11 +331,11 @@ def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
 
         data = []
         for row in range(row_start, row_end):
-            data.append(df.iloc[row, 0])
+            data.append(df_origin.iloc[row, 0])
-            data.append(df.iloc[row, 1])
+            data.append(df_origin.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/wavelogger.py

@@ -13,7 +13,7 @@ def find_point(bof, step, pos, data_file, flag, df, row, w2t):
     # flag: greater than or lower than
     if flag == 'gt':
         while 0 < row < df.index[-1]-100:
-            _value = df.iloc[row, 2]
+            _value = float(df.iloc[row, 2])
             if _value > 2:
                 if bof == 'backward':
                     row -= step
@@ -33,7 +33,7 @@ def find_point(bof, step, pos, data_file, flag, df, row, w2t):
                 row_target = row + 100
     elif flag == 'lt':
         while 0 < row < df.index[-1]-100:
-            _value = df.iloc[row, 2]
+            _value = float(df.iloc[row, 2])
             if _value < 2:
                 if bof == 'backward':
                     row -= step
@@ -61,14 +61,19 @@ def get_cycle_info(data_file, df, row, step, w2t):
     # 1. 从最后读取数据，无论是大于1还是小于1，都舍弃，找到相反的值的起始点
     # 2. 从起始点，继续往前寻找，找到与之数值相反的中间点
     # 3. 从中间点，继续往前寻找，找到与之数值相反的结束点，至此，得到了高低数值的时间区间以及一轮的周期时间
-    if df.iloc[row, 2] < 2:
+    # print(f"row = {row}")
+    # print(df.iloc[row, 2])
+    if float(df.iloc[row, 2]) < 2:
         row = find_point('backward', step, 'a1', data_file, 'lt', df, row, w2t)
 
     _row = find_point('backward', step, 'a2', data_file, 'gt', df, row, w2t)
     _row = find_point('backward', step, 'a3', data_file, 'lt', df, _row, w2t)
     row_end = find_point('backward', step, 'a4', data_file, 'gt', df, _row, w2t)
+    # print(f"row_end = {row_end}")
     row_middle = find_point('backward', step, 'a5', data_file, 'lt', df, row_end, w2t)
+    # print(f"row_middle = {row_middle}")
     row_start = find_point('backward', step, 'a6', data_file, 'gt', df, row_middle, w2t)
+    # print(f"row_start = {row_start}")
 
     return row_end-row_middle, row_middle-row_start, row_end-row_start
 
@@ -95,13 +100,14 @@ def preparation(data_file, wb, w2t):
             begin = int(row[1])
             break
     df = read_csv(data_file, sep=',', encoding='gbk', skip_blank_lines=False, header=begin - 1, on_bad_lines='warn')
+    # print(f"df = {df}")
     low, high, cycle = get_cycle_info(data_file, df, df.index[-1]-110, 5, w2t)
 
     return ws, df, low, high, cycle
 
 
 def single_file_proc(ws, data_file, df, low, high, cycle, w2t):
-    _row = _row_lt = _row_gt = count = 1
+    _row = _row_lt = _row_gt = count = count_i = 1
     _step = 5
     _data = {}
     row_max = df.index[-1]-100
@@ -110,19 +116,29 @@ def single_file_proc(ws, data_file, df, low, high, cycle, w2t):
         if count not in _data.keys():
             _data[count] = []
 
-        _value = df.iloc[_row, 2]
+        _value = float(df.iloc[_row, 2])
         if _value < 2:
             _row_lt = find_point('forward', _step, 'c'+str(_row), data_file, 'lt', df, _row, w2t)
+            # print(f"_row_lt = {_row_lt}")
             _start = int(_row_gt + (_row_lt - _row_gt - 50) / 2)
+            # print(f"_start = {_start}")
             _end = _start + 50
+            # print(f"_end = {_end}")
+            # print("========================================\n")
             value = df.iloc[_start:_end, 2].mean() + 3 * df.iloc[_start:_end, 2].std()
+            if value > 1:
+                w2t(f"{data_file} 文件第 {count} 轮 第 {count_i} 个数据可能有问题，需人工手动确认，确认有问题可删除，无问题则保留", 0, 0, 'orange')
             _data[count].append(value)
+            count_i += 1
         else:
             _row_gt = find_point('forward', _step, 'c'+str(_row), data_file, 'gt', df, _row, w2t)
+            # print(f"_row_gt = {_row_gt}")
             if _row_gt - _row_lt > cycle * 2:
                 count += 1
+                count_i = 1
 
         _row = max(_row_gt, _row_lt)
+        # print(f"_row = {_row}")
 
     for i in range(2, 10):
         ws.cell(row=1, column=i).value = f"第{i-1}次测试"

aio/code/durable_action/factory_test.py

@@ -61,6 +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: