README中增加整机自动化测试前需要调整速度滑块的提醒，完善current数据预处理的逻辑

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

.gitignore

@@ -12,3 +12,5 @@ aio/code/durable_action/__pycache__/
 aio/assets/templates/durable/
 aio/assets/templates/.__c_msg.lock
 aio/code/commons/__pycache__/
+aio/assets/templates/debug.log
+dial_gauge/results.xlsx

aio/README.md

@@ -146,6 +146,7 @@ pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory .
 10. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行
 11. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停
 12. 工程文件可以手动重命名，按照机型存档，或者导出用于自动化测试
+13. 自动化测试前，需要将HMI程序速度设置为100%并同步至控制器，也即左下方速度滑条滑动至最大
 
 #### 6) 电机电流自动化测试
 
@@ -596,3 +597,8 @@ v0.2.0.5(2024/07/31)
    - 修改获取初始速度的逻辑，只获取configs文件中配置的时间内的速度
    - 新增 configs 参数 single_brake，可针对特定条件做测试
 10. [APIs: all]: 添加了 logger.setLevel(INFO)，只有添加这个，单个模块内才生效
+
+v0.2.0.6(2024/08/09)
+1. [t_change_ui: all files]
+   - 修改了 logger 的实现
+   - 尤其是 clibs.py，使用日志字典，重写了日志记录的功能

aio/code/aio.py

@@ -14,16 +14,14 @@ from commons import openapi, clibs
 from matplotlib.pyplot import rcParams, figure, subplots_adjust, close
 from matplotlib import use
 from pandas import DataFrame, read_excel
-from logging import getLogger, INFO
 
-with open(clibs.log_data, 'w') as _:
+with open(clibs.log_data_hmi, 'w') as _hmi, open(clibs.log_data_debug, 'w', encoding='utf-8') as _debug:
     for i in range(1, 11):
         try:
-            remove(f'{clibs.log_data}.{i}')
+            remove(f'{clibs.log_data_hmi}.{i}')
         except FileNotFoundError:
             pass
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
 logger.info("日志文件初始化完成...")
 
 use('Agg')

aio/code/automatic_test/btn_functions.py

@@ -1,11 +1,8 @@
-from json import loads
 from sys import argv
-from logging import getLogger, INFO
 from commons import clibs
 
 tab_name = clibs.tab_names['at']
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
 
 
 def trigger_estop(md, w2t):
@@ -40,7 +37,7 @@ def get_state(hr, w2t):
 
 def warning_info(hr, w2t):
     for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
-        log_name = clibs.log_data + postfix
+        log_name = clibs.log_data_hmi + postfix
         try:
             with open(log_name, 'r', encoding='utf-8') as f_log:
                 for line in f_log:

aio/code/automatic_test/do_brake.py

@@ -5,12 +5,10 @@ from paramiko import SSHClient, AutoAddPolicy
 from json import loads
 from openpyxl import load_workbook
 from pandas import DataFrame, concat
-from logging import getLogger, INFO
 from commons import clibs
 
 tab_name = clibs.tab_names['at']
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
 
 
 def check_files(path, loadsel, data_dirs, data_files, w2t):
@@ -107,6 +105,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
     write_diagnosis = float(ws.cell(row=3, column=10).value)
     get_init_speed = float(ws.cell(row=4, column=10).value)
     single_brake = str(ws.cell(row=5, column=10).value)
+    logger.info(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}")
 
     if ws.cell(row=1, column=1).value == 'positive':
         md.write_pon(1)

aio/code/automatic_test/do_current.py

@@ -4,12 +4,9 @@ from sys import argv
 from paramiko import SSHClient, AutoAddPolicy
 from json import loads
 from pandas import DataFrame, concat
-from logging import getLogger, INFO
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
-
 tab_name = clibs.tab_names['at']
 display_pdo_params = [
     {"name": "hw_joint_vel_feedback", "channel": 0},

aio/code/commons/clibs.py

@@ -4,10 +4,12 @@ from time import sleep
 from os.path import exists
 from paramiko import SSHClient, AutoAddPolicy
 from socket import setdefaulttimeout
-from logging import DEBUG, INFO, WARNING, ERROR, CRITICAL, Formatter, StreamHandler, basicConfig
+from logging import getLogger
-from concurrent_log_handler import ConcurrentRotatingFileHandler
+from logging.config import dictConfig
+import concurrent_log_handler
 
-ip_addr = '192.168.0.160'
+ip_addr = '192.168.0.160'  # for product
+# ip_addr = '192.168.84.129'  # for test
 RADIAN = 57.3  # 180 / 3.1415926
 MAX_FRAME_SIZE = 1024
 TIMEOUT = 5
@@ -15,7 +17,8 @@ setdefaulttimeout(TIMEOUT)
 tab_names = {'dp': 'Data Process', 'at': 'Automatic Test', 'da': 'Duration Action', 'op': 'openapi'}
 # PREFIX = ''  # for pyinstaller packaging
 PREFIX = '../assets/'  # for source code debug
-log_data = f'{PREFIX}templates/c_msg.log'
+log_data_hmi = f'{PREFIX}templates/c_msg.log'
+log_data_debug = f'{PREFIX}templates/debug.log'
 heartbeat = f'{PREFIX}templates/heartbeat'
 durable_data_current_xlsx = f'{PREFIX}templates/durable/durable_data_current.xlsx'
 durable_data_current_max_xlsx = f'{PREFIX}templates/durable/durable_data_current_max.xlsx'
@@ -38,16 +41,80 @@ durable_data_current_max = {
     'axis6': [0 for _ in range(18)],
 }
 
