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611d848b41 ... fc3d5482f8

Author SHA1 Message Date
gitea
fc3d5482f8 v0.1.7.2(2024/06/30) 
1. 初步完成NB4h_R580_3BH7.zip工程的设计
2. 重新研究了解包操作，重新实现了一版
3. 修改openapi.pi中excution为execution函数
4. 增减了解包原理性文档
 2024-06-30 20:29:49 +08:00
gitea
ac71522cc2 fixing merge 2024-06-29 20:46:42 +08:00
gitea
61fa840e53 [t_change_ui: aio.py/brake.py/current.py] 整体修改了操作界面，删除了大部分的配置输入框，改用 configs.xlsx 配置文件替代，并优化了max/avg功能中写入结果数据的方式 2024-06-28 09:47:59 +08:00
10 changed files with 1495 additions and 322 deletions
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44
aio/README.md
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@ -7,6 +7,7 @@
3. ISO 激光数据整理，1min 以内 3. ISO 激光数据整理，1min 以内
4. wavelogger 波形处理，几乎不花费时间 4. wavelogger 波形处理，几乎不花费时间
5. 制动自动化测试 5. 制动自动化测试
6. 电机电流自动化测试
--- ---
@ -69,6 +70,7 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
..../j1/reach33_自研_制动性能测试.xlsx ..../j1/reach33_自研_制动性能测试.xlsx
..../j1/reach66_自研_制动性能测试.xlsx ..../j1/reach66_自研_制动性能测试.xlsx
..../j1/reach100_自研_制动性能测试.xlsx ..../j1/reach100_自研_制动性能测试.xlsx
..../j1/configs.xlsx
5. 文件的打开与关闭 5. 文件的打开与关闭
a. 在执行程序之前，需要关闭所有相关 excle 文件 a. 在执行程序之前，需要关闭所有相关 excle 文件
@ -78,20 +80,27 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
6. 数据准确性检查 6. 数据准确性检查
执行完程序之后，可以在日志输出框中看到全部文件的处理过程，对于有问题的文件，会用特殊颜色进行标识，需要注意观察 执行完程序之后，可以在日志输出框中看到全部文件的处理过程，对于有问题的文件，会用特殊颜色进行标识，需要注意观察
7. 其他 7. configs.xlsx配置文件
需要运行前需要手动修改该文件，并确保配置参数的正确性，测试时按照第 4 点中的位置存放
8. 其他
程序运行主要的耗时集中在打开，保存和关闭结果文件，第一次打开的时候会比较慢，另外还需要注意采集的数据长度和结果文件中预设的数据长度是否一致，若采集的数据长度大于预设的数据长度，则需要补齐数据 程序运行主要的耗时集中在打开，保存和关闭结果文件，第一次打开的时候会比较慢，另外还需要注意采集的数据长度和结果文件中预设的数据长度是否一致，若采集的数据长度大于预设的数据长度，则需要补齐数据
``` ```
#### 2) 电机电流 #### 2) 电机电流
1. 单独使用 max/avg 功能时，要求文件命名以 "jx_" 开头，例如 j1_2024_06_18_09_09_11.data，只允许有 .data 或者 .csv 文件，可同时处理所有轴的数据 1. 单独使用 max/avg 功能时，要求文件命名以 "jx_" 开头，例如 j1_2024_06_18_09_09_11.data，只允许有 .data 或者 .csv 文件，以及configs.xlsx配置表，可同时处理所有轴的数据
2. cycle 功能支持处理单轴数据以及场景电机电流的数据，可以批量处理所有轴，但要确保遵守如下规则： 2. cycle 功能支持处理单轴数据以及场景电机电流的数据，可以批量处理所有轴，但要确保遵守如下规则：
- 包含电机电流结果汇总文件（excel）
- 单轴文件：jx_xxxxx.data/csv - 包含电机电流结果汇总文件（excel）
- 保持电流：jx_hold_xxxx.data/csv - 单轴文件：jx_xxxxx.data/csv
- 场景文件：factory_53.8_2024_06_18_09_01_26.data（需手动拆分） - 保持电流：jx_hold_xxxx.data/csv
- 所有文件放在同一个文件夹即可 - 场景文件：factory_53.8_2024_06_18_09_01_26.data（需手动拆分）
- 界面输入rc参数时，需要输入所有轴的数据，即使只处理个别轴的数据 - 配置文件：configs.xlsx
- 所有文件放在同一个文件夹即可
- 界面输入rc参数时，需要输入所有轴的数据，即使只处理个别轴的数据
3. configs.xlsx配置文件：需要运行前需要手动修改该文件，并确保配置参数的正确性
> 程序运行主要的耗时集中在打开，保存和关闭结果文件 > 程序运行主要的耗时集中在打开，保存和关闭结果文件
> 需要注意采集的数据长度和结果文件中预设的数据长度是否一致，若采集的数据长度大于预设的数据长度，则需要补齐数据 > 需要注意采集的数据长度和结果文件中预设的数据长度是否一致，若采集的数据长度大于预设的数据长度，则需要补齐数据
@ -121,6 +130,13 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
2. excel 制动结果处理文件 2. excel 制动结果处理文件
3. excel configs.xlsx 配置文件 3. excel configs.xlsx 配置文件
#### 6) 电机电流自动化测试
只需要提前将如下文件放在指定路径下即可：
1. zip 工程文件
2. excel 电机电流结果处理文件，一份模板即可
3. excel configs.xlsx 配置文件
#### 其他 #### 其他
customtkinter的tabview组件不支持修改字体大小，可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现： customtkinter的tabview组件不支持修改字体大小，可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现：
@ -318,7 +334,7 @@ v0.1.7.0(2024/06/26)-初步可用
10. [current.py] max/avg功能结束之前会将结果数据追加写入源文件，avg算法更改为average+3×std 10. [current.py] max/avg功能结束之前会将结果数据追加写入源文件，avg算法更改为average+3×std
11. [wavelogger.py] 算法更改为 average+3×std 11. [wavelogger.py] 算法更改为 average+3×std
v0.1.7.1(2024/06/29) v0.1.7.1.0(2024/06/29)
1. [APIs: aio.py] 1. [APIs: aio.py]
- 对于automatic test删除了输入框，使用configs.xlsx配置文件作为参数输入 - 对于automatic test删除了输入框，使用configs.xlsx配置文件作为参数输入
- 完善initialization/param_check/func_start_callback函数中对于automatic test的处理 - 完善initialization/param_check/func_start_callback函数中对于automatic test的处理
@ -340,8 +356,9 @@ v0.1.7.1(2024/06/29)
- 导入工程并设置为运行工程 - 导入工程并设置为运行工程
4. [APIs: current.py] 修改scenario/single电机电流最大长度为150s 4. [APIs: current.py] 修改scenario/single电机电流最大长度为150s
5. 在本文件中更新关于制动自动化测试的相关内容 5. 在本文件中更新关于制动自动化测试的相关内容
6. [t_change_ui: aio.py/brake.py/current.py] 整体修改了操作界面，删除了大部分的配置输入框，改用 configs.xlsx 配置文件替代，并优化了max/avg功能中写入结果数据的方式
v0.1.7.1(2024/06/29) v0.1.7.1.1(2024/06/29)
1. [APIs: aio.py] 1. [APIs: aio.py]
- 修改detect_network函数中sleep语句放到最后，重新生成HmiRequest实例中增加sleep(4)，这个停顿时间一定是比openapi中heartbeat函数的sleep要长1s以上才能正常工作 - 修改detect_network函数中sleep语句放到最后，重新生成HmiRequest实例中增加sleep(4)，这个停顿时间一定是比openapi中heartbeat函数的sleep要长1s以上才能正常工作
- 修改write2textbox函数，新增默认参数tab_name，只有当该值与当前tab一致时，函数才会有输出 - 修改write2textbox函数，新增默认参数tab_name，只有当该值与当前tab一致时，函数才会有输出
@ -350,8 +367,15 @@ v0.1.7.1(2024/06/29)
- 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理 - 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理
- execution函数中合并了case条件 - execution函数中合并了case条件
- 增加了N多指令，多为诊断曲线和rl程序相关 - 增加了N多指令，多为诊断曲线和rl程序相关
- 日志保留条数修改为20000
3. [APIs: do_brake.py] 3. [APIs: do_brake.py]
- 实现自动推送工程到xCore并自动运行 - 实现自动推送工程到xCore并自动运行
- 初步实现了Modbus发送消息和检测状态 - 初步实现了Modbus发送消息和检测状态
4. [APIs: do_current.py] 4. [APIs: do_current.py]
- 将do_brake.py的内容完全拷贝到此文件，待修改 - 将do_brake.py的内容完全拷贝到此文件，待修改
v0.1.7.2(2024/06/30)
1. 初步完成NB4h_R580_3BH7.zip工程的设计
2. 重新研究了解包操作，重新实现了一版
3. 修改openapi.pi中excution为execution函数
4. 增减了解包原理性文档

926
aio/assets/autotest.xml Normal file
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@ -0,0 +1,926 @@
<?xml version="1.0" encoding="UTF-8"?>
<m>
<l>
<c name="addr" type="2" value="40000"/>
<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="清除伺服报警"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40000"/>
<c name="function" type="10" value="ctrl_clear_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_clear_alarm"/>
<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="40001"/>
<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="重置软急停"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40001"/>
<c name="function" type="10" value="ctrl_estop_reset"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_reset_estop"/>
<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="40002"/>
<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="下电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40002"/>
<c name="function" type="10" value="ctrl_motor_off"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_moror_off"/>
<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="40003"/>
<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="上电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40003"/>
<c name="function" type="10" value="ctrl_motor_on"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_motor_on"/>
<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="40004"/>
<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="上电或者下电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40004"/>
<c name="function" type="10" value="ctrl_motor_on_off"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_motor_on_off"/>
<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="40005"/>
<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="上电/pp2main/start"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40005"/>
<c name="function" type="10" value="ctrl_motoron_pptomain_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_on_pp_start"/>
<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="40006"/>
<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="依次上电/启动程序"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40006"/>
<c name="function" type="10" value="ctrl_motoron_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_motoron_start"/>
<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="40007"/>
<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="暂停程序并下电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40007"/>
<c name="function" type="10" value="ctrl_pause_motoroff"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_pause_off"/>
<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="40008"/>
<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="pp2main"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40008"/>
<c name="function" type="10" value="ctrl_pptomain"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_pp2main"/>
<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="40009"/>
<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="开始运行程序"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40009"/>
<c name="function" type="10" value="ctrl_program_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_p_start"/>
<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="40010"/>
<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="程序启停"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40010"/>
<c name="function" type="10" value="ctrl_program_start_stop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_p_on_off"/>
<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="40011"/>
<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="暂停程序"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40011"/>
<c name="function" type="10" value="ctrl_program_stop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_p_stop"/>
<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"/>
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<l>
<c name="addr" type="2" value="40012"/>
<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="触发软急停"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40012"/>
<c name="function" type="10" value="ctrl_soft_estop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_trigger_estop"/>
<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"/>
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<l>
<c name="addr" type="2" value="40013"/>
<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="切换自动并上电"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40013"/>
<c name="function" type="10" value="ctrl_switch_auto_motoron"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_auto_motoron"/>
<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"/>
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<l>
<c name="addr" type="2" value="40014"/>
<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="切换成自动模式"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40014"/>
<c name="function" type="10" value="ctrl_switch_operation_auto"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_switch_auto"/>
<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"/>
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<l>
<c name="addr" type="2" value="40015"/>
<c name="addr_1st" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="切换手动和自动"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40015"/>
<c name="function" type="10" value="ctrl_switch_operation_auto_manu"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_auto_manual"/>
<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"/>
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<l>
<c name="addr" type="2" value="40016"/>
<c name="addr_1st" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="切换成手动模式"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40016"/>
<c name="function" type="10" value="ctrl_switch_operation_manu"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_mtcp_switch_manual"/>
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<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"/>
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<l>
<c name="addr" type="2" value="40500"/>
<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="错误码"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40500"/>
<c name="function" type="10" value="ext_error_code"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_error_code"/>
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<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="int16"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
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<l>
<c name="addr" type="2" value="40501"/>
<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="执行完毕的响应"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40501"/>
<c name="function" type="10" value="ext_resp_set"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_response"/>
<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"/>
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<l>
<c name="addr" type="2" value="40502"/>
<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=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40509"/>
<c name="function" type="10" value="ext_response_data"/>
<c name="len" type="2" value="8"/>
<c name="name" type="10" value="w_mtcp_resp_data"/>
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<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="int16"/>
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<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
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<l>
<c name="addr" type="2" value="40510"/>
<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="伺服告警状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40510"/>
<c name="function" type="10" value="sta_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_alarm_state"/>
<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>
<l>
<c name="addr" type="2" value="40511"/>
<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="碰撞状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40511"/>
<c name="function" type="10" value="sta_collision"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_collision"/>
<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>
<l>
<c name="addr" type="2" value="40512"/>
<c name="addr_1st" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="碰撞告警"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40512"/>
<c name="function" type="10" value="sta_collision_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_c_alarm"/>
<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=""/>
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<l>
<c name="addr" type="2" value="40513"/>
<c name="addr_1st" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="碰撞检测开启状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40513"/>
<c name="function" type="10" value="sta_collision_open"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_c_open"/>
<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"/>
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<l>
<c name="addr" type="2" value="40514"/>
<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="控制器是否运行"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40514"/>
<c name="function" type="10" value="sta_controller_is_running"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_ctl_running"/>
<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"/>
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<l>
<c name="addr" type="2" value="40515"/>
<c name="addr_1st" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="编码器欠压告警"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40515"/>
<c name="function" type="10" value="sta_encoder_low_battery"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_encoder_low"/>
<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=""/>
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<l>
<c name="addr" type="2" value="40516"/>
<c name="addr_1st" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="机器人上报错误码"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40516"/>
<c name="function" type="10" value="sta_error_code"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_robot_err"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="int16"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
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<l>
<c name="addr" type="2" value="40517"/>
<c name="addr_1st" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="急停状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40517"/>
<c name="function" type="10" value="sta_estop"/>
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<c name="name" type="10" value="w_mtcp_estop"/>
<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"/>
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<l>
<c name="addr" type="2" value="40518"/>
<c name="addr_1st" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="是否有心跳信号"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40518"/>
<c name="function" type="10" value="sta_heartbeat"/>
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<c name="name" type="10" value="w_mtcp_heartbeat"/>
<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"/>
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<l>
<c name="addr" type="2" value="40519"/>
<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="上电状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40519"/>
<c name="function" type="10" value="sta_motor"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_motor"/>
<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"/>
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<l>
<c name="addr" type="2" value="40520"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="操作模式"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40520"/>
<c name="function" type="10" value="sta_operation_mode"/>
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<c name="name" type="10" value="w_mtcp_mode"/>
<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"/>
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<l>
<c name="addr" type="2" value="40521"/>
<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="当前程序状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40521"/>
<c name="function" type="10" value="sta_program"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_p_state"/>
<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"/>
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<l>
<c name="addr" type="2" value="40522"/>
<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="软急停状态"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40522"/>
<c name="function" type="10" value="sta_soft_estop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_mtcp_s_estop"/>
<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"/>
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<l>
<c name="addr" type="2" value="40523"/>
<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="查询当前笛卡尔位姿"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40536"/>
<c name="function" type="10" value="sta_cart_pose"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_mtcp_cart_pose"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
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<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
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<l>
<c name="addr" type="2" value="40537"/>
<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="查询当前笛卡尔速度"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40550"/>
<c name="function" type="10" value="sta_cart_vel"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_mtcp_cart_vel"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40551"/>
<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="关节角度"/>
<c name="dev_name" type="10" value="autotest"/>
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38
aio/assets/unpackage_logic.txt Normal file
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b'-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n'
b'\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-\x04\x000.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t'
b'\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0\x04\x00.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.'
b'0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\x04\x00\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n'
b'\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.\x04\x000,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n'
b'\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1\x04\x00.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.'
