v0.2.0.0(2024/07/17)

1. [profile: aio.py]
   - 增加velocity相关逻辑
   - 修改负载信息为曲线信息
2. [profile: factory_test.py]
   - 增加velocity相关逻辑
3. [profile: current.py]
   - 修正减速比获取的规则
4. [profile: openapi.py]
   - HmiRequest模块：日志取消记录move.monitor相关
   - HmiRequest模块：增加了durable_lock变量，控制文件读写互斥

.gitignore

@@ -7,3 +7,5 @@ aio/venv
 aio/__pycache__/
 aio/code/automatic_test/__pycache__/
 aio/code/data_process/__pycache__/
+aio/assets/templates/c_msg.log
+aio/code/durable_action/__pycache__/

aio/README.md

@@ -130,6 +130,19 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 2. excel 制动结果处理文件
 3. excel configs.xlsx 配置文件
 
+> **需要注意的点**
+
+1. 【重要】使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击，确保所有程序正常运行之后，导出工程，再进行自动化测试
+2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为
+3. 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，但不完全保证100%，大概有95%左右的准确度
+4. 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
+5. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察
+6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停
+7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页
+8. 注意观察二轴100%臂展时，是否可以获取到正确的数据
+9. 将autotest.xml导入到寄存器，并新建一个modbus，命名为autotest
+10. 针对五轴机型，六轴数据可以填写1-5轴任意一轴的点位信息
+
 #### 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：
@@ -137,6 +150,9 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 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
 
+> **需要注意的点**
+
+基本同第五点
 
 #### 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：
@@ -367,8 +383,131 @@ v0.1.7.1.1(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
    - 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
+   - 日志保留条数修改为20000
 3. [APIs: do_brake.py]
    - 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
 4. [APIs: do_current.py]
    - 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. 增加了解包原理性文档
+
+v0.1.7.3(2024/07/01)
+1. [APIs: openapi.py]
+   - 继续完善封包解包操作，并优化了所有调试信息，默认打开状态，直到bug数量明显减少
+   - 修复了两个bug，删除了一个多余的break，另一个是补齐了self.broke的重置
+2. [APIs: do_current.py] 使用原工程的工程名进行move操作，语义更加明确
+
+> 目前看openapi.py封包解包没有任何问题了，但是所有的调试信息都默认打开，以便可以第一时间保留现场
+> 打开诊断，跑了10多分钟，共计解包没有报错，应该是没有问题了
+
+v0.1.7.4(2024/07/02)
+1. [APIs: openapi.py]
+   - 增加了modbus的python实现
+   - heartbeat函数修改发送间隔为1s
+   - 清除了绝大部分调试性输出，发现太多的这种输出也会导致心跳丢包...，不清楚这个原理是什么
+   - 在get_response函数中的while self.pkg > 0循环中，删除了else语句，因为它永不会被执行到
+   - 在get_response函数中，修复一个bug，在flag==0的else语句中，补齐了index==6的情况
+2. [APIs: do_current.py]
+   - 完成了六个轴的电机电流动作的执行，以及数据采集
+   - 完成了对应的RL程序的编写
+3[APIs: aio.py]
+   - 引入modbus实例化，并以参数的形式，传递给相应的tabview
+   - 新增pre_warning函数，在做自动化测试之前，确保所有条件皆具备
+
+v0.1.7.5(2024/07/03)
+1. [APIs: aio.py]
+   - 增加触发急停和恢复急停功能逻辑
+2. [APIs: do_current.py]
+   - 重新调整运行顺序，增加数据处理的逻辑（惯量负载逻辑暂不实现，等待软件部解决了修改工程之后不生效的问题再考虑）
+3. [APIs: btn_functions.py]
+   - 增加触发急停和恢复急停的modbus实现，仅适用于自动化测试
+
+v0.1.7.6(2024/07/04)
+1. [APIs: aio.py]
+   - Automatic Test逻辑中增加选择current时，需要选负载类型的逻辑
+2. [APIs: do_current.py]
+   - 单轴/场景电机电流的采集已完成
+3. [APIs: openapi.py]
+   - 增加了modbus读取浮点数的功能
+   - 优化了get_from_id的逻辑
+4. [autotest.xml]: 新增了scenario_time只写寄存器
+
+v0.1.8.0(2024/07/04)
+1. [APIs: do_current.py]: 完成了堵转电流和惯量负载电机电流的采集和处理，至此，电机电流的自动化工作基本完成
+
+v0.1.8.1(2024/07/05)
+1. [APIs: do_brake.py]: 完成了制动性能测试框架的搭建，可以顺利执行完整的测试程序，但是未实现急停和数据处理
+2. [APIs: aio.py]: 修改了do_brake主函数的参数
+3. 增加工程文件target.zip
+
+v0.1.8.2(2024/07/08)
+1. [APIs: do_brake.py]: 完成了制动性能测试逻辑，只不过制动信号传递生效延迟不可控，暂时pending
+2. [APIs: do_current.py]: 修改曲线数据时序，主要是value data取反即可，解决了波形锯齿明细的问题
+3. [APIs: openapi.py]: modbus新增了触发急停信号的寄存器 stop0_signal，并重写了解除急停，socket新增了register.set_value协议
+
+v0.1.9.0(2024/07/10)
+1. 完成了制动性能的自动化采集
+2. 完善了modbus浮点数读写相关的功能
+3. 修改了target.zip工程，该工程目前适配电机电流和制动性能
+
+v0.1.9.1(2024/07/12)
+1. [APIs: do_brake.py]
+   - 修改正负方向拍急停的逻辑，基本原理为：运行之前发送正负方向信号pon给RL，RL根据信号以及速度正负号运作
+   - 由于上述修改，正负方向急停准确率可达100%
+2. [APIs: aio.py]
+   - 修改write2textbox的输出逻辑，实现更加灵活的自定义输出，同时修改相关部分
+3. [APIs: openapi.py]
+   - modbus类新增指示政府方向急停的信号pon，将modbus类入参中的tab_name删除，并修改tab_name的值为'openapi'
+   - socket类种修改tab_name的值为'openapi'
+
+v0.1.9.2(2024/07/13)
+1. [APIs: do_brake.py]
+   - 修改ready_to_go信号的接收逻辑，适配大负载机型
+2. [APIs: do_current.py]
+   - 修改ready_to_go信号的接收逻辑，适配大负载机型
+   - 调整单轴测试时间为35s，适配大负载机型，调整堵转电流持续时间15s，适当减少测试时间
+   - 将act信号置为False的动作放在初始化，增加程序健壮性
+   - 修改所有输出文件的命名，在扩展名之前加入时间戳
+   - 删除多余的时序矫正语句——item['value'].reverse()，使输出的曲线为平滑的自然顺序
+3. [current: current.py]
+   - 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行
+   - max功能计算逻辑矫正，应该是取绝对值的最大值
+   - 整体梳理了trq/trqh的传递路径，现已修正完毕
+   - 减速比rr数据源修改为configs.xlsx
+4. 在current工程main函数增加 VelSet 100语句
+
+v0.1.9.3(2024/07/15)
+1. [APIs: openapi.py]
+   - 修改modbus连接失败报错输出形式，使之只在automatic test页面显示
+   - 将该文件移动至toplevel，为后面扩展做准备
+   - 修改heartbeat文件路径，使后续打包的时候更方便
+2. [APIs: aio.py]
+   - 修改heartbeat文件路径，使后续打包的时候更方便
+   - 修改write2textbox函数的打印逻辑，先判断网络相关
+
+v0.1.9.4(2024/07/15)
+1. [profile: aio.py]：完善durable text相关逻辑
+2. [profile: do_brake/do_current/btn_functions.py]：删除validate_resp函数，修改execution函数
+3. [profile: factory_test.py]
+   - 新增耐久/老化测试程序
+   - 实现六轴折线图显示
+4. [profile: openapi.py]：多次合并遗留问题处理
+5. templates文件夹组织架构调整
+
+v0.2.0.0(2024/07/17)
+1. [profile: aio.py]
+   - 增加velocity相关逻辑
+   - 修改负载信息为曲线信息
+2. [profile: factory_test.py]
+   - 增加velocity相关逻辑
+3. [profile: current.py]
+   - 修正减速比获取的规则
+4. [profile: openapi.py]
+   - HmiRequest模块：日志取消记录move.monitor相关
+   - HmiRequest模块：增加了durable_lock变量，控制文件读写互斥
+

aio/assets/file_version_info.txt

@@ -6,8 +6,8 @@ VSVersionInfo(
   ffi=FixedFileInfo(
     # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
     # Set not needed items to zero 0.
-    filevers=(0, 1, 7, 0),
-    prodvers=(0, 1, 7, 0),
+    filevers=(0, 2, 0, 0),
+    prodvers=(0, 2, 0, 0),
     # Contains a bitmask that specifies the valid bits 'flags'r
     mask=0x3f,
     # Contains a bitmask that specifies the Boolean attributes of the file.
@@ -31,12 +31,12 @@ VSVersionInfo(
         '040904b0',
         [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
         StringStruct('FileDescription', 'All in one automatic toolbox'),
-        StringStruct('FileVersion', '0.1.7.0 (2024-06-26)'),
+        StringStruct('FileVersion', '0.2.0.0 (2024-07-17)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.1.7.0 (2024-06-26)')])
+        StringStruct('ProductVersion', '0.2.0.0 (2024-07-17)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/templates/heartbeat

@@ -1 +1 @@
-0
+1

aio/assets/templates/json/register.set_value.json

@@ -0,0 +1,11 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "fieldbus",
+  "command": "register.set_value",
+  "data": {
+	"name": "",
+	"type": "bool",
+	"bias": 0,
+	"value": 0
+  }
+}

aio/assets/unpackage_logic.txt

@@ -0,0 +1,38 @@
+b'\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-5.5516340\x01o429065717e-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-h\x02\x00{\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'
+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]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\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\t6.7411265092630715e-06,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.00012044146029883355,\n\t\t\t\t-0.0022272681986605192,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.002697798\x04\x008290070812,\n\t\t\t\t0.00050648330506263212,\n\t\t\t\t-0.0,\n\t\t\t\t0.0020753681479851243,\n\t\t\t\t2.8762139772855775e-05,\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\t3.5952674716069715e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.0001496530085056402,\n\t\t\t\t0.0001276319952420475,\n\t\t\t\t-0.0027252127434780845,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0026977988290070812,\n\t\t\t\t8.5387602450665581e-06,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t0.00206862702147'
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+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}'

aio/assets/vers

@@ -1 +1 @@
-0.1.7.0 @ 06/26/2024
+0.2.0.0 @ 07/17/2024

aio/code/aio.py

@@ -7,16 +7,43 @@ import customtkinter
 from time import time, strftime, localtime, sleep
 from urllib.request import urlopen
 from socket import setdefaulttimeout
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
 from data_process import *
 from automatic_test import *
+from durable_action import *
+import openapi
+import matplotlib.pyplot as plt
+import matplotlib
+import pandas as pd
 
-current_path = dirname(__file__)
+matplotlib.use('Agg')
+heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat'
+durable_data_current_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current.xlsx'
+durable_data_velocity_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_velocity.xlsx'
 customtkinter.set_appearance_mode("System")  # Modes: "System" (standard), "Dark", "Light"
 customtkinter.set_default_color_theme("blue")  # Themes: "blue" (standard), "green", "dark-blue"
 customtkinter.set_widget_scaling(1.1)  # widget dimensions and text size
 customtkinter.set_window_scaling(1.1)  # window geometry dimensions
 setdefaulttimeout(3)
 # global vars
+durable_data_current = {
+    'time': list(range(1, 26)),
+    'axis1': [0 for _ in range(25)],
+    'axis2': [0 for _ in range(25)],
+    'axis3': [0 for _ in range(25)],
+    'axis4': [0 for _ in range(25)],
+    'axis5': [0 for _ in range(25)],
+    'axis6': [0 for _ in range(25)],
+}
+durable_data_velocity = {
+    'time': list(range(1, 26)),
+    'axis1': [0 for _ in range(25)],
+    'axis2': [0 for _ in range(25)],
+    'axis3': [0 for _ in range(25)],
+    'axis4': [0 for _ in range(25)],
+    'axis5': [0 for _ in range(25)],
+    'axis6': [0 for _ in range(25)],
+}
 btns_func = {
     'start': {'btn': '', 'row': 1, 'text': '开始运行'},
     'check': {'btn': '', 'row': 2, 'text': '检查参数'},
@@ -35,6 +62,10 @@ widgits_at = {
     'path': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '数据文件夹路径'},
     'loadsel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 1, 'text': '负载信息'},
 }
+widgits_da = {
+    'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
+    'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '曲线选择'},
+}
 
 
 class App(customtkinter.CTk):
@@ -43,6 +74,11 @@ class App(customtkinter.CTk):
         self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
         self.w_param = 84
         self.hr = None
+        self.md = None
+        self.canvas = None
+        self.flg = 0
+        self.df_copy = None
+        self.old_curve = None
         # =====================================================================
         # configure window
         self.title("AIO - All in one automatic toolbox")
@@ -69,7 +105,7 @@ class App(customtkinter.CTk):
         btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
         btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
         # create version info
-        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.7.0\nDate: 06/26/2024", font=self.my_font, text_color="#4F4F4F")
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.0\nDate: 07/17/2024", font=self.my_font, text_color="#4F4F4F")
         self.frame_func.rowconfigure(6, weight=1)
         self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
         # =====================================================================
@@ -78,6 +114,7 @@ class App(customtkinter.CTk):
         self.tabview.grid(row=0, column=1, padx=10, pady=5, sticky="nsew")
         self.tabview.add("Data Process")
         self.tabview.add("Automatic Test")
+        self.tabview.add("Durable Action")
         # create main menu for data process
         self.menu_main_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), values=["init", "brake", "current", "iso", "wavelogger"], font=self.my_font, text_color='yellow', button_color='red', fg_color='green', command=self.func_main_callback)
         self.menu_main_dp.grid(row=1, column=1, sticky='we', padx=5, pady=10)
@@ -113,8 +150,8 @@ class App(customtkinter.CTk):
         # For automatic test tab START =====================================================================
         # create buttons
         self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), dynamic_resizing=False, font=customtkinter.CTkFont(size=16, weight='bold'), command=lambda value='机器状态': self.thread_it(self.segmented_button_callback))
-        self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew")
-        self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "停止运动", "继续运动", "零点位姿", "机器状态", "告警信息"])
+        self.seg_button.grid(row=1, column=2, columnspan=12, padx=(65, 10), pady=(10, 10), sticky="ew")
+        self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "恢复急停", "待定功能", "功能待定", "机器状态", "告警信息"])
         self.seg_button.set("功能切换")
         # create progress bar
         self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
@@ -125,16 +162,33 @@ class App(customtkinter.CTk):
         for widgit in widgits_at:
             if widgit == 'path':
                 widgits_at[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Automatic Test'), text=f'{widgit.upper()}', font=self.my_font)
-                widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', pady=5)
+                widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', padx=(20, 5), pady=5)
                 widgits_at[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), width=670, placeholder_text=widgits_at[widgit]['text'], font=self.my_font)
                 widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
                 widgits_at[widgit]['entry'].configure(state='disabled')
             elif widgit in ['loadsel', ]:
-                widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100"], width=self.w_param, font=self.my_font)
+                widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100", "inertia"], width=self.w_param, font=self.my_font)
                 widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we')
                 widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
                 widgits_at[widgit]['optionmenu'].configure(state='disabled')
         # For automatic test tab END =====================================================================
+        # For durable_action tab START =====================================================================
+        # create progress bar
+        self.progressbar_da = customtkinter.CTkProgressBar(self.tabview.tab('Durable Action'))
+        self.progressbar_da.grid(row=2, column=1, padx=5, pady=5, sticky="ew")
+        self.progressbar_da.configure(mode="determinnate", width=self.w_param)
+        self.progressbar_da.start()
+        for widgit in widgits_da:
+            if widgit == 'path':
+                widgits_da[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Durable Action'), text=f'{widgit.upper()}', font=self.my_font)
+                widgits_da[widgit]['label'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], sticky='e', padx=(20, 5), pady=10)
+                widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font)
+                widgits_da[widgit]['entry'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we')
+            elif widgit in ['curvesel']:
+                widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), button_color='#708090', fg_color='#778899', values=["device_servo_trq_feedback", "hw_joint_vel_feedback"], font=self.my_font)
+                widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we')
+                widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
+        # For durable_action tab END =====================================================================
         # create textbox
         self.textbox = customtkinter.CTkTextbox(self, wrap='none', font=customtkinter.CTkFont(family="consolas", size=14), text_color="blue", fg_color='#E9E9E9', border_width=2, border_color='#CDCDCD', border_spacing=5)
         self.textbox.grid(row=6, column=1, columnspan=13, ipadx=10, ipady=10, padx=10, pady=(5, 10), sticky='nsew')
@@ -152,6 +206,53 @@ class App(customtkinter.CTk):
             tkinter.messagebox.showwarning(title="版本更新", message="连接服务器失败，无法确认当前是否是最新版本......")
     # functions below ↓ ----------------------------------------------------------------------------------------
 
+    def create_canvas(self, figure):
+        self.canvas = FigureCanvasTkAgg(figure, self)
+        self.canvas.draw()
+        self.canvas.get_tk_widget().configure(height=640)
+        self.canvas.get_tk_widget().grid(row=3, column=1, rowspan=3, columnspan=13, padx=20, pady=10, sticky="nsew")
+
+    def create_plot(self):
+        plt.rcParams['font.sans-serif'] = ['SimHei']
+        plt.rcParams['axes.unicode_minus'] = False
+        plt.rcParams['figure.dpi'] = 100
+        plt.rcParams['font.size'] = 14
+        plt.rcParams['lines.marker'] = 'o'
+
+        curvesel = widgits_da['curvesel']['optionmenu'].get()
+        while True:
+            if not self.hr.durable_lock:
+                self.hr.durable_lock = 1
+                if curvesel == 'device_servo_trq_feedback':
+                    df = pd.read_excel(durable_data_current_xlsx)
+                    _title = 'device_servo_trq_feedback'
+                elif curvesel == 'hw_joint_vel_feedback':
+                    _title = 'hw_joint_vel_feedback'
+                    df = pd.read_excel(durable_data_velocity_xlsx)
+                else:
+                    _title = 'device_servo_trq_feedback'
+                    df = pd.read_excel(durable_data_current_xlsx)
+                self.hr.durable_lock = 0
+                break
+            else:
+                sleep(1)
+
+        if not df.equals(self.df_copy) or self.flg == 0 or curvesel != self.old_curve:
+            self.flg = 1
+            self.df_copy = df.copy()
+            self.old_curve = widgits_da['curvesel']['optionmenu'].get()
+            figure = plt.figure(frameon=True, facecolor='#E9E9E9')
+            plt.subplots_adjust(left=0.04, right=0.98, bottom=0.05, top=0.95)
+            ax = figure.add_subplot(1, 1, 1)
+            df.plot(grid=True, x='time', y='axis1', ax=ax)
+            df.plot(grid=True, x='time', y='axis2', ax=ax)
+            df.plot(grid=True, x='time', y='axis3', ax=ax)
+            df.plot(grid=True, x='time', y='axis4', ax=ax)
+            df.plot(grid=True, x='time', y='axis5', ax=ax)
+            df.plot(grid=True, x='time', y='axis6', ax=ax, title=_title, legend='upper left')
+
+            self.create_canvas(figure)
+
     def thread_it(self, func, *args):
         """ 将函数打包进线程 """
         self.myThread = Thread(target=func, args=args)
@@ -159,13 +260,13 @@ class App(customtkinter.CTk):
         self.myThread.start()
 
     def segmented_button_callback(self):
-        _btn_funcs = {'get_state': '机器状态', 'warning_info': '告警信息', '3': '4', '5': '6', '7': '8'}
+        _btn_funcs = {'trigger_estop': '触发急停', 'reset_estop': '恢复急停', 'get_state': '机器状态', 'warning_info': '告警信息'}
         value = self.seg_button.get()
 
         self.seg_button.configure(state='disabled')
         # self.tabview.configure(state='disabled')
         self.textbox.delete(index1='1.0', index2='end')
-        with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
+        with open(heartbeat, 'r', encoding='utf-8') as f_h:
             c_state = f_h.read().strip()
 
         if c_state == '0' and value != '功能切换':
@@ -173,43 +274,59 @@ class App(customtkinter.CTk):
         else:
             for _func in _btn_funcs:
                 if _btn_funcs[_func] == value:
-                    btn_functions.main(self.hr, _func, self.write2textbox)
+                    btn_functions.main(self.hr, self.md, _func, self.write2textbox)
                     break
 
         self.seg_button.configure(state='normal')
         # self.tabview.configure(state='normal')
 
     def detect_network(self):
-        with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+        df = pd.DataFrame(durable_data_current)
+        df.to_excel(durable_data_current_xlsx, index=False)
+        df = pd.DataFrame(durable_data_velocity)
+        df.to_excel(durable_data_velocity_xlsx, index=False)
+
+        with open(heartbeat, "w", encoding='utf-8') as f_hb:
             f_hb.write('0')
         self.hr = openapi.HmiRequest(self.write2textbox)
+        self.md = openapi.ModbusRequest(self.write2textbox)
 
         while True:
-            with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb:
+            if self.tabview.get() == 'Durable Action':
+                self.create_plot()
+
+            with open(heartbeat, 'r', encoding='utf-8') as f_hb:
                 c_state = f_hb.read().strip()
                 pb_color = 'green' if c_state == '1' else 'red'
                 self.progressbar.configure(progress_color=pb_color)
+                self.progressbar_da.configure(progress_color=pb_color)
                 if c_state == '0':
-                    # self.textbox.delete(index1='1.0', index2='end')
                     self.hr.t_bool = False
-                    sleep(4)
+                    sleep(3)
                     del self.hr
                     self.hr = openapi.HmiRequest(self.write2textbox)
             sleep(3)
 
     def tabview_click(self):
         self.initialization()
-        # self.textbox.delete(index1='1.0', index2='end')
 
         tab_name = self.tabview.get()
         if tab_name == 'Data Process':
+            self.flg = 0
             self.menu_main_dp.set("Start Here!")
         elif tab_name == 'Automatic Test':
+            self.flg = 0
             self.menu_main_at.set("Start Here!")
             self.seg_button.configure(state='normal')
+        elif tab_name == 'Durable Action':
+            pass
 
     def initialization(self):
         tab_name = self.tabview.get()
+        try:
+            self.canvas.get_tk_widget().grid_forget()
+        except:
+            pass
         self.textbox.delete(index1='1.0', index2='end')
         if tab_name == 'Data Process':
             for widgit in widgits_dp:
@@ -227,7 +344,7 @@ class App(customtkinter.CTk):
             self.menu_sub_dp.grid_forget()
         elif tab_name == 'Automatic Test':
             for widgit in widgits_at:
-                if widgit in ['path', 'av1', 'av2', 'av3', 'av4', 'av5', 'av6', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6', 'rr1', 'rr2', 'rr3', 'rr4', 'rr5', 'rr6']:
+                if widgit in ['path', ]:
                     widgits_at[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
                     widgits_at[widgit]['entry'].delete(0, tkinter.END)
                     widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
@@ -237,6 +354,15 @@ class App(customtkinter.CTk):
                     widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
                     widgits_at[widgit]['optionmenu'].configure(state='disabled')
             self.seg_button.set("功能切换")
+        elif tab_name == 'Durable Action':
+            for widgit in widgits_da:
+                if widgit in ['path', ]:
+                    widgits_da[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
+                    widgits_da[widgit]['entry'].delete(0, tkinter.END)
+                    widgits_da[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                elif widgit in ['curvesel']:
+                    widgits_da[widgit]['optionmenu'].configure(state='normal')
+                    widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
 
     def func_main_callback(self, func_name):
         self.initialization()
@@ -284,7 +410,7 @@ class App(customtkinter.CTk):
                         widgits_at[widgit]['entry'].configure(state='normal')
                     elif widgit in ['loadsel', ]:
                         widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
-                        widgits_at[widgit]['optionmenu'].configure(text_color='black', state='disabled')
+                        widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
             else:
                 self.initialization()
                 self.menu_main_at.set("Start Here!")
@@ -347,6 +473,20 @@ class App(customtkinter.CTk):
                 self.textbox.insert(index='end', text=text + '\n', tags=color)
                 self.textbox.update()
                 self.textbox.see('end')
+        elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test' or tab_name_cur == 'Durable Action':
+            if wait != 0:
+                self.textbox.insert(index='end', text=text, tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
+            elif exitcode != 0:
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
+                raise Exception(f"Error code: {exitcode}")
+            else:
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
                 
     def is_float(self, flag, *args):
         for item in args:
@@ -430,18 +570,33 @@ class App(customtkinter.CTk):
                     return 0, 0
             elif func_name == 'current':
                 path = widgits_at['path']['entry'].get().strip()
-                if exists(path):
-                    return 6, path
+                loadsel = widgits_at['loadsel']['optionmenu'].get()
+                c1 = exists(path)
+                c2 = loadsel in ['tool100', 'inertia']
+                if c1 and c2:
+                    return 6, path, loadsel
                 else:
                     return 0, 0
             else:
                 return 0, 0
+        elif tab_name == 'Durable Action':
+            path = widgits_da['path']['entry'].get().strip()
+            curvesel = widgits_da['curvesel']['optionmenu'].get()
+            c1 = exists(path)
+            c2 = curvesel in ['device_servo_trq_feedback', 'hw_joint_vel_feedback']
+            if c1 and c2:
+                return 7, path, curvesel
+            else:
+                return 0, 0
 
     def func_start_callback(self):
         self.textbox.delete(index1='1.0', index2='end')
 
         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,
+            7: factory_test.main
+        }
         if flag == 1:
             func_dict[flag](path=args[0], vel=args[1], trq=args[2],  estop=args[3], w2t=self.write2textbox)
         elif flag == 2:
@@ -451,10 +606,23 @@ class App(customtkinter.CTk):
         elif flag == 4:
             func_dict[flag](path=args[0], w2t=self.write2textbox)
         elif flag == 5:
-            func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox)
+            self.pre_warning()
+            func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox)
+        elif flag == 6:
+            self.pre_warning()
+            func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox)
+        elif flag == 7:
+            self.pre_warning()
+            func_dict[flag](path=args[0], hr=self.hr, md=self.md, w2t=self.write2textbox)
         else:
             tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
 
+    def pre_warning(self):
+        if tkinter.messagebox.askyesno(title="开始运行", message="确认机器已按照测试规范更新固件，并提按照测试机型前修改好工程？"):
+            pass
+        else:
+            self.write2textbox("请按照测试规范更新机器固件，并在实际运行前确认工程已经修改完毕，以防撞机！！！", 0, 123, 'red', 'Automatic Test')
+
     def func_check_callback(self):
         self.textbox.delete(index1='1.0', index2='end')
 

aio/code/automatic_test/__init__.py

@@ -1 +1 @@
-__all__ = ['openapi', 'btn_functions', 'do_brake', 'do_current']
+__all__ = ['btn_functions', 'do_brake', 'do_current']

aio/code/automatic_test/btn_functions.py

@@ -1,30 +1,29 @@
-import json
+from json import loads
 from sys import argv
 
 
-def validate_resp(_id, response, w2t):
-    match _id:
-        case 'DATA ERR':
-            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
-        case 'DATA READ ERR':
-            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
-        case 'NOT SUPPORT':
-            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
-    if not response:
-        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
-
-
 def execution(cmd, hr, w2t, **kwargs):
-    _id = hr.excution(cmd, **kwargs)
+    _id = hr.execution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
     if not _msg:
         w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
     else:
-        _response = json.loads(_msg)
-        validate_resp(_id, _response, w2t)
+        _response = loads(_msg)
+        if not _response:
+            w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
         return _response
 
 
+def trigger_estop(md, w2t):
+    md.trigger_estop()
+    w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
+
+
+def reset_estop(md, w2t):
+    md.reset_estop()
+    w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
+
+
 def get_state(hr, w2t):
     # 获取机器状态
     _response = execution('state.get_state', hr, w2t)
@@ -48,17 +47,21 @@ def get_state(hr, w2t):
 def warning_info(hr, w2t):
     for msg in hr.c_msg:
         if 'alarm' in msg.lower():
-            w2t(msg, tab_name='Automatic Test')
+            w2t(str(loads(msg)), tab_name='Automatic Test')
     for msg in hr.c_msg_xs:
         if 'alarm' in msg.lower():
-            w2t(msg, tab_name='Automatic Test')
+            w2t(str(loads(msg)), tab_name='Automatic Test')
 
 
-def main(hr, func, w2t):
+def main(hr, md, func, w2t):
     if hr is None:
         w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test')
     # func: get_state/
     match func:
+        case 'trigger_estop':
+            trigger_estop(md, w2t)
+        case 'reset_estop':
+            reset_estop(md, w2t)
         case 'get_state':
             get_state(hr, w2t)
         case 'warning_info':
@@ -68,21 +71,3 @@ def main(hr, func, w2t):
 if __name__ == '__main__':
     main(*argv[1:])
 
-
-# 一、设置/检测机器人状态：
-#   1. 上电
-#   2. 软限位打开
-#   3. 示教器断开
-#   4. 操作模式/机器人类型
-#   5. 控制器状态/工作任务控件/机器人动态
-
-# 二、加载RL程序开始运行
-#   1. 怎么触发急停
-#   2. 怎么恢复急停
-#   3. 怎么采集曲线
-#   4.
-
-# 三、运行过程中，收集数据，并处理出结果
-
-# 四
-

aio/code/automatic_test/do_brake.py

@@ -1,15 +1,17 @@
-from time import sleep
+from random import randint
+from time import sleep, time
 from sys import argv
-from os import scandir
+from os import scandir, mkdir
 from os.path import exists
 from paramiko import SSHClient, AutoAddPolicy
 from json import loads
+from openpyxl import load_workbook
+import pandas
+
+RADIAN = 57.3  # 180 / 3.1415926
 
 
 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):
         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')
@@ -25,7 +27,7 @@ def traversal_files(path, w2t):
         return dirs, files
 
 
-def check_files(data_dirs, data_files, w2t):
+def check_files(path, loadsel, data_dirs, data_files, w2t):
     if len(data_dirs) != 0 or len(data_files) != 5:
         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('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
@@ -48,8 +50,23 @@ def check_files(data_dirs, data_files, w2t):
             w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
 
     if config_file and reach33 and reach66 and reach100 and prj_file:
+        result_dirs = []
+        mkdir(f"{path}\\j1")
+        mkdir(f"{path}\\j2")
+        mkdir(f"{path}\\j3")
+
+        for _reach in ['reach33', 'reach66', 'reach100']:
+            for _load in [f'load{loadsel.removeprefix("tool")}']:
+                for _speed in ['speed33', 'speed66', 'speed100']:
+                    dir_name = '_'.join([_reach, _load, _speed])
+                    result_dirs.append(dir_name)
+                    mkdir(f"{path}\\j1\\{dir_name}")
+                    mkdir(f"{path}\\j2\\{dir_name}")
+                    if _reach == 'reach100':
+                        mkdir(f"{path}\\j3\\{dir_name}")
+
         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, reach33, reach66, reach100, prj_file, result_dirs
     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('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
@@ -60,14 +77,9 @@ def prj_to_xcore(prj_file):
     ssh.set_missing_host_key_policy(AutoAddPolicy())
     ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
     sftp = ssh.open_sftp()
-    # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
-    # ssh.exec_command('rm /tmp/target.zip')
     sftp.put(prj_file, '/tmp/target.zip')
-    cmd = 'cd /tmp; '
-    cmd += 'rm -rf target/; '
-    cmd += 'mkdir target; '
-    cmd += 'unzip -d target/ -q target.zip; '
-    cmd += 'rm target.zip; '
+    cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
+    cmd += 'chmod 777 -R target/; rm target.zip'
     ssh.exec_command(cmd)
 
     cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
@@ -78,97 +90,236 @@ def prj_to_xcore(prj_file):
     print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
     print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj '
+    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
+    cmd = 'cd /home/luoshi/bin/controller/; '
+    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
+    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+    stdin.write('luoshi2019' + '\n')
+    stdin.flush()
+    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+    print(stderr.read().decode())  # 顺便也执行以下stderr
+    ssh.close()
+
+
+def execution(cmd, hr, w2t, **kwargs):
+    _id = hr.execution(cmd, **kwargs)
+    _msg = hr.get_from_id(_id)
+    if not _msg:
+        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+    else:
+        _response = loads(_msg)
+        if not _response:
+            w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
+        return _response
+
+
+def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
+    _d2d_vel = {'hw_joint_vel_feedback': []}
+    _d2d_trq = {'device_servo_trq_feedback': []}
+    _d2d_stop = {'device_safety_estop': []}
+    for data in curve_data:
+        dict_results = data['data']
+        # dict_results.reverse()
+        for item in dict_results:
+            item['value'].reverse()
+            if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
+                _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
+            elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback':
+                _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+            elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop':
+                _d2d_stop['device_safety_estop'].extend(item['value'])
+
+    df1 = pandas.DataFrame.from_dict(_d2d_vel)
+    df2 = pandas.DataFrame.from_dict(_d2d_trq)
+    df3 = pandas.DataFrame.from_dict(_d2d_stop)
+    df = pandas.concat([df1, df2, df3], axis=1)
+    _filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data"
+    df.to_csv(_filename, sep='\t', index=False)
+
+
+def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
+    _count = 0
+    speed_max = 0
+    display_pdo_params = [
+        {"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},
+    ]
+    wb = load_workbook(config_file, read_only=True)
+    ws = wb['Target']
+    if ws.cell(row=1, column=1).value == 'positive':
+        md.write_pon(True)
+    elif ws.cell(row=1, column=1).value == 'negative':
+        md.write_pon(False)
+    else:
+        w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
+
+    for condition in result_dirs:
+        _reach = condition.split('_')[0].removeprefix('reach')
+        _load = condition.split('_')[1].removeprefix('load')
+        _speed = condition.split('_')[2].removeprefix('speed')
+
+        for axis in range(1, 4):
+            md.write_axis(axis)
+            speed_max = 0
+            if axis == 3 and _reach != '100':
+                continue
+            for count in range(1, 4):
+                _count += 1
+                w2t(f"[{_count}/63-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test')
+
+                # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
+                md.trigger_estop()
+                md.reset_estop()
+                md.write_act(False)
+                _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                sleep(1)  # 让曲线彻底关闭
+                _response = execution('state.switch_manual', hr, w2t)
+                _response = execution('state.switch_motor_off', hr, w2t)
+
+                # 2. 修改未要执行的场景
+                ssh = SSHClient()
+                ssh.set_missing_host_key_policy(AutoAddPolicy())
+                ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+                if ws.cell(row=1, column=1).value == 'positive':
+                    _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
+                elif ws.cell(row=1, column=1).value == 'negative':
+                    _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
+                else:
+                    w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
+                _rl_speed = f"VelSet {_speed}"
+                cmd = 'cd /home/luoshi/bin/controller/; '
+                cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
+                cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; '
+                cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
+                cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod'
                 stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
                 stdin.write('luoshi2019' + '\n')
                 stdin.flush()
                 print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
                 print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    ssh.close()
-
-
-def modify_prj():
-    pass
-
-
-def validate_resp(_id, response, w2t):
-    match _id:
-        case 'DATA ERR':
-            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
-        case 'DATA READ ERR':
-            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
-        case 'NOT SUPPORT':
-            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
-    if not response:
-        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
-
-
-def execution(cmd, hr, w2t, **kwargs):
-    _id = hr.excution(cmd, **kwargs)
-    _msg = hr.get_from_id(_id)
-    if not _msg:
-        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+                # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
+                prj_path = 'target/_build/target.prj'
+                _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
+                _response = execution('state.switch_auto', hr, w2t)
+                _response = execution('state.switch_motor_on', hr, w2t)
+                _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
+                _t_start = time()
+                while True:
+                    if md.read_ready_to_go() == 1:
+                        md.write_act(True)
+                        break
                     else:
-        _response = loads(_msg)
-        validate_resp(_id, _response, w2t)
-        return _response
-
-
-def run_rl(hr, w2t):
-    # prj_path = 'target/_build/target.prj'
-    # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
-    # print(f"reload prj: {_response}")
-    # # _response = execution('overview.get_cur_prj', hr, w2t)
-    # # print(f"get cur prj name: {_response}")
-    # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
-    # print(f"set pp2main of prj: {_response}")
-    #
-    # _response = execution('state.switch_auto', 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)
-
+                        if (time() - _t_start) // 20 > 1:
+                            w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                        else:
+                            sleep(1)
+                # 4. 第一次打开诊断曲线，并执行采集8s，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
+                if count == 1:
                     _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
-    print(f"打开诊断: {_response}")
-    # _response = execution('diagnosis.get_params', hr, w2t)
-    # print(f"显示诊断状态: {_response}")
-    display_pdo_params = [
-        {"name": "device_servo_trq_feedback", "channel": 0}
-    ]
                     _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-    print(f"执行采样: {_response}")
-    sleep(5)
+                    sleep(10)  # 前10秒获取实际最大速度
 
+                    md.trigger_estop()
                     _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-    print(f"关闭诊断: {_response}")
-    # sleep(1)
+                    # 找出最大速度
                     for _msg in hr.c_msg:
                         if 'diagnosis.result' in _msg:
-            print(_msg)
-            # _msg = json.loads(_msg)
-            # if 'channel' in _msg and 'name' in _msg:
-            #     if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
-            #         print(f"diagnosis.result: {_msg}")
-            #         count += 1
-            #         if count * 50 > 5 * 1000:
-            #             break
+                            dict_results = loads(_msg)['data']
+                            for item in dict_results:
+                                if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
+                                    _ = abs(RADIAN*sum(item['value'])/len(item['value']))
+                                    speed_max = max(_, speed_max)
+                    speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
+                    if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
+                        w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', 'Automatic Test')
 
+                    md.write_speed_max(speed_max)
+                    sleep(1)
 
+                    for _msg in hr.c_msg:
+                        if 'diagnosis.result' in _msg:
+                            _index = hr.c_msg.index(_msg)
+                            del hr.c_msg[_index:]
+                            hr.c_msg_xs.clear()
+                            break
+
+                # 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停
+                md.reset_estop()
+                _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
+                _response = execution('state.switch_auto', hr, w2t)
+                _response = execution('state.switch_motor_on', hr, w2t)
+                _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
+                for i in range(3):
+                    if md.read_ready_to_go() == 1:
+                        md.write_act(True)
+                        break
+                    else:
+                        sleep(1)
+                else:
+                    w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+
+                _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+                _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+                sleep(randint(3, 6))
+                md.write_probe(True)
+                _t_start = time()
+                while True:
+                    if md.read_brake_done() == 1:
+                        sleep(1)  # 保证所有数据均已返回
+                        md.write_probe(False)
+                        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                        sleep(1)  # 保证所有数据均已返回
+                        break
+                    else:
+                        if (time() - _t_start) > 30:
+                            w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题...", 0, 0, 'red', 'Automatic Test')
+                            md.write_probe(False)
+                            _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                            sleep(1)  # 保证所有数据均已返回
+                            break
                         else:
                             sleep(1)
 
+                # 6. 保留数据并处理输出
+                curve_data = []
+                for _msg in hr.c_msg:
+                    if 'diagnosis.result' in _msg:
+                        curve_data.insert(0, loads(_msg))
+                else:
+                    for _msg in hr.c_msg:
+                        if 'diagnosis.result' in _msg:
+                            _index = hr.c_msg.index(_msg)
+                            del hr.c_msg[_index:]
+                            hr.c_msg_xs.clear()
+                            break
+                    gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
+    else:
+        w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', 'Automatic Test')
 
-def main(path, hr, loadsel, w2t):
+
+def main(path, hr, md, loadsel, w2t):
+    _s_time = time()
     data_dirs, data_files = traversal_files(path, w2t)
-    config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
-    # prj_to_xcore(prj_file)
-    run_rl(hr, w2t)
+    config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
+    prj_to_xcore(prj_file)
+    run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
+    _e_time = time()
+    time_total = _e_time - _s_time
+    w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', 'Automatic Test')
 
 
 if __name__ == '__main__':

aio/code/automatic_test/do_current.py

@@ -1,15 +1,14 @@
-from time import sleep
+import os
+from time import sleep, time
 from sys import argv
 from os import scandir
 from os.path import exists
 from paramiko import SSHClient, AutoAddPolicy
 from json import loads
+import pandas
 
 
 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):
         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')
@@ -25,34 +24,37 @@ def traversal_files(path, w2t):
         return dirs, files
 
 
-def check_files(data_dirs, data_files, w2t):
-    if len(data_dirs) != 0 or len(data_files) != 5:
-        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('   1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+def check_files(path, loadsel, data_dirs, data_files, w2t):
+    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三个文件，确认后重新运行！', 0, 0, '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:
         filename = data_file.split('\\')[-1]
         if filename == 'configs.xlsx':
             config_file = data_file
-        elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
-            reach33 = 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 == 'T_电机电流.xlsx':
+            current_file = data_file
         elif filename.endswith('.zip'):
             prj_file = data_file
         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('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, '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. 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')
-        return config_file, reach33, reach66, reach100, prj_file
+        if loadsel == 'tool100':
+            os.mkdir(f"{path}\\single")
+            os.mkdir(f"{path}\\s_1")
+            os.mkdir(f"{path}\\s_2")
+            os.mkdir(f"{path}\\s_3")
+        elif loadsel == 'inertia':
+            os.mkdir(f"{path}\\inertia")
+        return config_file, current_file, prj_file
     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('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, '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. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
 
 
 def prj_to_xcore(prj_file):
@@ -60,14 +62,9 @@ def prj_to_xcore(prj_file):
     ssh.set_missing_host_key_policy(AutoAddPolicy())
     ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
     sftp = ssh.open_sftp()
-    # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
-    # ssh.exec_command('rm /tmp/target.zip')
     sftp.put(prj_file, '/tmp/target.zip')
-    cmd = 'cd /tmp; '
-    cmd += 'rm -rf target/; '
-    cmd += 'mkdir target; '
-    cmd += 'unzip -d target/ -q target.zip; '
-    cmd += 'rm target.zip; '
+    cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
+    cmd += 'chmod 777 -R target/; rm target.zip'
     ssh.exec_command(cmd)
 
     cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
@@ -78,97 +75,336 @@ def prj_to_xcore(prj_file):
     print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
     print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj '
+    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
+    cmd = 'cd /home/luoshi/bin/controller/; '
+    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
+    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+    stdin.write('luoshi2019' + '\n')
+    stdin.flush()
+    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+    print(stderr.read().decode())  # 顺便也执行以下stderr
+    ssh.close()
+
+
+def execution(cmd, hr, w2t, **kwargs):
+    _id = hr.execution(cmd, **kwargs)
+    _msg = hr.get_from_id(_id)
+    if not _msg:
+        w2t(f"无法获取{_id}请求的响应信息", 0, 7, 'red', tab_name='Automatic Test')
+    else:
+        _response = loads(_msg)
+        if not _response:
+            w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
+        return _response
+
+
+def data_proc_regular(path, filename, channel, scenario_time):
+    if channel in list(range(6)):
+        with open(filename, 'r', encoding='utf-8') as f_obj:
+            lines = f_obj.readlines()
+            _d2d_vel = {'hw_joint_vel_feedback': []}
+            _d2d_trq = {'device_servo_trq_feedback': []}
+            for line in lines:
+                data = eval(line.strip())['data']
+                for item in data:
+                    item['value'].reverse()
+                    if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+
+            df1 = pandas.DataFrame.from_dict(_d2d_vel)
+            df2 = pandas.DataFrame.from_dict(_d2d_trq)
+            df = pandas.concat([df1, df2], axis=1)
+            _filename = f'{path}\\single\\j{channel+1}_single_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+    elif channel in list(range(6, 9)):
+        with open(filename, 'r', encoding='utf-8') as f_obj:
+            lines = f_obj.readlines()
+            _d2d_vel_0 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_0 = {'device_servo_trq_feedback': []}
+            _d2d_vel_1 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_1 = {'device_servo_trq_feedback': []}
+            _d2d_vel_2 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_2 = {'device_servo_trq_feedback': []}
+            _d2d_vel_3 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_3 = {'device_servo_trq_feedback': []}
+            _d2d_vel_4 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_4 = {'device_servo_trq_feedback': []}
+            _d2d_vel_5 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_5 = {'device_servo_trq_feedback': []}
+            for line in lines:
+                data = eval(line.strip())['data']
+                for item in data:
+                    item['value'].reverse()
+                    if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_0['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_1['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_1['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_2['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_2['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_3['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_3['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_4['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_4['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_5['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_0)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_0)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_1)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_1)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_2)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_2)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_3)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_3)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_4)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_4)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = pandas.DataFrame.from_dict(_d2d_vel_5)
+            df_02 = pandas.DataFrame.from_dict(_d2d_trq_5)
+            df = pandas.concat([df_01, df_02], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+    elif channel in list(range(9, 15)):
+        with open(filename, 'r', encoding='utf-8') as f_obj:
+            lines = f_obj.readlines()
+            _d2d_vel = {'hw_joint_vel_feedback': []}
+            _d2d_trq = {'device_servo_trq_feedback': []}
+            for line in lines:
+                data = eval(line.strip())['data']
+                for item in data:
+                    item['value'].reverse()
+                    if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+
+            df1 = pandas.DataFrame.from_dict(_d2d_vel)
+            df2 = pandas.DataFrame.from_dict(_d2d_trq)
+            df = pandas.concat([df1, df2], axis=1)
+            _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+
+def data_proc_inertia(path, filename, channel):
+    with open(filename, 'r', encoding='utf-8') as f_obj:
+        lines = f_obj.readlines()
+        _d2d_vel = {'hw_joint_vel_feedback': []}
+        _d2d_trq = {'device_servo_trq_feedback': []}
+        for line in lines:
+            data = eval(line.strip())['data']
+            for item in data:
+                item['value'].reverse()
+                if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback':
+                    _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
+                elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
+                    _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+
+        df1 = pandas.DataFrame.from_dict(_d2d_vel)
+        df2 = pandas.DataFrame.from_dict(_d2d_trq)
+        df = pandas.concat([df1, df2], axis=1)
+        _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
+        df.to_csv(_filename, sep='\t', index=False)
+
+
+def gen_result_file(path, loadsel, disc, number, scenario_time):
+    filename = path + f'\\data.txt'
+    with open(filename, 'w', encoding='utf-8') as f_obj:
+        for line in disc[number][1]:
+            f_obj.write(str(line)+'\n')
+
+    if loadsel == 'tool100':
+        data_proc_regular(path, filename, number, scenario_time)
+    elif loadsel == 'inertia':
+        data_proc_inertia(path, filename, number)
+
+
+def run_rl(path, hr, md, loadsel, w2t):
+    c_regular = [
+        "scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j3_p, j3_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)",
+    ]
+    c_inertia = [
+        "scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)",
+        "scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)",
+        "scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)",
+    ]
+    disc_regular = {
+        0: ['一轴', []], 1: ['二轴', []], 2: ['三轴', []], 3: ['四轴', []], 4: ['五轴', []], 5: ['六轴', []],
+        6: ['场景一', []], 7: ['场景二', []], 8: ['场景三', []], 9: ['一轴保持', []], 10: ['二轴保持', []],
+        11: ['三轴保持', []], 12: ['四轴保持', []], 13: ['五轴保持', []], 14: ['六轴保持', []]
+    }
+    disc_inertia = {0: ['四轴惯量', []], 1: ['五轴惯量', []], 2: ['六轴惯量', []]}
+    if loadsel == 'tool100':
+        conditions = c_regular
+        disc = disc_regular
+    elif loadsel == 'inertia':
+        conditions = c_inertia
+        disc = disc_inertia
+
+    for condition in conditions:
+        number = conditions.index(condition)
+        w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test')
+
+        # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
+        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+        md.trigger_estop()
+        md.reset_estop()
+        md.write_act(False)
+        sleep(1)  # 让曲线彻底关闭
+        _response = execution('state.switch_manual', hr, w2t)
+        _response = execution('state.switch_motor_off', hr, w2t)
+
+        # 2. 修改未要执行的场景
+        ssh = SSHClient()
+        ssh.set_missing_host_key_policy(AutoAddPolicy())
+        ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+        cmd = 'cd /home/luoshi/bin/controller/; '
+        cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; '
+        cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod'
         stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
         stdin.write('luoshi2019' + '\n')
         stdin.flush()
         print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
         print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    ssh.close()
+        # 3. reload工程后，pp2main，并且自动模式和上电
+        prj_path = 'target/_build/target.prj'
+        _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
+        _response = execution('overview.get_cur_prj', hr, w2t)
+        _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
+        _response = execution('state.switch_auto', hr, w2t)
+        _response = execution('state.switch_motor_on', hr, w2t)
 
-
-def modify_prj():
-    pass
-
-
-def validate_resp(_id, response, w2t):
-    match _id:
-        case 'DATA ERR':
-            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
-        case 'DATA READ ERR':
-            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
-        case 'NOT SUPPORT':
-            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
-    if not response:
-        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
-
-
-def execution(cmd, hr, w2t, **kwargs):
-    _id = hr.excution(cmd, **kwargs)
-    _msg = hr.get_from_id(_id)
-    if not _msg:
-        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+        # 4. 开始运行程序，单轴运行15s
+        _response = execution('rl_task.run', hr, w2t, tasks=['current'])
+        _t_start = time()
+        while True:
+            if md.read_ready_to_go() == 1:
+                md.write_act(True)
+                break
             else:
-        _response = loads(_msg)
-        validate_resp(_id, _response, w2t)
-        return _response
-
-
-def run_rl(hr, w2t):
-    # prj_path = 'target/_build/target.prj'
-    # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
-    # print(f"reload prj: {_response}")
-    # # _response = execution('overview.get_cur_prj', hr, w2t)
-    # # print(f"get cur prj name: {_response}")
-    # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
-    # print(f"set pp2main of prj: {_response}")
-    #
-    # _response = execution('state.switch_auto', 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)
-    print(f"打开诊断: {_response}")
-    # _response = execution('diagnosis.get_params', hr, w2t)
-    # print(f"显示诊断状态: {_response}")
-    display_pdo_params = [
-        {"name": "device_servo_trq_feedback", "channel": 0}
-    ]
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-    print(f"执行采样: {_response}")
-    sleep(5)
-
-    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-    print(f"关闭诊断: {_response}")
-    # sleep(1)
-    for _msg in hr.c_msg:
-        if 'diagnosis.result' in _msg:
-            print(_msg)
-            # _msg = json.loads(_msg)
-            # if 'channel' in _msg and 'name' in _msg:
-            #     if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
-            #         print(f"diagnosis.result: {_msg}")
-            #         count += 1
-            #         if count * 50 > 5 * 1000:
-            #             break
-
-
+                if (time() - _t_start) // 20 > 1:
+                    w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
                 else:
                     sleep(1)
 
+        # 5. 打开诊断曲线，并执行采集
+        sleep(10)  # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定
+        _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+        display_pdo_params = [
+            {"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},
+        ]
+        _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+        scenario_time = 0
+        if number < 6:
+            sleep(35)
+        elif number > 8:
+            sleep(15)
+        else:
+            _t_start = time()
+            while True:
+                scenario_time = md.read_scenario_time()
+                if float(scenario_time) > 1:
+                    w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', 'Automatic Test')
+                    break
+                else:
+                    if (time()-_t_start)//60 > 3:
+                        w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                    else:
+                        sleep(5)
+            sleep(1)  # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
+            scenario_time = md.read_scenario_time()
+            sleep(float(scenario_time)*0.2)  # 再运行周期的20%即可
 
-def main(path, hr, loadsel, w2t):
+        # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
+        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+        _response = execution('rl_task.stop', hr, w2t, tasks=['current'])
+        _response = execution('state.switch_motor_off', hr, w2t)
+        _response = execution('state.switch_manual', hr, w2t)
+        sleep(1)  # 保证所有数据均已返回
+        # 7. 保留数据并处理输出
+        for _msg in hr.c_msg:
+            if 'diagnosis.result' in _msg:
+                disc[number][1].insert(0, loads(_msg))
+        else:
+            _index = 210
+            for _msg in hr.c_msg:
+                if 'diagnosis.result' in _msg:
+                    _index = hr.c_msg.index(_msg)
+                    break
+            del hr.c_msg[_index:]
+            hr.c_msg_xs.clear()
+            gen_result_file(path, loadsel, disc, number, scenario_time)
+    else:
+        if loadsel == 'tool100':
+            w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。", 0, 0, 'green', 'Automatic Test')
+        elif loadsel == 'inertia':
+            w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。", 0, 0, 'green', 'Automatic Test')
+
+
+def main(path, hr, md, loadsel, w2t):
     data_dirs, data_files = traversal_files(path, w2t)
-    config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
-    # prj_to_xcore(prj_file)
-    run_rl(hr, w2t)
+    config_file, current_file, prj_file = check_files(path, loadsel, data_dirs, data_files, w2t)
+    prj_to_xcore(prj_file)
+    run_rl(path, hr, md, loadsel, w2t)
 
 
 if __name__ == '__main__':

aio/code/automatic_test/openapi.py

@@ -1,297 +0,0 @@
-from json import load, dumps
-from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
-from threading import Thread
-import selectors
-from time import time, sleep
-from os.path import dirname
-
-MAX_FRAME_SIZE = 1024
-setdefaulttimeout(2)
-current_path = dirname(__file__)
-
-
-class HmiRequest(object):
-    def __init__(self, w2t):
-        super().__init__()
-        self.w2t = w2t
-        self.c = None
-        self.c_xs = None
-        self.c_msg = []
-        self.c_msg_xs = []
-        self.flag = 0
-        self.response = ''
-        self.leftover = 0
-        self.flag_xs = 0
-        self.response_xs = ''
-        self.t_bool = True
-        self.tab_name = 'Automatic Test'
-
-        self.sock_conn()
-        self.t_heartbeat = Thread(target=self.heartbeat)
-        self.t_heartbeat.daemon = True
-        self.t_heartbeat.start()
-        self.t_unpackage = Thread(target=self.unpackage, args=(self.c, ))
-        self.t_unpackage.daemon = True
-        self.t_unpackage.start()
-        self.t_unpackage_xs = Thread(target=self.unpackage_xs, args=(self.c_xs, ))
-        self.t_unpackage_xs.daemon = True
-        self.t_unpackage_xs.start()
-
-    def sock_conn(self):
-        # while True:
-        with open(f"{current_path}/../../assets/templates/heartbeat", "r", encoding='utf-8') as f_hb:
-            c_state = f_hb.read().strip()
-        if c_state == '0':
-            try:
-                self.c = socket(AF_INET, SOCK_STREAM)
-                self.c.connect(('192.168.0.160', 5050))
-                # self.c.connect(('192.168.84.129', 5050))
-                self.c.setblocking(False)
-                self.c_xs = socket(AF_INET, SOCK_STREAM)
-                self.c_xs.connect(('192.168.0.160', 6666))
-                # self.c_xs.connect(('192.168.84.129', 6666))
-                self.c_xs.setblocking(False)
-
-                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:
-                    f_hb.write('1')
-
-            except Exception as Err:
-                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:
-                    f_hb.write('0')
-
-    def header_check(self, index, data):
-        try:
-            _frame_size = int.from_bytes(data[index:index+2], 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')
-            _reserved = int.from_bytes(data[index+7:index+8], byteorder='big')
-
-            if _reserved == 0 and _protocol == 2:
-                return index+8, _frame_size, _pkg_size
-            else:
-                print("数据有误，需要确认")
-                return 'DATA ERR'
-        except Exception as Err:
-            print(f"Err = {Err}")
-            print("无法读取数据，需要确认")
-            return 'DATA READ ERR'
-
-    def heartbeat(self):
-        while self.t_bool:
-            _id = self.excution('controller.heart')
-            _flag = '0' if self.get_from_id(_id) is None else '1'
-            print(f"hb = {_flag}", end=' ')
-            with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
-                f_hb.write(_flag)
-                if _flag == '0':
-                    self.w2t(f"心跳丢失，连接失败，重新连接中...", 0, 0, 'red', tab_name=self.tab_name)
-            sleep(2)
-            print(len(self.c_msg), end=' ')
-            # with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
-            #     for msg in self.c_msg:
-            #         f.write(msg + '\n')
-
-    def msg_storage(self, response, flag=0):
-        messages = self.c_msg if flag == 0 else self.c_msg_xs
-        if len(messages) < 20000:
-            messages.insert(0, response)
-        else:
-            messages.insert(0, response)
-            while len(messages) > 20000:
-                messages.pop()
-
-    def get_response(self, data):
-        _index = 0
-        while _index < len(data):
-            if self.flag == 0:
-                _index, _frame_size, _pkg_size = self.header_check(_index, data)
-                if _pkg_size <= len(data) - _index:
-                    # 说明剩余部分的数据正好就是完整的包数据
-                    self.response = data[_index:_index+_pkg_size].decode()
-                    self.msg_storage(flag=0, response=self.response)
-                    _index += _pkg_size
-                    self.flag = 0
-                    self.response = ''
-                    self.leftover = 0
-                elif _pkg_size > len(data) - _index:
-                    # 说有有分包的情况发生了，需要flag=1的处理
-                    self.flag = 1
-                    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
-                    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):
-        if self.flag_xs == 0:
-            if data[-1].decode() == '\r':
-                _responses = data.decode().split('\r')
-                for _response in _responses:
-                    self.msg_storage(flag=1, response=_response)
-
-            else:
-                _responses = data.decode().split('\r')
-                for _response in _responses[:-1]:
-                    if not _response:
-                        break
-                    self.msg_storage(flag=1, response=_response)
-
-                self.response_xs = _responses[-1]
-                self.flag_xs = 1
-        else:
-            if data[-1].decode() == '\r':
-                _responses = (self.response_xs.encode() + data).decode().split('\r')
-                for _response in _responses:
-                    self.msg_storage(flag=1, response=_response)
-
-                self.response_xs = ''
-                self.flag_xs = 0
-            else:
-                _responses = (self.response_xs.encode() + data).decode().split('\r')
-                for _response in _responses[:-1]:
-                    if not _response:
-                        break
-                    self.msg_storage(flag=1, response=_response)
-
-                self.response_xs = _responses[-1]
-                self.flag_xs = 1
-
-    def get_from_id(self, msg_id, flag=0):
-        messages = self.c_msg if flag == 0 else self.c_msg_xs
-        for i in range(3):
-            for msg in messages:
-                if msg_id is None:
-                    self.w2t("未能成功获取到 message id...", 0, 10, 'red', tab_name=self.tab_name)
-                if msg_id in msg:
-                    return msg
-            sleep(1)
-        else:
-            return None
-
-    def package(self, cmd):
-        _frame_head = (len(cmd)+6).to_bytes(length=2, byteorder='big')
-        _pkg_head = len(cmd).to_bytes(length=4, byteorder='big')
-        _protocol = int(2).to_bytes(length=1, byteorder='big')
-        _reserved = int(0).to_bytes(length=1, byteorder='big')
-        return _frame_head + _pkg_head + _protocol + _reserved + cmd.encode()
-
-    def package_xs(self, cmd):
-        return f"{dumps(cmd, separators=(',', ':'))}\r".encode()
-
-    def unpackage(self, sock):
-        def to_read(conn):
-            data = conn.recv(MAX_FRAME_SIZE)
-            if data:
-                # print(data)
-                self.get_response(data)
-            else:
-                print('closing', sock)
-                sel.unregister(conn)
-                conn.close()
-
-        sel = selectors.DefaultSelector()
-        sel.register(sock, selectors.EVENT_READ, to_read)
-
-        while self.t_bool:
-            events = sel.select()
-            for key, mask in events:
-                callback = key.data
-                callback(key.fileobj)
-
-    def unpackage_xs(self, sock):
-        def to_read(conn):
-            data = conn.recv(1024)  # Should be ready
-            if data:
-                # print(data)
-                self.get_response_xs(data)
-            else:
-                print('closing', sock)
-                sel.unregister(conn)
-                conn.close()
-
-        sel = selectors.DefaultSelector()
-        sel.register(sock, selectors.EVENT_READ, to_read)
-
-        while self.t_bool:
-            events = sel.select()
-            for key, mask in events:
-                callback = key.data
-                callback(key.fileobj)
-
-    def gen_id(self, command):
-        _now = time()
-        _id = f"{command}-{_now}"
-        return _id
-
-    def excution(self, command, flg=0, **kwargs):
-        if flg == 0:  # for old protocols
-            req = None
-            try:
-                with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8', mode='r') as f_json:
-                    req = load(f_json)
-            except:
-                print(f"暂不支持 {command} 功能，或确认该功能存在...")
-                return 'NOT SUPPORT'
-
-            match command:
-                case 'state.set_tp_mode':
-                    req['data']['tp_mode'] = kwargs['tp_mode']
-                case 'overview.set_autoload':
-                    req['data']['autoload_prj_path'] = kwargs['autoload_prj_path']
-                case 'overview.reload':
-                    req['data']['prj_path'] = kwargs['prj_path']
-                    req['data']['tasks'] = kwargs['tasks']
-                case 'rl_task.pp_to_main' | 'rl_task.run' | 'rl_task.stop':
-                    req['data']['tasks'] = kwargs['tasks']
-                case 'diagnosis.set_params':
-                    req['data']['display_pdo_params'] = kwargs['display_pdo_params']
-                case 'diagnosis.open':
-                    req['data']['open'] = kwargs['open']
-                    req['data']['display_open'] = kwargs['display_open']
-                case _:
-                    pass
-
-            req['id'] = self.gen_id(command)
-            print(f"req = {req}")
-            cmd = dumps(req, separators=(',', ':'))
-            try:
-                self.c.send(self.package(cmd))
-                sleep(2)
-            except Exception as Err:
-                self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
-
-            return req['id']
-
-        else:  # for xService
-            pass