-file_handler = ConcurrentRotatingFileHandler(filename=log_data, backupCount=10, maxBytes=50*1024*1024, encoding='utf-8')
+# version：表示版本，该键值为从1开始的整数。该key必选，除此之外，其它key都是可选。
-file_handler.setLevel(INFO)
+# formatters：日志格式化器，其value值为一个字典，该字典的每个键值对都代表一个Formatter，键值对中，key代表Formatter ID(自定义ID)，value为字典，描述如何配置相应的Formatter实例。默认格式为 ‘%(message)s’
-console_handler = StreamHandler()
+# filters：日志过滤器，其value值为一个字典，该字典的每个键值对都代表一个Filter，键值对中，key代表Filter ID(自定义ID)，value为字典，描述如何配置相应的Filter实例。
-console_handler.setLevel(WARNING)
+# handlers：日志处理器，其value值为一个字典，该字典的每个键值对都代表一个Handler，键值对中，key代表Handler ID(自定义ID)，value为字典，描述如何配置相应的Handler实例，包含以下配置key：
-
+# class (必选)：日志处理器类全称
-basicConfig(  # level=INFO,
+# level (可选)：指定该日志处理器需要处理哪些级别的日志，低于该级别的日志将不被该handler处理。level可以为代表日志级别的整数或者表大写字符串，字符串日志级别和数字日志级别对应关系如下：
-            datefmt='%Y-%m-%dT%H:%M:%S',
+#   CRITICAL 50
-            format='%(asctime)s # %(levelname)s-%(filename)s-%(funcName)s # %(message)s',
+#   ERROR    40
-            handlers=[file_handler, console_handler],
+#   WARNING  30
-            )
+#   INFO     20
+#   DEBUG    10
+#   NOTSET    0
+f_complex = '%(asctime)s # %(name)s-%(levelname)s-%(module)s-%(funcName)s-%(lineno)d # %(message)s'
+f_simple = '%(levelname)s-%(module)s-%(funcName)s-%(lineno)d: %(message)s'
+log_dicts = {
+    'version': 1,
+    'disable_existing_loggers': True,
+    'formatters': {
+        'standard': {
+            'format': f_complex,
+            'style': '%',
+            'datefmt': '%Y-%m-%dT%H:%M:%S',
+        },
+        'test': {
+            'format': f_simple,
+            'style': '%',
+            'datefmt': '%Y-%m-%dT%H:%M:%S',
+        },
+    },
+    'filters': {},
+    'handlers': {
+        'console': {
+            'level': 'DEBUG',
+            'class': 'logging.StreamHandler',
+            'formatter': 'test',
+        },
+        'hmi.log': {
+            'level': 'DEBUG',
+            'class': 'concurrent_log_handler.ConcurrentRotatingFileHandler',
+            'filename': log_data_hmi,
+            'maxBytes': 1024*1024*50,
+            'backupCount': 10,
+            'encoding': 'utf-8',
+            'formatter': 'standard',
+        },
+        'debug.log': {
+            'level': 'INFO',
+            'class': 'logging.FileHandler',
+            'filename': log_data_debug,
+            'encoding': 'utf-8',
+            'formatter': 'standard',
+        },
+    },
+    'loggers': {
+        'normal': {
+            'handlers': ['hmi.log', 'debug.log'],
+            'level': 'DEBUG',
+            'propagate': False
+        },
+        'debug': {
+            'handlers': ['console'],
+            'level': 'DEBUG',
+            'propagate': False
+        },
+        '': {
+            'handlers': ['hmi.log', 'debug.log'],
+            'level': 'DEBUG',
+            'propagate': False
+        },
+    }
+}
+dictConfig(log_dicts)
+log_prod = getLogger('normal')
+log_debug = getLogger('debug')
 
 
 class GetThreadResult(Thread):

aio/code/commons/openapi.py

@@ -6,11 +6,9 @@ from time import time, sleep
 from pymodbus.client.tcp import ModbusTcpClient
 from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
 from pymodbus.constants import Endian
-from logging import getLogger, INFO
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
 
 
 class ModbusRequest(object):
@@ -263,7 +261,7 @@ class HmiRequest(object):
     def msg_storage(self, response, flag=0):
         # response是解码后的字符串
         messages = self.c_msg if flag == 0 else self.c_msg_xs
-        logger.info(f"{loads(response)}")
+        logger.debug(f"{loads(response)}")
         if 'move.monitor' in response:
             pass
         elif len(messages) < 10000:
@@ -504,7 +502,7 @@ class HmiRequest(object):
 