b'0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t\x04\x001.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : '
b'\n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5\x04\x00.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429'
b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-\x8f\x02\x00{\n\t"command"'
\x04\x00\x00\x00-h\x02\x00
pkg_size = 11624
10240 + 402 + 1004 - 20 - 2(首个帧头) = 11624
第一帧有效 - 402
b'{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0'
中间有 10 帧，共计 10240 个字节，也有 10 个 \x04\x00，共计 20 个字节
最后一帧有效 - 1004
b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}'
b'\x00\\\x00\x00\x00V\x02\x00{\n\t"data" : \n\t{\n\t\t"name" : "xCore"\n\t},\n\t"id" : "controller.heart-1719734550.9790015"\n}'
frame size 92
package size 86
length 86 {\n\t"data" : \n\t{\n\t\t"name" : "xCore"\n\t},\n\t"id" : "controller.heart-1719734550.9790015"\n}'

138
aio/code/aio.py
View File

@ -25,22 +25,11 @@ btns_func = {
} }
widgits_dp = { widgits_dp = {
'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'}, 'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
'av': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '角速度'}, 'dur': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '周期时间'},
'rc': {'label': '', 'entry': '', 'row': 2, 'col': 4, 'text': '额定电流'}, 'vel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 4, 'text': ''},
'rpm': {'label': '', 'entry': '', 'row': 2, 'col': 6, 'text': '额定转速'}, 'trq': {'label': '', 'optionmenu': '', 'row': 2, 'col': 6, 'text': ''},
'rr': {'label': '', 'entry': '', 'row': 2, 'col': 8, 'text': '减速比'}, 'trqh': {'label': '', 'optionmenu': '', 'row': 2, 'col': 8, 'text': ''},
'dur': {'label': '', 'entry': '', 'row': 2, 'col': 10, 'text': '周期时间'}, 'estop': {'label': '', 'optionmenu': '', 'row': 2, 'col': 10, 'text': ''},
'axis': {'label': '', 'optionmenu': '', 'row': 3, 'col': 2, 'text': ''},
'vel': {'label': '', 'optionmenu': '', 'row': 3, 'col': 4, 'text': ''},
'trq': {'label': '', 'optionmenu': '', 'row': 3, 'col': 6, 'text': ''},
'trqh': {'label': '', 'optionmenu': '', 'row': 3, 'col': 8, 'text': ''},
'estop': {'label': '', 'optionmenu': '', 'row': 3, 'col': 10, 'text': ''},
'rc1': {'label': '', 'entry': '', 'row': 4, 'col': 2, 'text': '额定电流'},
'rc2': {'label': '', 'entry': '', 'row': 4, 'col': 4, 'text': '额定电流'},
'rc3': {'label': '', 'entry': '', 'row': 4, 'col': 6, 'text': '额定电流'},
'rc4': {'label': '', 'entry': '', 'row': 4, 'col': 8, 'text': '额定电流'},
'rc5': {'label': '', 'entry': '', 'row': 4, 'col': 10, 'text': '额定电流'},
'rc6': {'label': '', 'entry': '', 'row': 4, 'col': 12, 'text': '额定电流'},
} }
widgits_at = { widgits_at = {
'path': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '数据文件夹路径'}, 'path': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '数据文件夹路径'},
@ -108,13 +97,13 @@ class App(customtkinter.CTk):
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'] = 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'].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') widgits_dp[widgit]['entry'].configure(state='disabled')
elif widgit in ['av', 'rc', 'rpm', 'rr', 'dur', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6']: 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'] = 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]['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'] = 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'].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') widgits_dp[widgit]['entry'].configure(state='disabled')
elif widgit in ['axis', 'vel', 'trq', 'trqh', 'estop']: 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'] = 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]['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'] = 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)
@ -157,7 +146,7 @@ class App(customtkinter.CTk):
try: try:
new_vers = urlopen(url_vers).read().decode('utf-8') new_vers = urlopen(url_vers).read().decode('utf-8')
if cur_vers.strip() != new_vers.strip(): if cur_vers.strip() != new_vers.strip():
msg = f"""当前版本：{cur_vers}\n更新版本：{new_vers}\n\n请及时更新 http://10.2.23.150:10003/s/jRfM""" msg = f"""当前版本：{cur_vers}\n更新版本：{new_vers}\n\n请及时前往钉盘更新~~~"""
tkinter.messagebox.showwarning(title="版本更新", message=msg) tkinter.messagebox.showwarning(title="版本更新", message=msg)
except: 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......") 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......")
@ -224,12 +213,12 @@ class App(customtkinter.CTk):
self.textbox.delete(index1='1.0', index2='end') self.textbox.delete(index1='1.0', index2='end')
if tab_name == 'Data Process': if tab_name == 'Data Process':
for widgit in widgits_dp: for widgit in widgits_dp:
if widgit in ['path', 'av', 'rc', 'rpm', 'rr', 'dur', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6']: if widgit in ['path', 'dur']:
widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black') widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
widgits_dp[widgit]['entry'].delete(0, tkinter.END) 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(placeholder_text=widgits_dp[widgit]['text'], state='normal')
widgits_dp[widgit]['entry'].configure(state='disabled') widgits_dp[widgit]['entry'].configure(state='disabled')
elif widgit in ['axis', 'vel', 'trq', 'trqh', 'estop']: elif widgit in ['vel', 'trq', 'trqh', 'estop']:
widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color="black") widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color="black")
widgits_dp[widgit]['optionmenu'].configure(state='normal') widgits_dp[widgit]['optionmenu'].configure(state='normal')
widgits_dp[widgit]['optionmenu'].set('1') widgits_dp[widgit]['optionmenu'].set('1')
@ -255,10 +244,10 @@ class App(customtkinter.CTk):
if tab_name == 'Data Process': if tab_name == 'Data Process':
if func_name == 'brake': if func_name == 'brake':
for widgit in widgits_dp: for widgit in widgits_dp:
if widgit in ['path', 'av', 'rr']: if widgit in ['path']:
widgits_dp[widgit]['label'].configure(text_color='red') widgits_dp[widgit]['label'].configure(text_color='red')
widgits_dp[widgit]['entry'].configure(state='normal') widgits_dp[widgit]['entry'].configure(state='normal')
elif widgit in ['axis', 'vel', 'trq', 'estop']: elif widgit in ['vel', 'trq', 'estop']:
widgits_dp[widgit]['label'].configure(text_color="red") widgits_dp[widgit]['label'].configure(text_color="red")
widgits_dp[widgit]['optionmenu'].configure(state='normal') widgits_dp[widgit]['optionmenu'].configure(state='normal')
elif func_name == 'current': elif func_name == 'current':
@ -267,17 +256,9 @@ class App(customtkinter.CTk):
self.menu_sub_dp.set("--select--") self.menu_sub_dp.set("--select--")
self.menu_sub_dp.configure(text_color='yellow') self.menu_sub_dp.configure(text_color='yellow')
for widgit in widgits_dp:
if widgit in ['path', 'rc', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6']:
color = 'blue' if widgit == 'rc' else 'red'
widgits_dp[widgit]['label'].configure(text_color=color)
widgits_dp[widgit]['entry'].configure(state='normal')
elif widgit in ['trqh',]:
widgits_dp[widgit]['label'].configure(text_color="red")
widgits_dp[widgit]['optionmenu'].configure(state='normal')
elif func_name == 'iso' or func_name == 'wavelogger': elif func_name == 'iso' or func_name == 'wavelogger':
for widgit in widgits_dp: for widgit in widgits_dp:
if widgit in ['path',]: if widgit in ['path']:
widgits_dp[widgit]['label'].configure(text_color='red') widgits_dp[widgit]['label'].configure(text_color='red')
widgits_dp[widgit]['entry'].configure(state='normal') widgits_dp[widgit]['entry'].configure(state='normal')
else: else:
@ -309,30 +290,43 @@ class App(customtkinter.CTk):
self.menu_main_at.set("Start Here!") self.menu_main_at.set("Start Here!")
def func_sub_callback(self, func_name): def func_sub_callback(self, func_name):
if func_name == "max": if func_name == "max" or func_name == "avg":
for widgit in widgits_dp: for widgit in widgits_dp:
if widgit in ['rpm', 'dur']: 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]['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') widgits_dp[widgit]['entry'].configure(state='disabled')
elif widgit in ['vel', 'trq']: elif widgit in ['vel', 'trqh', 'estop']:
widgits_dp[widgit]['label'].configure(text_color='black')
widgits_dp[widgit]['optionmenu'].configure(state='disabled')
elif func_name == 'avg':
for widgit in widgits_dp:
if widgit in ['rpm', 'dur']:
widgits_dp[widgit]['label'].configure(text_color='black')
widgits_dp[widgit]['entry'].configure(state='disabled')
elif widgit in ['vel', 'trq']:
widgits_dp[widgit]['label'].configure(text_color='black') widgits_dp[widgit]['label'].configure(text_color='black')
widgits_dp[widgit]['optionmenu'].set('1')
widgits_dp[widgit]['optionmenu'].configure(state='disabled') 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')
elif func_name == 'cycle': elif func_name == 'cycle':
for widgit in widgits_dp: for widgit in widgits_dp:
if widgit in ['rpm', 'dur']: if widgit in ['path', 'dur']:
widgits_dp[widgit]['label'].configure(text_color='blue') 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') widgits_dp[widgit]['entry'].configure(state='normal')
elif widgit in ['vel', 'trq']: elif widgit in ['vel', 'trq', 'trqh']:
widgits_dp[widgit]['label'].configure(text_color="red") 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') 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')
def write2textbox(self, text, wait=0, exitcode=0, color='blue', tab_name='Data Process'): def write2textbox(self, text, wait=0, exitcode=0, color='blue', tab_name='Data Process'):
self.textbox.tag_add(color, 'insert', 'end') self.textbox.tag_add(color, 'insert', 'end')
@ -373,33 +367,20 @@ class App(customtkinter.CTk):
func_name = self.menu_main_dp.get() func_name = self.menu_main_dp.get()
if func_name == 'brake': if func_name == 'brake':
path = widgits_dp['path']['entry'].get().strip() path = widgits_dp['path']['entry'].get().strip()
av = widgits_dp['av']['entry'].get().strip('- ')
rr = widgits_dp['rr']['entry'].get().strip('- ')
axis = widgits_dp['axis']['optionmenu'].get()
vel = widgits_dp['vel']['optionmenu'].get() vel = widgits_dp['vel']['optionmenu'].get()
trq = widgits_dp['trq']['optionmenu'].get() trq = widgits_dp['trq']['optionmenu'].get()
estop = widgits_dp['estop']['optionmenu'].get() estop = widgits_dp['estop']['optionmenu'].get()
c1 = exists(path) c1 = exists(path)
c2 = self.is_float('required', av, rr) c2 = True if len({vel, trq, estop}) == 3 else False
c3 = True if len({vel, trq, estop}) == 3 else False if c1 and c2:
return 1, path, int(vel), int(trq), int(estop)
if c1 and c2 and c3:
return 1, path, float(av), float(rr), int(axis), int(vel), int(trq), int(estop)
else: else:
return 0, 0 return 0, 0
# ======================================================= # =======================================================
elif func_name == 'current': elif func_name == 'current':
path = widgits_dp['path']['entry'].get().strip() path = widgits_dp['path']['entry'].get().strip()
rc = widgits_dp['rc']['entry'].get().strip('- ')
rpm = widgits_dp['rpm']['entry'].get().strip()
dur = widgits_dp['dur']['entry'].get().strip() dur = widgits_dp['dur']['entry'].get().strip()
rc1 = widgits_dp['rc1']['entry'].get().strip()
rc2 = widgits_dp['rc2']['entry'].get().strip()
rc3 = widgits_dp['rc3']['entry'].get().strip()
rc4 = widgits_dp['rc4']['entry'].get().strip()
rc5 = widgits_dp['rc5']['entry'].get().strip()
rc6 = widgits_dp['rc6']['entry'].get().strip()
vel = widgits_dp['vel']['optionmenu'].get() vel = widgits_dp['vel']['optionmenu'].get()
trq = widgits_dp['trq']['optionmenu'].get() trq = widgits_dp['trq']['optionmenu'].get()
trqh = widgits_dp['trqh']['optionmenu'].get() trqh = widgits_dp['trqh']['optionmenu'].get()
@ -407,23 +388,16 @@ class App(customtkinter.CTk):
c1 = exists(path) c1 = exists(path)
c2 = sub in ['max', 'avg', 'cycle'] c2 = sub in ['max', 'avg', 'cycle']
c3 = self.is_float('optional', rc, rpm) c3 = c4 = True
c4 = self.is_float('required', rc1, rc2, rc3, rc4, rc5, rc6)
c5 = c6 = True
if sub == 'cycle': if sub == 'cycle':
c5 = True if len({vel, trq}) == 2 else False c3 = True if len({vel, trq}) == 2 else False
c6 = self.is_float('optional', dur) c4 = self.is_float('optional', dur)
elif sub == 'max' or sub == 'avg':
pass
if c1 and c2 and c3 and c4 and c5 and c6: if c1 and c2 and c3 and c4:
rcs = [] dur = 0 if dur == '' else dur
for x in [rc1, rc2, rc3, rc4, rc5, rc6]: return 2, path, sub, float(dur), int(vel), int(trq), int(trqh)
rcs.append(float(x))
rc = 0 if rc == '' else rc
dur = 0 if sub != 'cycle' or dur == '' else dur
rpm = 0 if sub != 'cycle' or rpm == '' else rpm
rcs.append(float(rc))
return 2, path, sub, rcs, int(vel), int(trq), int(trqh), float(dur), float(rpm)
else: else:
return 0, 0 return 0, 0
# ======================================================= # =======================================================
@ -467,17 +441,19 @@ class App(customtkinter.CTk):
self.textbox.delete(index1='1.0', index2='end') self.textbox.delete(index1='1.0', index2='end')
flag, *args = self.check_param() flag, *args = self.check_param()
func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main} func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main, 6: do_current.main}
if flag == 1: if flag == 1:
func_dict[flag](path=args[0], av=args[1], rr=args[2], axis=args[3], vel=args[4], trq=args[5], estop=args[6], w2t=self.write2textbox) func_dict[flag](path=args[0], vel=args[1], trq=args[2], estop=args[3], w2t=self.write2textbox)
elif flag == 2: elif flag == 2:
func_dict[flag](path=args[0], sub=args[1], rcs=args[2], vel=args[3], trq=args[4], trqh=args[5], dur=args[6], rpm=args[7], w2t=self.write2textbox) func_dict[flag](path=args[0], sub=args[1], dur=args[2], vel=args[3], trq=args[4], trqh=args[5], w2t=self.write2textbox)
elif flag == 3: elif flag == 3:
func_dict[flag](path=args[0], w2t=self.write2textbox) func_dict[flag](path=args[0], w2t=self.write2textbox)
elif flag == 4: elif flag == 4:
func_dict[flag](path=args[0], w2t=self.write2textbox) func_dict[flag](path=args[0], w2t=self.write2textbox)
elif flag == 5: elif flag == 5:
func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox) func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox)
elif flag == 6:
func_dict[flag](path=args[0], hr=self.hr, w2t=self.write2textbox)
else: else:
tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", ) tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )

2
aio/code/automatic_test/btn_functions.py
View File

@ -15,7 +15,7 @@ def validate_resp(_id, response, w2t):
def execution(cmd, hr, w2t, **kwargs): def execution(cmd, hr, w2t, **kwargs):
_id = hr.excution(cmd, **kwargs) _id = hr.execution(cmd, **kwargs)
_msg = hr.get_from_id(_id) _msg = hr.get_from_id(_id)
if not _msg: if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test') w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')

98
aio/code/automatic_test/do_current.py
View File

@ -7,9 +7,6 @@ from json import loads
def traversal_files(path, w2t): def traversal_files(path, w2t):
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
# 参数：路径
# 返回值：路径下的文件夹列表 路径下的文件列表
if not exists(path): if not exists(path):
msg = f'数据文件夹{path}不存在，请确认后重试......' msg = f'数据文件夹{path}不存在，请确认后重试......'
w2t(msg, 0, 1, 'red', tab_name='Automatic Test') w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
@ -26,33 +23,29 @@ def traversal_files(path, w2t):
def check_files(data_dirs, data_files, w2t): def check_files(data_dirs, data_files, w2t):
if len(data_dirs) != 0 or len(data_files) != 5: if len(data_dirs) != 0 or len(data_files) != 3:
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
config_file = reach33 = reach66 = reach100 = prj_file = None config_file = current_file = prj_file = None
for data_file in data_files: for data_file in data_files:
filename = data_file.split('\\')[-1] filename = data_file.split('\\')[-1]
if filename == 'configs.xlsx': if filename == 'configs.xlsx':
config_file = data_file config_file = data_file
elif filename.startswith('reach33_') and filename.endswith('.xlsx'): elif filename == 'T_电机电流.xlsx':
reach33 = data_file current_file = data_file
elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
reach66 = data_file
elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
reach100 = data_file
elif filename.endswith('.zip'): elif filename.endswith('.zip'):
prj_file = data_file prj_file = data_file
else: else:
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test') w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
if config_file and reach33 and reach66 and reach100 and prj_file: if config_file and current_file and prj_file:
w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test') w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
return config_file, reach33, reach66, reach100, prj_file return config_file, current_file, prj_file
else: else:
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
def prj_to_xcore(prj_file): def prj_to_xcore(prj_file):
@ -105,7 +98,7 @@ def validate_resp(_id, response, w2t):
def execution(cmd, hr, w2t, **kwargs): def execution(cmd, hr, w2t, **kwargs):
_id = hr.excution(cmd, **kwargs) _id = hr.execution(cmd, **kwargs)
_msg = hr.get_from_id(_id) _msg = hr.get_from_id(_id)
if not _msg: if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test') w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
@ -116,38 +109,54 @@ def execution(cmd, hr, w2t, **kwargs):
def run_rl(hr, w2t): def run_rl(hr, w2t):