aio/code/data_process/current.py

@@ -79,7 +79,7 @@ def initialization(path, sub, w2t):
     return data_files
 
 
-def current_max(data_files, rcs, trqh, w2t):
+def current_max(data_files, rcs, trq, w2t):
     current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
     for data_file in data_files:
         if data_file.endswith('.data'):
@@ -93,8 +93,8 @@ def current_max(data_files, rcs, trqh, w2t):
         axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
         rca = rcs[axis-1]
 
-        col = df.columns.values[trqh-1]
-        c_max = df[col].max()
+        col = df.columns.values[trq-1]
+        c_max = df[col].abs().max()
 
         scale = 1 if data_file.endswith('.csv') else 1000
         _ = abs(c_max/scale*rca)
@@ -118,7 +118,7 @@ def current_max(data_files, rcs, trqh, w2t):
     return current
 
 
-def current_avg(data_files, rcs, trqh, w2t):
+def current_avg(data_files, rcs, trq, w2t):
     current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
     for data_file in data_files:
         if data_file.endswith('.data'):
@@ -132,7 +132,7 @@ def current_avg(data_files, rcs, trqh, w2t):
         axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
         rca = rcs[axis-1]
 
-        col = df.columns.values[trqh - 1]
+        col = df.columns.values[trq-1]
         c_std = df[col].std()
         c_avg = df[col].mean()
 
@@ -158,7 +158,7 @@ def current_avg(data_files, rcs, trqh, w2t):
     return current
 
 
-def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
+def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
     result = None
     hold = []
     single = []
@@ -194,9 +194,9 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
                 pass
 
     if dur == 0:
-        p_single(wb, single, vel, trq, rpms, w2t)
+        p_single(wb, single, vel, trq, rpms, rrs, w2t)
     else:
-        p_scenario(wb, single, vel, trq, rpms, dur, w2t)
+        p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t)
 
     w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange')
     stop = 0
@@ -237,7 +237,7 @@ 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')
 
 
-def p_single(wb, single, vel, trq, rpms, w2t):
+def p_single(wb, single, vel, trq, rpms, rrs, 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
     # 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
@@ -251,7 +251,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
         set_option("display.precision", 2)
         if data_file.endswith('.data'):
             df = read_csv(data_file, sep='\t')
-            rr = float(wb['统计'].cell(row=2, column=axis+1).value)
+            rr = rrs[axis-1]
             addition = 180 / 3.1415926 * 60 / 360 * rr
         elif data_file.endswith('.csv'):
             df = read_csv(data_file, sep=',', encoding='gbk', header=8)
@@ -268,6 +268,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
         col_names = list(df.columns)
         df_1 = df[col_names[vel-1]].multiply(rpm*addition)
         df_2 = df[col_names[trq-1]].multiply(scale)
+        print(df_1.abs().max())
         df = concat([df_1, df_2], axis=1)
 
         _step = 5 if data_file.endswith('.csv') else 50
@@ -318,7 +319,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
                     cell.value = None
 
 
-def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
+def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
     for data_file in single:
         cycle = 0.001
         axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
@@ -330,7 +331,7 @@ def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
         set_option("display.precision", 2)
         if data_file.endswith('.data'):
             df = read_csv(data_file, sep='\t')
-            rr = float(wb['统计'].cell(row=2, column=axis+1).value)
+            rr = rrs[axis-1]
             addition = 180 / 3.1415926 * 60 / 360 * rr
         elif data_file.endswith('.csv'):
             df = read_csv(data_file, sep=',', encoding='gbk', header=8)
@@ -374,6 +375,7 @@ def get_configs(configfile, w2t):
     _wb = load_workbook(configfile, read_only=True)
     _ws = _wb['Target']
     rcs = []
+    rrs = []
     rpms = []
     for i in range(2, 9):
         try:
@@ -386,18 +388,23 @@ def get_configs(configfile, w2t):
         except:
             rcs.append(0.0)
 
-    return rpms, rcs
+        try:
+            rrs.append(float(_ws.cell(row=2, column=i).value))
+        except:
+            rrs.append(0.0)
+
+    return rpms, rcs, rrs
 
 
 def main(path, sub, dur, vel, trq, trqh, w2t):
     data_files = initialization(path, sub, w2t)
-    rpms, rcs = get_configs(path + '\\configs.xlsx', w2t)
+    rpms, rcs, rrs = get_configs(path + '\\configs.xlsx', w2t)
     if sub == 'max':
-        current_max(data_files, rcs, trqh, w2t)
+        current_max(data_files, rcs, trq, w2t)
     elif sub == 'avg':
-        current_avg(data_files, rcs, trqh, w2t)
+        current_avg(data_files, rcs, trq, w2t)
     elif sub == 'cycle':
-        current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t)
+        current_cycle(dur, data_files, rcs, rrs,  vel, trq, trqh, rpms, w2t)
     else:
         pass
 

aio/code/durable_action/__init__.py

@@ -0,0 +1 @@
+__all__ = ['factory_test']

aio/code/durable_action/factory_test.py

@@ -0,0 +1,279 @@
+from sys import argv
+from os.path import exists, dirname
+from os import scandir
+from paramiko import SSHClient, AutoAddPolicy
+from json import loads
+from time import sleep, time
+import pandas as pd
+from openpyxl import load_workbook
+from math import sqrt
+
+tab_name = 'Durable Action'
+durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx'
+durable_data_velocity_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_velocity.xlsx'
+display_pdo_params = [
+    {"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},
+]
+durable_data_current = {
+    'time': list(range(1, 26)),
+    'axis1': [0 for _ in range(25)],
+    'axis2': [0 for _ in range(25)],
+    'axis3': [0 for _ in range(25)],
+    'axis4': [0 for _ in range(25)],
+    'axis5': [0 for _ in range(25)],
+    'axis6': [0 for _ in range(25)],
+}
+durable_data_velocity = {
+    'time': list(range(1, 26)),
+    'axis1': [0 for _ in range(25)],
+    'axis2': [0 for _ in range(25)],
+    'axis3': [0 for _ in range(25)],
+    'axis4': [0 for _ in range(25)],
+    'axis5': [0 for _ in range(25)],
+    'axis6': [0 for _ in range(25)],
+}
+data_all = [durable_data_current, durable_data_velocity]
+
+
+def traversal_files(path, w2t):
+    if not exists(path):
+        msg = f'数据文件夹{path}不存在，请确认后重试......'
+        w2t(msg, 0, 1, 'red', tab_name=tab_name)
+    else:
+        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
+
+
+def check_files(data_dirs, data_files, w2t):
+    if len(data_dirs) != 0 or len(data_files) != 2:
+        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文件，确认后重新运行！\n1. target.zip\n2.configs.xlsx', 0,
+            10, 'red', tab_name)
+
+    _files = [data_files[0].split('\\')[-1], data_files[1].split('\\')[-1]]
+    _files.sort()
+    if _files != ['configs.xlsx', 'target.zip']:
+        w2t('初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2.configs.xlsx', 0, 10, 'red', tab_name)
+
+    data_files.sort()
+    return data_files
+
+
+def prj_to_xcore(prj_file):
+    ssh = SSHClient()
+    ssh.set_missing_host_key_policy(AutoAddPolicy())
+    ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+    sftp = ssh.open_sftp()
+    sftp.put(prj_file, '/tmp/target.zip')
+    cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
+    cmd += 'chmod 777 -R target/; rm target.zip'
+    ssh.exec_command(cmd)
+
+    cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
+    cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
+    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+    stdin.write('luoshi2019' + '\n')
+    stdin.flush()
+    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+    print(stderr.read().decode())  # 顺便也执行以下stderr
+
+    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
+    cmd = 'cd /home/luoshi/bin/controller/; '
+    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
+    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+    stdin.write('luoshi2019' + '\n')
+    stdin.flush()
+    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+    print(stderr.read().decode())  # 顺便也执行以下stderr
+    ssh.close()
+
+
+def execution(cmd, hr, w2t, **kwargs):
+    _id = hr.execution(cmd, **kwargs)
+    _msg = hr.get_from_id(_id)
+    if not _msg:
+        w2t(f"无法获取{_id}请求的响应信息", 0, 7, 'red', tab_name=tab_name)
+    else:
+        _response = loads(_msg)
+        if not _response:
+            w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name=tab_name)
+        return _response
+
+
+def run_rl(path, config_file, hr, md, w2t):
+    # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
+    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
+    md.trigger_estop()
+    md.reset_estop()
+    md.write_act(False)
+    sleep(1)  # 让曲线彻底关闭
+    _response = execution('state.switch_manual', hr, w2t)
+    _response = execution('state.switch_motor_off', hr, w2t)
+
+    # 2. reload工程后，pp2main，并且自动模式和上电
+    prj_path = 'target/_build/target.prj'
+    _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
+    _response = execution('overview.get_cur_prj', hr, w2t)
+    _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
+    _response = execution('state.switch_auto', hr, w2t)
+    _response = execution('state.switch_motor_on', hr, w2t)
+
+    # 3. 开始运行程序
+    _response = execution('rl_task.run', hr, w2t, tasks=['current'])
+    _t_start = time()
+    while True:
+        if md.read_ready_to_go() == 1:
+            md.write_act(True)
+            break
+        else:
+            if (time() - _t_start) // 20 > 1:
+                w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
+            else:
+                sleep(1)
+
+    # 4. 获取初始数据，周期时间，首次的各轴平均电流值，打开诊断曲线，并执行采集
+    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    _t_start = time()
+    while True:
+        scenario_time = md.read_scenario_time()
+        if float(scenario_time) > 1:
+            w2t(f"场景的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
+            break
+        else:
+            if (time() - _t_start) // 60 > 3:
+                w2t(f"未收到场景的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
+            else:
+                sleep(5)
+    sleep(1)  # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
+    scenario_time = float(md.read_scenario_time())
+    sleep(scenario_time * 0.2)  # 再运行周期的20%即可
+
+    # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
+    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
+    _response = execution('rl_task.stop', hr, w2t, tasks=['current'])
+    sleep(1)  # 保证所有数据均已返回
+    # 7. 保留数据并处理输出
+    get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
+
+    # 8. 继续运行
+    _response = execution('rl_task.run', hr, w2t, tasks=['current'])
+    while True:
+        # 每3分钟，更新一次数据，打开曲线，获取周期内电流，关闭曲线
+        sleep(180)
+        _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+        _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+        sleep(scenario_time + 10)
+        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+        _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
+        # 7. 保留数据并处理输出
+        get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
+
+
+def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
+    _data_list = []
+    for _msg in hr.c_msg:
+        if 'diagnosis.result' in _msg:
+            _data_list.insert(0, loads(_msg))
+    else:
+        _index = 210
+        for _msg in hr.c_msg:
+            if 'diagnosis.result' in _msg:
+                _index = hr.c_msg.index(_msg)
+                break
+        del hr.c_msg[_index:]
+        hr.c_msg_xs.clear()
+
+    # with open('log.txt', 'w', encoding='utf-8') as f_obj:
+    #     for _ in _data_list:
+    #         f_obj.write(f"{_}\n")
+
+    _wb = load_workbook(config_file, read_only=True)
+    _ws = _wb['Target']
+    rcs = []
+    for i in range(6):
+        rcs.append(float(_ws.cell(row=6, column=i + 2).value))
+
+    _d2d_trq = {
+        'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [],
+        'device_servo_trq_feedback_3': [], 'device_servo_trq_feedback_4': [], 'device_servo_trq_feedback_5': [],
+    }
+    _d2d_vel = {
+        'hw_joint_vel_feedback_0': [], 'hw_joint_vel_feedback_1': [], 'hw_joint_vel_feedback_2': [],
+        'hw_joint_vel_feedback_3': [], 'hw_joint_vel_feedback_4': [], 'hw_joint_vel_feedback_5': [],
+    }
+    for line in _data_list:
+        for item in line['data']:
+            for i in range(6):
+                item['value'].reverse()
+                if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback':
+                    _d2d_trq[f'device_servo_trq_feedback_{i}'].extend(item['value'])
+                elif item.get('channel', None) == i and item.get('name', None) == 'hw_joint_vel_feedback':
+                    _d2d_vel[f'hw_joint_vel_feedback_{i}'].extend(item['value'])
+
+        if len(_d2d_trq['device_servo_trq_feedback_0']) / 1000 > scenario_time + 1:
+            _df = pd.DataFrame(_d2d_trq)
+            for i in range(6):
+                _ = sqrt(_df[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}']))
+                del data[0][f"axis{i + 1}"][0]
+                data[0][f"axis{i + 1}"].append(_)
+            _df = pd.DataFrame(data[0])
+            while True:
+                if not hr.durable_lock:
+                    hr.durable_lock = 1
+                    _df.to_excel(durable_data_current_xlsx, index=False)
+                    hr.durable_lock = 0
+                    break
+                else:
+                    sleep(1)
+
+            _df = pd.DataFrame(_d2d_vel)
+            for i in range(6):
+                _ = sqrt(_df[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}']))
+                del data[1][f"axis{i + 1}"][0]
+                data[1][f"axis{i + 1}"].append(_)
+            _df = pd.DataFrame(data[1])
+            while True:
+                if not hr.durable_lock:
+                    hr.durable_lock = 1
+                    _df.to_excel(durable_data_velocity_xlsx, index=False)
+                    hr.durable_lock = 0
+                    break
+                else:
+                    sleep(1)
+            break
+    else:
+        with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj:
+            for _ in _d2d_trq['device_servo_trq_feedback_0']:
+                f_obj.write(f"{_}\n")
+        w2t("采集的数据时间长度不够，需要确认。", 0, 2, 'red', tab_name)
+
+
+def main(path, hr, md, w2t):
+    data_dirs, data_files = traversal_files(path, w2t)
+    config_file, prj_file = check_files(data_dirs, data_files, w2t)
+    prj_to_xcore(prj_file)
+    run_rl(path, config_file, hr, md, w2t)
+
+
+if __name__ == '__main__':
+    main(*argv[1:])