     def get_from_id(self, msg_id, flag=0):
         for i in range(3):
-            with open(clibs.log_data, mode='r', encoding='utf-8') as f_log:
+            with open(clibs.log_data_hmi, mode='r', encoding='utf-8') as f_log:
                 for line in f_log:
                     if msg_id in line.strip():
                         return line
@@ -512,7 +510,7 @@ class HmiRequest(object):
         else:  # 尝试在上一次分割的日志中查找，只做一次
             sleep(1)
             try:
-                with open(clibs.log_data+'.1', mode='r', encoding='utf-8') as f_log:
+                with open(clibs.log_data_hmi+'.1', mode='r', encoding='utf-8') as f_log:
                     for line in f_log:
                         if msg_id in line.strip():
                             return line
@@ -617,7 +615,7 @@ class HmiRequest(object):
                 self.c.send(self.package(cmd))
                 sleep(0.5)
             except Exception as Err:
-                self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
+                self.w2t(f"{cmd}: 请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
 
             return req['id']
 

aio/code/data_process/brake.py

@@ -1,15 +1,12 @@
-# coding: utf-8
 from os.path import isfile
 from sys import argv
 from openpyxl import load_workbook
 from time import time, sleep, strftime, localtime
 from threading import Thread
 from pandas import read_csv
-from logging import getLogger, INFO
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
 
 
 def check_files(path, raw_data_dirs, result_files, w2t):

aio/code/data_process/current.py

@@ -5,11 +5,9 @@ from re import match
 from threading import Thread
 from time import sleep
 from csv import reader, writer
-from logging import getLogger, INFO
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
 
 
 def w2t_local(msg, wait, w2t):
@@ -30,16 +28,16 @@ def initialization(path, sub, w2t):
         filename = data_file.split('\\')[-1]
         if data_file.endswith('configs.xlsx'):
             count += 1
-        elif sub == 'cycle' and data_file.endswith('.xlsx'):
+        elif sub == 'cycle' and data_file.endswith('T_电机电流.xlsx'):
             count += 1
         else:
             if not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)):
                 msg = f"不合规 {data_file}\n"
-                msg += f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。"
+                msg += f"所有数据文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），配置文件需要命名为\"configs.xlsx\"，结果文件需要命名为\"T_电机电流.xlsx\"，请检查后重新运行。"
                 w2t(msg, 0, 6, 'red')
 
     if not ((sub == 'cycle' and count == 2) or (sub != 'cycle' and count == 1)):
-        w2t("使用max/avg功能时，需要有配置文件表格；使用cycle功能时，需要有电机电流数据处理和配置文件两个表格，确认后重新运行！", 0, 5, 'red')
+        w2t("使用max/avg功能时，需要有配置文件表格\"configs.xlsx\"；使用cycle功能时，需要有电机电流数据处理\"T_电机电流.xlsx\"和配置文件\"configs.xlsx\"两个表格，确认后重新运行！", 0, 5, 'red')
 
     return data_files
 
@@ -188,7 +186,8 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
             else:
                 return _row_s, _row_e
         else:
-            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red')
+            # w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red')
+            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, 0, 'red')
     elif flag == 'gt':
         while _row_e > end_point:
             speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean()
@@ -199,7 +198,8 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
             else:
                 return _row_s, _row_e
         else:
-            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')
+            # w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')
+            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, 0, 'red')
 
 
 def p_single(wb, single, vel, trq, rpms, rrs, w2t):

aio/code/data_process/iso.py

@@ -1,13 +1,10 @@
-# _*_ encoding：utf-8 _*_
 import pdfplumber
 from openpyxl import load_workbook
 from os import remove
 from sys import argv
-from logging import getLogger, INFO
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
 
 
 def p_iso(file, p_files, ws, tmpfile):

aio/code/data_process/wavelogger.py

@@ -2,11 +2,9 @@ from pandas import read_csv
 from csv import reader
 from sys import argv
 from openpyxl import Workbook
-from logging import getLogger, INFO
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
 
 
 def find_point(bof, step, pos, data_file, flag, df, row, w2t):

aio/code/durable_action/factory_test.py

@@ -6,12 +6,9 @@ from openpyxl import load_workbook
 from math import sqrt
 from numpy import power
 from csv import writer
-from logging import getLogger, INFO
 from commons import clibs
 
-logger = getLogger(__file__)
+logger = clibs.log_prod
-logger.setLevel(INFO)
-
 tab_name = clibs.tab_names['da']
 count = 0
 display_pdo_params = [

dial_gauge/README.md

@@ -0,0 +1,2 @@
+## 千分表数据自动采集
+

dial_gauge/conf.ini

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

dial_gauge/gauge.py

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

dial_gauge/gauge.xml

@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<m>
+    <l>
+        <c name="addr" type="2" value="41000"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value="pc to robot"/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41000"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="act"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+        <c name="bias" type="2" value="0"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41001"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value="robot to pc"/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41001"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="time_to_go"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+        <c name="bias" type="2" value="0"/>
+    </l>
+</m>