# prj_path = 'target/_build/target.prj' prj_path = 'target/_build/target.prj'
# _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com']) _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'current'])
# print(f"reload prj: {_response}") print(f"reload prj: {_response}")
# # _response = execution('overview.get_cur_prj', hr, w2t) _response = execution('overview.get_cur_prj', hr, w2t)
# # print(f"get cur prj name: {_response}") print(f"get cur prj name: {_response}")
# _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com']) _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake'])
# print(f"set pp2main of prj: {_response}") print(f"set pp2main of prj: {_response}")
#
# _response = execution('state.switch_auto', hr, w2t) _response = execution('state.switch_auto', hr, w2t)
# _response = execution('state.switch_motor_on', hr, w2t) _response = execution('state.switch_motor_on', hr, w2t)
#
# _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
# print(f"run prj: {_response}")
# sleep(10)
#
# _response = execution('state.switch_motor_off', hr, w2t)
# _response = execution('state.switch_manual', hr, w2t)
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
print(f"打开诊断: {_response}") print(f"打开诊断: {_response}")
# _response = execution('diagnosis.get_params', hr, w2t) # _response = execution('diagnosis.get_params', hr, w2t)
# print(f"显示诊断状态: {_response}") # print(f"显示诊断状态: {_response}")
display_pdo_params = [ display_pdo_params = [
{"name": "device_servo_trq_feedback", "channel": 0} {"name": "hw_joint_vel_feedback", "channel": 0},
{"name": "hw_joint_vel_feedback", "channel": 1},
{"name": "hw_joint_vel_feedback", "channel": 2},
{"name": "hw_joint_vel_feedback", "channel": 3},
{"name": "hw_joint_vel_feedback", "channel": 4},
{"name": "hw_joint_vel_feedback", "channel": 5},
{"name": "device_servo_trq_feedback", "channel": 0},
{"name": "device_servo_trq_feedback", "channel": 1},
{"name": "device_servo_trq_feedback", "channel": 2},
{"name": "device_servo_trq_feedback", "channel": 3},
{"name": "device_servo_trq_feedback", "channel": 4},
{"name": "device_servo_trq_feedback", "channel": 5},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
{"name": "device_safety_estop", "channel": 0},
] ]
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
print(f"执行采样: {_response}") print(f"执行采样: {_response}")
sleep(5)
_response = execution('rl_task.run', hr, w2t, tasks=['brake'])
print(f"run prj: {_response}")
sleep(10)
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
print(f"关闭诊断: {_response}") print(f"关闭诊断: {_response}")
# sleep(1)
_response = execution('state.switch_motor_off', hr, w2t)
_response = execution('state.switch_manual', hr, w2t)
for _msg in hr.c_msg: for _msg in hr.c_msg:
if 'diagnosis.result' in _msg: if 'diagnosis.result' in _msg:
print(_msg) print(_msg)
@ -160,14 +169,11 @@ def run_rl(hr, w2t):
# break # break
else: def main(path, hr, w2t):
sleep(1)
def main(path, hr, loadsel, w2t):
data_dirs, data_files = traversal_files(path, w2t) data_dirs, data_files = traversal_files(path, w2t)
config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t) config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t)
# prj_to_xcore(prj_file) prj_to_xcore(prj_file)
run_rl(hr, w2t) run_rl(hr, w2t)

250
aio/code/automatic_test/openapi.py
View File

@ -4,6 +4,7 @@ from threading import Thread
import selectors import selectors
from time import time, sleep from time import time, sleep
from os.path import dirname from os.path import dirname
from binascii import b2a_hex, a2b_hex
MAX_FRAME_SIZE = 1024 MAX_FRAME_SIZE = 1024
setdefaulttimeout(2) setdefaulttimeout(2)
@ -25,6 +26,10 @@ class HmiRequest(object):
self.response_xs = '' self.response_xs = ''
self.t_bool = True self.t_bool = True
self.tab_name = 'Automatic Test' self.tab_name = 'Automatic Test'
self.pkg_size = 0
self.broke = 0
self.half = 0
self.half_length = 0
self.sock_conn() self.sock_conn()
self.t_heartbeat = Thread(target=self.heartbeat) self.t_heartbeat = Thread(target=self.heartbeat)
@ -55,14 +60,20 @@ class HmiRequest(object):
self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name) self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
f_hb.write('1') f_hb.write('1')
# print(f"打开诊断:")
# self.execution('diagnosis.open', open=True, display_open=True)
# display_pdo_params = []
# print(f"执行采样")
# self.execution('diagnosis.set_params', display_pdo_params=display_pdo_params)
# print(f"关闭诊断")
# self.execution('diagnosis.open', open=False, display_open=False)
except Exception as Err: except Exception as Err:
self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name) self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
f_hb.write('0') f_hb.write('0')
def header_check(self, index, data): def header_check(self, index, data):
try: if index + 8 < len(data):
_frame_size = int.from_bytes(data[index:index+2], byteorder='big') _frame_size = int.from_bytes(data[index:index+2], byteorder='big')
_pkg_size = int.from_bytes(data[index+2:index+6], byteorder='big') _pkg_size = int.from_bytes(data[index+2:index+6], byteorder='big')
_protocol = int.from_bytes(data[index+6:index+7], byteorder='big') _protocol = int.from_bytes(data[index+6:index+7], byteorder='big')
@ -71,16 +82,31 @@ class HmiRequest(object):
if _reserved == 0 and _protocol == 2: if _reserved == 0 and _protocol == 2:
return index+8, _frame_size, _pkg_size return index+8, _frame_size, _pkg_size
else: else:
print("数据有误，需要确认") print(data)
return 'DATA ERR' print("head check 数据有误，需要确认")
except Exception as Err: self.w2t("", 0, 1, 'red', 'Automatic Test')
print(f"Err = {Err}") else:
print("无法读取数据，需要确认") self.half_length = len(data)-index
return 'DATA READ ERR' if self.half_length == 1:
self.half = a2b_hex(str(hex(data[-1]))[2:].rjust(1, '0'))
else:
self.half = data[index:]
print(f"in head check half data: {self.half}")
print(f"in head check length: {self.half_length}")
print(f"in head check data: {data}")
self.broke = 100
index += MAX_FRAME_SIZE
return index, 0, 0
# except Exception as Err:
# print(data)
# print(f"Err = {Err}")
# print("无法读取数据，需要确认")
def heartbeat(self): def heartbeat(self):
while self.t_bool: while self.t_bool:
_id = self.excution('controller.heart') _id = self.execution('controller.heart')
_flag = '0' if self.get_from_id(_id) is None else '1' _flag = '0' if self.get_from_id(_id) is None else '1'
print(f"hb = {_flag}", end=' ') print(f"hb = {_flag}", end=' ')
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
@ -103,55 +129,191 @@ class HmiRequest(object):
messages.pop() messages.pop()
def get_response(self, data): def get_response(self, data):
# 流式获取单次请求的响应
if self.broke == 100:
print("*****************************************")
print(f"half data: {self.half}")
_half_1 = self.half
if self.half_length == 7:
_half_2 = a2b_hex(str(hex(data[0]))[2:].rjust(1, '0'))
else:
_half_2 = data[:8-self.half_length]
_full = _half_1 + _half_2
print(f"full data: {_full}")
_frame_size = _full[:2]
_frame_size = int.from_bytes(_full[:2], byteorder='big')
_pkg_size = int.from_bytes(_full[2:6], byteorder='big')
_protocol = int.from_bytes(_full[6:7], byteorder='big')
_reserved = int.from_bytes(_full[7:8], byteorder='big')
if _reserved != 0 or _protocol != 2:
print(data)
print("数据有误，需要确认")
self.w2t("", 0, 1, 'red', 'Automatic Test')
self.pkg_size = _pkg_size
_index = 8 - self.half_length
else:
_index = 0 _index = 0
while _index < len(data): while _index < len(data):
# flag 为 0，则说明是一次新的请求对应的一次新的相应，也就是需要首次解包
if self.flag == 0: if self.flag == 0:
_index, _frame_size, _pkg_size = self.header_check(_index, data) if self.broke == 100:
if _pkg_size <= len(data) - _index: self.broke = 0
# 说明剩余部分的数据正好就是完整的包数据 else:
self.response = data[_index:_index+_pkg_size].decode() _index, _frame_size, self.pkg_size = self.header_check(_index, data)
if _index > MAX_FRAME_SIZE:
break
# 详见解包原理数据.txt，self.pkg_size 永远是除了当前data之外剩余未处理的数据大小
print(f"INIT pkg size = {self.pkg_size}")
if self.pkg_size <= len(data) - _index:
# 说明剩余部分的数据就在当前data内，没有被分割
self.response = data[_index:_index+self.pkg_size].decode()
self.msg_storage(flag=0, response=self.response) self.msg_storage(flag=0, response=self.response)
_index += _pkg_size _index += self.pkg_size
print(f"in flag=0 if data = {data}")
print(f"in flag=0 if index = {_index}")
print(f"in flag=0 if pkg size = {self.pkg_size}")
print(f"in flag=0 if leftover = {self.leftover}")
self.flag = 0 self.flag = 0
self.response = '' self.response = ''
self.leftover = 0 self.leftover = 0
elif _pkg_size > len(data) - _index: elif self.pkg_size > len(data) - _index:
# 说有有分包的情况发生了，需要flag=1的处理 # 执行到这里说明该data是首包，且有有分包的情况发生了也就是该响应数据量稍微比较大
# 分散在了相邻的两个及以上的data中，需要flag=1的处理
self.flag = 1 self.flag = 1
self.response = data[_index:].decode() self.response = data[_index:].decode()
self.leftover = _frame_size - 6 - (len(data) - _index) # 其实就是常量 2，其中 6 就是六个字节的包头 self.leftover = _frame_size - 6 - (len(data) - _index) # 这里的 _index 不一定是 0
self.pkg_size -= (len(data) - _index) # 详见解包原理数据.txt，self.pkg_size
print(f"in flag=0 else data = {data}")
print(f"in flag=0 else index = {_index}")
print(f"in flag=0 else pkg size = {self.pkg_size}")
print(f"in flag=0 else leftover = {self.leftover}")
break break
elif self.flag == 1: elif self.flag == 1:
# 处理完之后，将flag重置为0 # 继续处理之前为接收完的数据，处理完之后将flag重置为0
_index = self.leftover # !!!需要注意的是，包头/帧头也是有可能被分割开的!!!但是目前该程序未实现此种情况!!!