aio/code/openapi.py

@@ -0,0 +1,613 @@
+from json import load, dumps, loads
+from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
+from threading import Thread
+import selectors
+from time import time, sleep
+from os.path import dirname
+from pymodbus.client.tcp import ModbusTcpClient
+from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
+from pymodbus.constants import Endian
+
+MAX_FRAME_SIZE = 1024
+setdefaulttimeout(2)
+current_path = dirname(__file__)
+heartbeat = f'{current_path}/../assets/templates/heartbeat'
+
+
+class ModbusRequest(object):
+    def __init__(self, w2t):
+        super().__init__()
+        self.w2t = w2t
+        self.tab_name = 'openapi'
+        self.host = '192.168.0.160'
+        self.port = 502
+        self.c = ModbusTcpClient(self.host, self.port)
+        self.c.connect()
+
+    def motor_off(self):
+        try:
+            self.c.write_register(40002, 1)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def motor_on(self):
+        try:
+            self.c.write_register(40003, 1)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def trigger_estop(self):
+        try:
+            self.c.write_register(40012, 0)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法触发软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def reset_estop(self):
+        try:
+            self.c.write_register(40012, 1)
+            sleep(0.2)
+            self.c.write_register(40001, 0)
+            sleep(0.2)
+            self.c.write_register(40001, 1)
+            sleep(0.2)
+            self.c.write_register(40001, 0)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def clear_alarm(self):
+        try:
+            self.c.write_register(40000, 1)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法清除告警，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def get_cart_vel(self):
+        try:
+            results = self.c.read_holding_registers(40537, 7)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法读取笛卡尔速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def get_jnt_vel(self):
+        try:
+            results = self.c.read_holding_registers(40579, 7)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法读取关节速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def get_tcp_vel(self):
+        try:
+            results = self.c.read_holding_registers(40607, 7)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法读取TCP速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def get_tcp_mag_vel(self):
+        try:
+            results = self.c.read_holding_registers(40621, 1)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法读取TCP合成速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def write_act(self, number):
+        try:
+            self.c.write_register(41000, number)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法发送执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def read_ready_to_go(self):
+        try:
+            results = self.c.read_holding_registers(41001, 1)
+            return results.registers[0]
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def read_scenario_time(self):
+        try:
+            results = self.c.read_holding_registers(41002, 2)
+            result = BinaryPayloadDecoder.fromRegisters(results.registers, byteorder=Endian.BIG, wordorder=Endian.LITTLE)
+            result = f"{result.decode_32bit_float():.3f}"
+            return result
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def write_stop0(self, number):
+        try:
+            self.c.write_register(41004, number)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法通过IO操作stop0急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def write_speed_max(self, speed):
+        try:
+            builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE)
+            builder.add_32bit_float(float(speed))
+            payload = builder.build()
+            self.c.write_registers(41005, payload, skip_encode=True)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def read_brake_done(self):
+        try:
+            results = self.c.read_holding_registers(41007, 1)
+            return results.registers[0]
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法读取制动已执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def write_axis(self, axis):
+        try:
+            builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE)
+            builder.add_32bit_int(int(axis))
+            payload = builder.to_registers()
+            self.c.write_registers(41008, payload)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def write_probe(self, probe):
+        try:
+            self.c.write_register(41010, probe)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def write_pon(self, pon):  # positive or negative
+        try:
+            self.c.write_register(41011, pon)
+        except Exception as Err:
+            self.w2t(f"{Err}\n无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+
+class HmiRequest(object):
+    def __init__(self, w2t):
+        super().__init__()
+        self.w2t = w2t
+        self.c = None
+        self.c_xs = None
+        self.c_msg = []
+        self.c_msg_xs = []
+        self.flag = 0
+        self.response = ''
+        self.leftover = 0
+        self.flag_xs = 0
+        self.response_xs = ''
+        self.t_bool = True
+        self.tab_name = 'openapi'
+        self.pkg_size = 0
+        self.broke = 0
+        self.half = 0
+        self.half_length = 0
+        self.index = 0
+        self.reset_index = 0
+        self.durable_lock = 0
+
+        self.sock_conn()
+        self.t_heartbeat = Thread(target=self.heartbeat)
+        self.t_heartbeat.daemon = True
+        self.t_heartbeat.start()
+        self.t_unpackage = Thread(target=self.unpackage, args=(self.c,))
+        self.t_unpackage.daemon = True
+        self.t_unpackage.start()
+        self.t_unpackage_xs = Thread(target=self.unpackage_xs, args=(self.c_xs,))
+        self.t_unpackage_xs.daemon = True
+        self.t_unpackage_xs.start()
+
+    def sock_conn(self):
+        # while True:
+        with open(heartbeat, "r", encoding='utf-8') as f_hb:
+            c_state = f_hb.read().strip()
+        if c_state == '0':
+            try:
+                self.c = socket(AF_INET, SOCK_STREAM)
+                self.c.connect(('192.168.0.160', 5050))
+                # self.c.connect(('192.168.84.129', 5050))
+                self.c.setblocking(False)
+                self.c_xs = socket(AF_INET, SOCK_STREAM)
+                self.c_xs.connect(('192.168.0.160', 6666))
+                # self.c_xs.connect(('192.168.84.129', 6666))
+                self.c_xs.setblocking(False)
+
+                self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
+                with open(heartbeat, "w", encoding='utf-8') as f_hb:
+                    f_hb.write('1')
+                md = ModbusRequest(self.w2t)
+                md.reset_estop()
+                md.clear_alarm()
+                md.write_act(False)
+                md.write_probe(False)
+                md.write_axis(1)
+            except Exception as Err:
+                self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
+                with open(heartbeat, "w", encoding='utf-8') as f_hb:
+                    f_hb.write('0')
+
+    def header_check(self, index, data):
+        if index + 8 < len(data):
+            _frame_size = int.from_bytes(data[index:index+2], 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')
+            _reserved = int.from_bytes(data[index + 7:index + 8], byteorder='big')
+
+            if _reserved == 0 and _protocol == 2:
+                return index + 8, _frame_size, _pkg_size
+            else:
+                print(data)
+                # print(f"index = {index}")
+                # print(f"reserve = {_reserved}")
+                # print(f"protocol = {_protocol}")
+                # print("head check 数据有误，需要确认")
+                self.w2t("Header Check: 解包数据有误，需要确认！", 0, 1, 'red', tab_name=self.tab_name)
+        else:
+            self.half_length = len(data) - index
+            self.half = data[index:]
+
+            # print(f"in head check half: {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
+
+    def heartbeat(self):
+        while self.t_bool:
+            _id = self.execution('controller.heart')
+            _flag = '0' if self.get_from_id(_id) is None else '1'
+            print(f"hb = {_flag}", end=' ')
+            print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
+            print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
+            with open(heartbeat, "w", encoding='utf-8') as f_hb:
+                f_hb.write(_flag)
+                if _flag == '0':
+                    self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
+            sleep(2)
+            # with open(f"{current_path}/../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
+            #     for msg in self.c_msg:
+            #         f.write(str(loads(msg)) + '\n')
+
+    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
+        if 'move.monitor' in response:
+            pass
+        elif len(messages) < 20000:
+            messages.insert(0, response)
+        else:
+            messages.insert(0, response)
+            while len(messages) > 20000:
+                messages.pop()
+
+    def get_response(self, data):
+        # 流式获取单次请求的响应
+        if self.broke == 100:
+            # print("*****************************************")
+            # print(f"in get_response if broke == 100 half = {self.half}")
+            _half_1 = self.half
+            _half_2 = data[:8-self.half_length]
+            _full = _half_1 + _half_2
+            # print(f"in get_response if broke == 100 _full = {_full}")
+
+            _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)
+                self.w2t("in get_response: 解包数据有误，需要确认！", 0, 1, 'red', tab_name=self.tab_name)
+
+            self.pkg_size = _pkg_size
+            self.index = 8 - self.half_length
+            # print(f"broke == 100 index = {self.index}")
+            # print(f"broke == 100 INIT pkg size = {self.pkg_size}")
+            # print(f"broke == 100 data = {data}")
+        else:
+            if self.reset_index == 1:
+                self.index = 0
+
+        while self.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.broke == 100:
+                    self.broke = 0
+                else:
+                    self.index, _frame_size, self.pkg_size = self.header_check(self.index, data)
+                    # print(f"broke == 0 index = {self.index-8}")
+                    # print(f"broke == 0 INIT pkg size = {self.pkg_size}")
+                    # print(f"broke == 0 data = {data}")
+                    if self.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
+                if self.pkg_size <= len(data) - self.index:
+                    # 说明剩余部分的数据就在当前data内，没有被分割
+                    self.response = data[self.index:self.index + self.pkg_size].decode()
+                    self.msg_storage(flag=0, response=self.response)
+                    self.index += self.pkg_size
+                    # print(f"in flag=0 if data = {data}")
+                    # print(f"in flag=0 if index = {self.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.response = ''
+                    self.leftover = 0
+                    self.pkg_size = 0
+                    self.reset_index = 0 if self.index < len(data) else 1
+                elif self.pkg_size > len(data) - self.index:
+                    # 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
+                    if self.index+_frame_size-6 <= len(data):
+                        self.response = data[self.index:self.index+_frame_size-6].decode()
+                        self.index += (_frame_size-6)
+                        self.pkg_size -= (_frame_size-6)  # 详见解包原理数据.txt，self.pkg_size
+                        self.reset_index = 0
+
+                        if self.index + 2 < len(data):
+                            self.leftover = int.from_bytes(data[self.index:self.index + 2], byteorder='big')
+                            self.index += 2
+                            self.reset_index = 0