self.response += data[:_index].decode() if self.broke == 1:
self.leftover = int.from_bytes(int(self.half).to_bytes(1, byteorder='big') + data[0:1], byteorder='big')
_index = 1
self.broke = 0
print(f"broke 1 leftover: {self.leftover}")
if self.broke == 2:
self.leftover = int.from_bytes(data[:2], byteorder='big')
print(f"broke 2 leftover: {self.leftover}")
_index = 2
self.broke = 0
while self.pkg_size > 0:
print(f"flag = 1 INIT _index = {_index}")
if _index + self.leftover <= len(data):
self.response += data[_index:_index + self.leftover].decode()
self.pkg_size -= self.leftover
if self.pkg_size == 0:
self.msg_storage(flag=0, response=self.response)
_index += self.leftover
print(f"break _index = {_index}")
print(data)
self.flag = 0
self.response = ''
self.leftover = 0
self.pkg_size = 0
break
_index += self.leftover
if _index+2 <= len(data):
self.leftover = int.from_bytes(data[_index:_index+2], byteorder='big')
_index += 2 _index += 2
else:
self.leftover = 4096
if _index == len(data) -1:
self.broke = 1
self.half = data[-1]
print(f"half = {self.half}")
print('+++++++++++++++++++++')
_index += MAX_FRAME_SIZE
elif _index == len(data):
_index += MAX_FRAME_SIZE
self.broke = 2
print(f"in if data = {data}")
print(f"in if index = {_index}")
print(f"in if pkg size = {self.pkg_size}")
print(f"in if leftover = {self.leftover}")
if self.leftover > 1024:
print('============================')
else:
self.response += data[_index:].decode()
self.leftover -= (len(data) - _index)
self.pkg_size -= (len(data) - _index)
# if self.pkg_size == 0:
# self.msg_storage(flag=0, response=self.response)
# _index += MAX_FRAME_SIZE
# self.flag = 0
# self.response = ''
# self.leftover = 0
# break
_frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big') _index += MAX_FRAME_SIZE
if _frame_size == 0: print(f"in else data = {data}")
print(f"in else index = {_index}")
print(f"in else pkg size = {self.pkg_size}")
print(f"in else leftover = {self.leftover}")
if self.leftover > 1024:
print('============================')
break
else:
self.msg_storage(flag=0, response=self.response) self.msg_storage(flag=0, response=self.response)
self.flag = 0 self.flag = 0
self.response = '' self.response = ''
self.leftover = 0 self.leftover = 0
break _index -= 2
# _index = 0
if _frame_size == MAX_FRAME_SIZE: # while _index < len(data):
self.leftover = MAX_FRAME_SIZE - (len(data) - _index) # if self.flag == 0:
self.response += data[_index:].decode() # _index, _frame_size, _pkg_size = self.header_check(_index, data)
break # if _pkg_size <= len(data) - _index:
else: # # 说明剩余部分的数据正好就是完整的包数据
if _index+_frame_size <= MAX_FRAME_SIZE: # self.response = data[_index:_index+_pkg_size].decode()
self.response += data[_index:_index+_frame_size].decode() # self.msg_storage(flag=0, response=self.response)
self.msg_storage(flag=0, response=self.response) # _index += _pkg_size
self.flag = 0 # self.flag = 0
self.response = '' # self.response = ''
self.leftover = 0 # self.leftover = 0
break # elif _pkg_size > len(data) - _index:
else: # # 说有有分包的情况发生了，需要flag=1的处理
self.response += data[_index:].decode() # self.flag = 1
self.leftover = _index + _frame_size - MAX_FRAME_SIZE # self.response = data[_index:].decode()
break # self.leftover = _frame_size - 6 - (len(data) - _index) # 其实就是常量 2，其中 6 就是六个字节的包头
# break
#
# elif self.flag == 1:
# # 处理完之后，将flag重置为0
# _index = self.leftover
# self.response += data[:_index].decode()
# _index += 2
#
# _frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big')
# if _frame_size == 0:
# self.msg_storage(flag=0, response=self.response)
# self.flag = 0
# self.response = ''
# self.leftover = 0
# break
#
# if _frame_size == MAX_FRAME_SIZE:
# self.leftover = MAX_FRAME_SIZE - (len(data) - _index)
# self.response += data[_index:].decode()
# break
# else:
# if _index+_frame_size <= MAX_FRAME_SIZE:
# self.response += data[_index:_index+_frame_size].decode()
# self.msg_storage(flag=0, response=self.response)
# self.flag = 0
# self.response = ''
# self.leftover = 0
# break
# else:
# self.response += data[_index:].decode()
# self.leftover = _index + _frame_size - MAX_FRAME_SIZE
# break
def get_response_xs(self, data): def get_response_xs(self, data):
if self.flag_xs == 0: if self.flag_xs == 0:
@ -213,7 +375,7 @@ class HmiRequest(object):
def to_read(conn): def to_read(conn):
data = conn.recv(MAX_FRAME_SIZE) data = conn.recv(MAX_FRAME_SIZE)
if data: if data:
# print(data) print(data)
self.get_response(data) self.get_response(data)
else: else:
print('closing', sock) print('closing', sock)
@ -254,7 +416,7 @@ class HmiRequest(object):
_id = f"{command}-{_now}" _id = f"{command}-{_now}"
return _id return _id
def excution(self, command, flg=0, **kwargs): def execution(self, command, flg=0, **kwargs):
if flg == 0: # for old protocols if flg == 0: # for old protocols
req = None req = None
try: try:
@ -287,7 +449,7 @@ class HmiRequest(object):
cmd = dumps(req, separators=(',', ':')) cmd = dumps(req, separators=(',', ':'))
try: try:
self.c.send(self.package(cmd)) self.c.send(self.package(cmd))
sleep(2) sleep(1)
except Exception as Err: 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}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)

235
aio/code/data_process/brake.py
View File

@ -27,78 +27,46 @@ class GetThreadResult(Thread):
return None return None
def data_process(result_file, raw_data_dirs, av, rr, axis, vel, trq, w2t, estop): def traversal_files(path, w2t):
# 功能：完成一个结果文件的数据处理 # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
# 参数：结果文件，数据目录，以及预读取的参数 # 参数：路径
# 返回值：- # 返回值：路径下的文件夹列表 路径下的文件列表
file_name = result_file.split('\\')[-1] if not exists(path):
w2t(f"正在打开文件 {file_name} 需要 1min 左右", 1, 0, 'orange') msg = f'数据文件夹{path}不存在，请确认后重试......'
w2t(msg, 0, 1, 'red')
else:
dirs = []
files = []
for item in scandir(path):
if item.is_dir():
dirs.append(item.path)
elif item.is_file():
files.append(item.path)
global stop return dirs, files
stop = 0
t_excel = GetThreadResult(load_workbook, args=(result_file, ))
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
t_excel.start()
t_wait.start()
t_excel.join()
wb_result = t_excel.get_result()
stop = 1
sleep(1.1)
w2t('')
prefix = result_file.split('\\')[-1].split('_')[0]
for raw_data_dir in raw_data_dirs:
if raw_data_dir.split('\\')[-1].split('_')[0] == prefix:
now_doing_msg(raw_data_dir, 'start', w2t)
_, data_files = traversal_files(raw_data_dir, w2t)
# 数据文件串行处理模式---------------------------------
# count = 1
# for data_file in data_files:
# now_doing_msg(data_file, 'start', w2t)
# single_file_process(data_file, wb_result, count, av, rr, axis, vel, trq, w2t, estop)
# count += 1
# now_doing_msg(data_file, 'done', w2t)
# ---------------------------------------------------
# 数据文件并行处理模式---------------------------------
threads = [Thread(target=single_file_process, args=(data_files[0], wb_result, 1, av, rr, axis, vel, trq, w2t, estop)),
Thread(target=single_file_process, args=(data_files[1], wb_result, 2, av, rr, axis, vel, trq, w2t, estop)),
Thread(target=single_file_process, args=(data_files[2], wb_result, 3, av, rr, axis, vel, trq, w2t, estop))]
[t.start() for t in threads]
[t.join() for t in threads]
# ---------------------------------------------------
now_doing_msg(raw_data_dir, 'done', w2t)
now_doing_msg(result_file, 'done', w2t)
w2t(f"正在保存文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
stop = 0
t_excel = Thread(target=wb_result.save, args=(result_file, ))
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
t_excel.start()
t_wait.start()
t_excel.join()
stop = 1
sleep(1.1)
w2t('\n')
def check_files(raw_data_dirs, result_files, w2t): def check_files(path, raw_data_dirs, result_files, w2t):
# 功能：检查数据文件以及结果文件的合规性 # 功能：检查数据文件以及结果文件的合规性
# 参数：数据文件夹，结果文件 # 参数：数据文件夹，结果文件
# 返回值：- # 返回值：-
if len(result_files) != 3: if len(result_files) != 4:
msg = "结果文件数目错误，结果文件有且只有三个，请确认！"
for result_file in result_files: for result_file in result_files:
w2t(result_file) w2t(result_file)
w2t(msg, 0, 2, 'red') w2t("需要有四个文件，包括三个结果文件，以及一个配置文件，请确认！", 0, 2, 'red')
for result_file in result_files:
if result_file.endswith('configs.xlsx'):
result_files.remove(result_file)
break
else:
w2t("未找到配置文件，请确认！", 0, 8, 'red')
prefix = [] prefix = []
for result_file in result_files: for result_file in result_files:
prefix.append(result_file.split('\\')[-1].split('_')[0]) prefix.append(result_file.split('\\')[-1].split('_')[0])
if not sorted(prefix) == sorted(['reach33', 'reach66', 'reach100']): if not sorted(prefix) == sorted(['reach33', 'reach66', 'reach100']):
wd = result_files[0].split('\\') msg = f"""请关闭所有相关数据文件，并检查工作目录 {path} 下，有且只允许有类似如下三个文件：
del wd[-1]
wd = '\\'.join(wd)
msg = f"""请关闭所有相关数据文件，并检查工作目录 {wd} 下，有且只允许有类似如下三个文件：
1. reach33_XXX制动性能测试.xlsx 1. reach33_XXX制动性能测试.xlsx
2. reach66_XXX制动性能测试.xlsx 2. reach66_XXX制动性能测试.xlsx
3. reach100_XX制动性能测试.xlsx""" 3. reach100_XX制动性能测试.xlsx"""
@ -127,6 +95,20 @@ def check_files(raw_data_dirs, result_files, w2t):
w2t("数据目录合规性检查结束，未发现问题......") w2t("数据目录合规性检查结束，未发现问题......")
def get_configs(configfile, w2t):
axis = configfile.split('\\')[-2][-1]
if axis not in ['1', '2', '3']:
w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", 0, 9, 'red')
else:
axis = int(axis)
_wb = load_workbook(configfile, read_only=True)
_ws = _wb['Target']
rr = float(_ws.cell(row=2, column=axis+1).value)
av = float(_ws.cell(row=3, column=axis+1).value)
return av, rr
def now_doing_msg(docs, flag, w2t): def now_doing_msg(docs, flag, w2t):
# 功能：输出正在处理的文件或目录 # 功能：输出正在处理的文件或目录
# 参数：文件或目录，start 或 done 标识 # 参数：文件或目录，start 或 done 标识
@ -153,20 +135,6 @@ def w2t_local(msg, wait, w2t):
break break
def single_file_process(data_file, wb_result, count, av, rr, axis, vel, trq, w2t, estop):
# 功能：完成单个数据文件的处理
# 参数：如上
# 返回值：-
df = read_csv(data_file, sep='\t')
conditions = sorted(data_file.split('\\')[-2].split('_')) # ['loadxx', 'reachxx', 'speedxx']
result_sheet_name = find_result_sheet_name(conditions, count)
ws_result = wb_result[result_sheet_name]
row_start, row_end = find_row_start(data_file, df, conditions, av, rr, axis, vel, w2t, estop)
copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop)
def copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop): def copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop):
# 功能：将数据文件中有效数据拷贝至结果文件对应的 sheet # 功能：将数据文件中有效数据拷贝至结果文件对应的 sheet
# 参数：如上 # 参数：如上
@ -193,26 +161,13 @@ def copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop):
ws_result.cell(row=_row, column=3).value = None ws_result.cell(row=_row, column=3).value = None
def find_result_sheet_name(conditions, count): def find_row_start(data_file, df, conditions, av, rr, vel, estop, w2t):
# 功能：获取结果文件准确的sheet页名称
# 参数：臂展和速度的列表
# 返回值：结果文件对应的sheet name
# 33%负载_33%速度_1 - ['loadxx', 'reachxx', 'speedxx']
load = conditions[0].removeprefix('load')
speed = conditions[2].removeprefix('speed')
result_sheet_name = f"{load}%负载_{speed}%速度_{count}"
return result_sheet_name
def find_row_start(data_file, df, conditions, av, rr, axis, vel, w2t, estop):
# 功能：查找数据文件中有效数据的行号，也即最后一个速度下降的点位 # 功能：查找数据文件中有效数据的行号，也即最后一个速度下降的点位
# 参数：如上 # 参数：如上
# 返回值：速度下降点位，最后的数据点位 # 返回值：速度下降点位，最后的数据点位
ratio = float(conditions[2].removeprefix('speed'))/100 ratio = float(conditions[2].removeprefix('speed'))/100
av_max = av * ratio av_max = av * ratio
row_max = df.index[-1] row_max = df.index[-1]
# threshold = 30 if axis == 2 and conditions[0].removeprefix('load') == '100' else 10
threshold = 0.95 threshold = 0.95
for _row in range(row_max, -1, -1): for _row in range(row_max, -1, -1):
@ -238,26 +193,89 @@ def find_row_start(data_file, df, conditions, av, rr, axis, vel, w2t, estop):
return row_start, row_end return row_start, row_end
def traversal_files(path, w2t): def find_result_sheet_name(conditions, count):
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录 # 功能：获取结果文件准确的sheet页名称
# 参数：路径 # 参数：臂展和速度的列表
# 返回值：路径下的文件夹列表 路径下的文件列表 # 返回值：结果文件对应的sheet name
if not exists(path): # 33%负载_33%速度_1 - ['loadxx', 'reachxx', 'speedxx']
msg = f'数据文件夹{path}不存在，请确认后重试......' load = conditions[0].removeprefix('load')
w2t(msg, 0, 1, 'red') speed = conditions[2].removeprefix('speed')
else: result_sheet_name = f"{load}%负载_{speed}%速度_{count}"
dirs = []
files = []
for item in scandir(path):
if item.is_dir():
dirs.append(item.path)
elif item.is_file():
files.append(item.path)
return dirs, files return result_sheet_name
def main(path, av, rr, axis, vel, trq, estop, w2t): def single_file_process(data_file, wb_result, count, av, rr, vel, trq, estop, w2t):
# 功能：完成单个数据文件的处理
# 参数：如上
# 返回值：-
df = read_csv(data_file, sep='\t')
conditions = sorted(data_file.split('\\')[-2].split('_')) # ['loadxx', 'reachxx', 'speedxx']
result_sheet_name = find_result_sheet_name(conditions, count)
ws_result = wb_result[result_sheet_name]
row_start, row_end = find_row_start(data_file, df, conditions, av, rr, vel, estop, w2t)
copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop)
def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
# 功能：完成一个结果文件的数据处理
# 参数：结果文件，数据目录，以及预读取的参数
# 返回值：-
file_name = result_file.split('\\')[-1]
w2t(f"正在打开文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
global stop
stop = 0
t_excel = GetThreadResult(load_workbook, args=(result_file, ))
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
t_excel.start()
t_wait.start()
t_excel.join()
wb_result = t_excel.get_result()
stop = 1
sleep(1.1)
w2t('')
prefix = result_file.split('\\')[-1].split('_')[0]
for raw_data_dir in raw_data_dirs:
if raw_data_dir.split('\\')[-1].split('_')[0] == prefix:
now_doing_msg(raw_data_dir, 'start', w2t)
_, data_files = traversal_files(raw_data_dir, w2t)
# 数据文件串行处理模式---------------------------------
# count = 1
# for data_file in data_files:
# now_doing_msg(data_file, 'start', w2t)
# single_file_process(data_file, wb_result, count, av, rr, vel, trq, estop, w2t)
# count += 1
# now_doing_msg(data_file, 'done', w2t)
# ---------------------------------------------------
# 数据文件并行处理模式---------------------------------
threads = [
Thread(target=single_file_process, args=(data_files[0], wb_result, 1, av, rr, vel, trq, estop, w2t)),
Thread(target=single_file_process, args=(data_files[1], wb_result, 2, av, rr, vel, trq, estop, w2t)),
Thread(target=single_file_process, args=(data_files[2], wb_result, 3, av, rr, vel, trq, estop, w2t))
]
[t.start() for t in threads]
[t.join() for t in threads]
# ---------------------------------------------------
now_doing_msg(raw_data_dir, 'done', w2t)
now_doing_msg(result_file, 'done', w2t)
w2t(f"正在保存文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
stop = 0
t_excel = Thread(target=wb_result.save, args=(result_file, ))
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
t_excel.start()
t_wait.start()
t_excel.join()
stop = 1
sleep(1.1)
w2t('\n')
def main(path, vel, trq, estop, w2t):
# 功能：执行处理所有数据文件 # 功能：执行处理所有数据文件
# 参数：initialization函数的返回值 # 参数：initialization函数的返回值
# 返回值：- # 返回值：-
@ -266,7 +284,8 @@ def main(path, av, rr, axis, vel, trq, estop, w2t):
try: try:
# threads = [] # threads = []
check_files(raw_data_dirs, result_files, w2t) check_files(path, raw_data_dirs, result_files, w2t)
av, rr = get_configs(path + '\\configs.xlsx', w2t)
prefix = [] prefix = []
for raw_data_dir in raw_data_dirs: for raw_data_dir in raw_data_dirs:
@ -277,8 +296,8 @@ def main(path, av, rr, axis, vel, trq, estop, w2t):
continue continue
else: else:
now_doing_msg(result_file, 'start', w2t) now_doing_msg(result_file, 'start', w2t)
data_process(result_file, raw_data_dirs, av, rr, axis, vel, trq, w2t, estop) data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t)
# threads.append(Thread(target=data_process, args=(result_file, raw_data_dirs, AV, RR, RC, AXIS))) # threads.append(Thread(target=data_process, args=(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t)))
# [t.start() for t in threads] # [t.start() for t in threads]
# [t.join() for t in threads] # [t.join() for t in threads]
except Exception as Err: except Exception as Err:
@ -295,4 +314,4 @@ def main(path, av, rr, axis, vel, trq, estop, w2t):
if __name__ == "__main__": if __name__ == "__main__":
stop = 0 stop = 0
main(path=argv[1], av=argv[2], rr=argv[3], axis=argv[4], vel=argv[5], trq=argv[6], estop=argv[7], w2t=argv[8]) main(*argv[1:])

80
aio/code/data_process/current.py
View File

@ -63,19 +63,18 @@ def initialization(path, sub, w2t):
for data_file in data_files: for data_file in data_files:
filename = data_file.split('\\')[-1] filename = data_file.split('\\')[-1]
if sub != 'cycle': if data_file.endswith('configs.xlsx'):
count += 1
elif sub == 'cycle' and data_file.endswith('.xlsx'):
count += 1
else:
if not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)): if not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)):
print(f"不合规 {data_file}")
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。"
w2t(msg, 0, 6, 'red') w2t(msg, 0, 6, 'red')
else:
if filename.endswith('.xlsx'):
count += 1
elif not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)):
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。"
w2t(msg, 0, 7, 'red')
if sub == 'cycle' and count != 1: if not ((sub == 'cycle' and count == 2) or (sub != 'cycle' and count == 1)):
w2t("未找到电机电流数据处理excel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；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')
return data_files return data_files
@ -87,7 +86,10 @@ def current_max(data_files, rcs, trqh, w2t):
df = read_csv(data_file, sep='\t') df = read_csv(data_file, sep='\t')
elif data_file.endswith('.csv'): elif data_file.endswith('.csv'):
df = read_csv(data_file, sep=',', encoding='gbk', header=8) df = read_csv(data_file, sep=',', encoding='gbk', header=8)
else:
continue
cols = len(df.columns)
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j')) axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
rca = rcs[axis-1] rca = rcs[axis-1]
@ -100,9 +102,9 @@ def current_max(data_files, rcs, trqh, w2t):
w2t(f"{data_file}: {_:.4f}") w2t(f"{data_file}: {_:.4f}")
with open(data_file, 'a+') as f_data: with open(data_file, 'a+') as f_data:
csv_writer = writer(f_data) sep = '\t' if data_file.endswith('.data') else ','
csv_writer.writerow([''] * 4) csv_writer = writer(f_data, delimiter=sep)
csv_writer.writerow([_]) csv_writer.writerow([''] * (cols-1) + [_])
for axis, cur in current.items(): for axis, cur in current.items():
if not cur: if not cur:
@ -123,7 +125,10 @@ def current_avg(data_files, rcs, trqh, w2t):
df = read_csv(data_file, sep='\t') df = read_csv(data_file, sep='\t')
elif data_file.endswith('.csv'): elif data_file.endswith('.csv'):
df = read_csv(data_file, sep=',', encoding='gbk', header=8) df = read_csv(data_file, sep=',', encoding='gbk', header=8)
else:
continue
cols = len(df.columns)
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j')) axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
rca = rcs[axis-1] rca = rcs[axis-1]
@ -137,9 +142,9 @@ def current_avg(data_files, rcs, trqh, w2t):
w2t(f"{data_file}: {_:.4f}") w2t(f"{data_file}: {_:.4f}")
with open(data_file, 'a+') as f_data: with open(data_file, 'a+') as f_data:
csv_writer = writer(f_data) sep = '\t' if data_file.endswith('.data') else ','
csv_writer.writerow([''] * 4) csv_writer = writer(f_data, delimiter=sep)
csv_writer.writerow([_]) csv_writer.writerow([''] * (cols-1) + [_])
for axis, cur in current.items(): for axis, cur in current.items():
if not cur: if not cur:
@ -153,17 +158,17 @@ def current_avg(data_files, rcs, trqh, w2t):
return current return current
def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpm, w2t): def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
result = None result = None
hold = [] hold = []
single = [] single = []
for data_file in data_files: for data_file in data_files:
filename = data_file.split('\\')[-1] filename = data_file.split('\\')[-1]
if data_file.endswith('.xlsx'): if data_file.endswith('.xlsx') and not data_file.endswith('configs.xlsx'):
result = data_file result = data_file
elif match('j[1-7]_hold_.*\\.data', filename) or match('j[1-7]_hold_.*\\.csv', filename): elif match('j[1-7]_hold_.*\\.data', filename) or match('j[1-7]_hold_.*\\.csv', filename):
hold.append(data_file) hold.append(data_file)
else: elif match('j[1-7]_.*\\.data', filename) or match('j[1-7]_.*\\.csv', filename):
single.append(data_file) single.append(data_file)
w2t(f"正在打开文件 {result}，需要 10s 左右", 1, 0, 'orange') w2t(f"正在打开文件 {result}，需要 10s 左右", 1, 0, 'orange')
@ -189,9 +194,9 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpm, w2t):
pass pass
if dur == 0: if dur == 0:
p_single(wb, single, vel, trq, rpm, w2t) p_single(wb, single, vel, trq, rpms, w2t)
else: else:
p_scenario(wb, single, vel, trq, rpm, dur, w2t) p_scenario(wb, single, vel, trq, rpms, dur, w2t)
w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange') w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange')
stop = 0 stop = 0
@ -232,15 +237,15 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red') w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')
def p_single(wb, single, vel, trq, rpm, w2t): def p_single(wb, single, vel, trq, rpms, w2t):
# 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑 # 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑
# 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑 # 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑
# 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置 # 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置
for data_file in single: for data_file in single:
rpm = 1 if rpm == 0 else rpm
scale = 1000 if data_file.endswith('.csv') else 1
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j')) axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
shtname = f"J{axis}" shtname = f"J{axis}"
rpm = rpms[axis-1] if data_file.endswith('.csv') else 1
scale = 1000 if data_file.endswith('.csv') else 1
ws = wb[shtname] ws = wb[shtname]
addition = 1 addition = 1
set_option("display.precision", 2) set_option("display.precision", 2)
@ -313,13 +318,13 @@ def p_single(wb, single, vel, trq, rpm, w2t):
cell.value = None cell.value = None
def p_scenario(wb, single, vel, trq, rpm, dur, w2t): def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
for data_file in single: for data_file in single:
cycle = 0.001 cycle = 0.001
rpm = 1 if rpm == 0 else rpm
scale = 1000 if data_file.endswith('.csv') else 1
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j')) axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
shtname = f"J{axis}" shtname = f"J{axis}"
rpm = rpms[axis-1] if data_file.endswith('.csv') else 1
scale = 1000 if data_file.endswith('.csv') else 1
ws = wb[shtname] ws = wb[shtname]
addition = 1 addition = 1
set_option("display.precision", 2) set_option("display.precision", 2)
@ -365,17 +370,34 @@ def p_scenario(wb, single, vel, trq, rpm, dur, w2t):
cell.value = None cell.value = None
# ======================================= def get_configs(configfile, w2t):
_wb = load_workbook(configfile, read_only=True)
_ws = _wb['Target']
rcs = []
rpms = []
for i in range(2, 9):
try:
rpms.append(float(_ws.cell(row=4, column=i).value))
except:
rpms.append(0.0)
try:
rcs.append(float(_ws.cell(row=6, column=i).value))
except:
rcs.append(0.0)
return rpms, rcs
def main(path, sub, rcs, vel, trq, trqh, dur, rpm, w2t): def main(path, sub, dur, vel, trq, trqh, w2t):
data_files = initialization(path, sub, w2t) data_files = initialization(path, sub, w2t)
rpms, rcs = get_configs(path + '\\configs.xlsx', w2t)
if sub == 'max': if sub == 'max':
current_max(data_files, rcs, trqh, w2t) current_max(data_files, rcs, trqh, w2t)
elif sub == 'avg': elif sub == 'avg':
current_avg(data_files, rcs, trqh, w2t) current_avg(data_files, rcs, trqh, w2t)
elif sub == 'cycle': elif sub == 'cycle':
current_cycle(dur, data_files, rcs, vel, trq, trqh, rpm, w2t) current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t)
else: else:
pass pass