+                        else:
+                            if self.index + 2 == len(data):
+                                self.broke = 1
+                                self.half = data[-2:]
+                                # print(f"flag = 0 encounter broke == 1 - half = {self.half}")
+                            elif self.index + 1 == len(data):
+                                self.broke = 2
+                                self.half = data[-1:]
+                                # print(f"flag = 0 encounter broke == 2 - half = {self.half}")
+                            elif self.index == len(data):
+                                # print('flag = 0 encounter broke == 3')
+                                self.broke = 3
+
+                            self.index += MAX_FRAME_SIZE
+                            self.reset_index = 1
+                            break  # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
+
+                    elif self.index+_frame_size-6 > len(data):
+                        self.response = data[self.index:].decode()
+                        self.pkg_size -= (len(data) - self.index)  # 详见解包原理数据.txt，self.pkg_size
+                        self.leftover = (_frame_size-6-(len(data)-self.index))
+                        self.index += MAX_FRAME_SIZE
+                        self.reset_index = 1
+
+                    # print(f"in flag=0 else data = {data}")
+                    # print(f"in flag=0 else index = {self.index}")
+                    # print(f"in flag=0 else pkg size = {self.pkg_size}")
+                    # print(f"in flag=0 else leftover = {self.leftover}")
+                    # break
+            elif self.flag == 1:
+                # 继续处理之前为接收完的数据，处理完之后将flag重置为0
+                # !!!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!!!
+                if self.broke == 1:
+                    self.index = 0
+                    self.leftover = int.from_bytes(self.half, byteorder='big')
+                    self.broke = 0
+                    # print(f"broke 1 leftover: {self.leftover}")
+                elif self.broke == 2:
+                    self.leftover = int.from_bytes(self.half+data[:1], byteorder='big')
+                    self.index = 1
+                    self.broke = 0
+                    # print(f"broke 2 leftover: {self.leftover}")
+                if self.broke == 3:
+                    self.leftover = int.from_bytes(data[:2], byteorder='big')
+                    # print(f"broke 3 leftover: {self.leftover}")
+                    self.index = 2
+                    self.broke = 0
+                while self.pkg_size > 0:
+                    if self.index + self.leftover <= len(data):
+                        # print(f"in pkg size > 0 loop before if data = {data}")
+                        # print(f"in pkg size > 0 loop before if index = {self.index}")
+                        # print(f"in pkg size > 0 loop before if pkg size = {self.pkg_size}")
+                        # print(f"in pkg size > 0 loop before if leftover = {self.leftover}")
+                        if self.leftover < 0 or self.leftover > 1024:
+                            self.w2t("", 0, 111, 'red')
+                        self.response += data[self.index:self.index + self.leftover].decode()
+                        self.pkg_size -= self.leftover
+                        if self.pkg_size == 0:
+                            self.msg_storage(flag=0, response=self.response)
+                            self.index += self.leftover
+                            self.flag = 0
+                            self.response = ''
+                            self.leftover = 0
+                            self.pkg_size = 0
+                            self.reset_index = 0 if self.index < len(data) else 1
+                            # print(f"in pkg size > 0 loop break if data = {data}")
+                            # print(f"in pkg size > 0 loop break if index = {self.index}")
+                            # print(f"in pkg size > 0 loop break if pkg size = {self.pkg_size}")
+                            # print(f"in pkg size > 0 loop break if leftover = {self.leftover}")
+                            break
+
+                        self.index += self.leftover
+                        if self.index + 2 < len(data):
+                            self.leftover = int.from_bytes(data[self.index:self.index + 2], byteorder='big')
+                            self.index += 2
+                            self.reset_index = 0
+                        else:
+                            # self.leftover = 4096
+                            if self.index + 2 == len(data):
+                                self.broke = 1
+                                self.half = data[-2:]
+                                # print(f"flag = 1 encounter broke == 1 - half = {self.half}")
+                            elif self.index + 1 == len(data):
+                                self.broke = 2
+                                self.half = data[-1:]
+                                # print(f"flag = 1 encounter broke == 2 - half = {self.half}")
+                            elif self.index == len(data):
+                                # print('flag = 1 encounter broke == 3')
+                                self.broke = 3
+
+                            self.index += MAX_FRAME_SIZE
+                            self.reset_index = 1
+                            break  # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
+                        # print(f"in pkg size > 0 loop after if data = {data}")
+                        # print(f"in pkg size > 0 loop after if index = {self.index}")
+                        # print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
+                        # print(f"in pkg size > 0 loop after if leftover = {self.leftover}")
+                        if self.leftover < 0 or self.leftover > 1024:
+                            self.w2t("", 0, 111, 'red')
+                    else:
+                        # print(f"in pkg size > 0 loop before else data = {data}")
+                        # print(f"in pkg size > 0 loop before else index = {self.index}")
+                        # print(f"in pkg size > 0 loop before else pkg size = {self.pkg_size}")
+                        # print(f"in pkg size > 0 loop before else leftover = {self.leftover}")
+                        if self.leftover < 0 or self.leftover > 1024:
+                            self.w2t("", 0, 111, 'red')
+                        self.response += data[self.index:].decode()
+                        self.leftover -= (len(data) - self.index)
+                        self.pkg_size -= (len(data) - self.index)
+                        self.index += MAX_FRAME_SIZE
+                        self.reset_index = 1
+                        # print(f"in pkg size > 0 loop after else data = {data}")
+                        # print(f"in pkg size > 0 loop after else index = {self.index}")
+                        # print(f"in pkg size > 0 loop after else pkg size = {self.pkg_size}")
+                        # print(f"in pkg size > 0 loop after else leftover = {self.leftover}")
+                        if self.leftover < 0 or self.leftover > 1024:
+                            self.w2t("", 0, 111, 'red')
+                        break  # 该data内数据已经处理完毕，需要跳出大循环，通过break和index
+                # else:
+                #     self.msg_storage(flag=0, response=self.response)
+                #     self.flag = 0
+                #     self.response = ''
+                #     self.leftover = 0
+                #     self.pkg_size = 0
+                #     self.index -= 2
+                #     self.reset_index = 0 if (len(data) > self.index > 0) else 1
+
+    def get_response_xs(self, data):
+        if self.flag_xs == 0:
+            if data[-1].decode() == '\r':
+                _responses = data.decode().split('\r')
+                for _response in _responses:
+                    self.msg_storage(flag=1, response=_response)
+
+            else:
+                _responses = data.decode().split('\r')
+                for _response in _responses[:-1]:
+                    if not _response:
+                        break
+                    self.msg_storage(flag=1, response=_response)
+
+                self.response_xs = _responses[-1]
+                self.flag_xs = 1
+        else:
+            if data[-1].decode() == '\r':
+                _responses = (self.response_xs.encode() + data).decode().split('\r')
+                for _response in _responses:
+                    self.msg_storage(flag=1, response=_response)
+
+                self.response_xs = ''
+                self.flag_xs = 0
+            else:
+                _responses = (self.response_xs.encode() + data).decode().split('\r')
+                for _response in _responses[:-1]:
+                    if not _response:
+                        break
+                    self.msg_storage(flag=1, response=_response)
+
+                self.response_xs = _responses[-1]
+                self.flag_xs = 1
+
+    def get_from_id(self, msg_id, flag=0):
+        for i in range(3):
+            messages = self.c_msg if flag == 0 else self.c_msg_xs
+            for msg in messages:
+                if msg_id is None:
+                    return None
+                elif msg_id in msg:
+                    return msg
+            sleep(1)
+        else:
+            return None
+
+    def package(self, cmd):
+        _frame_head = (len(cmd) + 6).to_bytes(length=2, byteorder='big')
+        _pkg_head = len(cmd).to_bytes(length=4, byteorder='big')
+        _protocol = int(2).to_bytes(length=1, byteorder='big')
+        _reserved = int(0).to_bytes(length=1, byteorder='big')
+        return _frame_head + _pkg_head + _protocol + _reserved + cmd.encode()
+
+    def package_xs(self, cmd):
+        return f"{dumps(cmd, separators=(',', ':'))}\r".encode()
+
+    def unpackage(self, sock):
+        def to_read(conn, mask):
+            data = conn.recv(MAX_FRAME_SIZE)
+            if data:
+                # print(data)
+                self.get_response(data)
+            else:
+                print('closing', conn)
+                sel.unregister(conn)
+                conn.close()
+
+        sel = selectors.DefaultSelector()
+        sel.register(sock, selectors.EVENT_READ, to_read)
+
+        while self.t_bool:
+            events = sel.select()
+            for key, mask in events:
+                callback = key.data
+                callback(key.fileobj, mask)
+
+    def unpackage_xs(self, sock):
+        def to_read(conn, mask):
+            data = conn.recv(1024)  # Should be ready
+            if data:
+                # print(data)
+                self.get_response_xs(data)
+            else:
+                print('closing', conn)
+                sel.unregister(conn)
+                conn.close()
+
+        sel = selectors.DefaultSelector()
+        sel.register(sock, selectors.EVENT_READ, to_read)
+
+        while self.t_bool:
+            events = sel.select()
+            for key, mask in events:
+                callback = key.data
+                callback(key.fileobj, mask)
+
+    def gen_id(self, command):
+        _now = time()
+        _id = f"{command}-{_now}"
+        return _id
+
+    def execution(self, command, flg=0, **kwargs):
+        if flg == 0:  # for old protocols
+            req = None
+            try:
+                with open(f'{current_path}/../assets/templates/json/{command}.json', encoding='utf-8',
+                          mode='r') as f_json:
+                    req = load(f_json)
+            except:
+                self.w2t(f"暂不支持 {command} 功能，或确认该功能存在...", 0, 1, 'red', tab_name=self.tab_name)
+
+            match command:
+                case 'state.set_tp_mode':
+                    req['data']['tp_mode'] = kwargs['tp_mode']
+                case 'overview.set_autoload':
+                    req['data']['autoload_prj_path'] = kwargs['autoload_prj_path']
+                case 'overview.reload':
+                    req['data']['prj_path'] = kwargs['prj_path']
+                    req['data']['tasks'] = kwargs['tasks']
+                case 'rl_task.pp_to_main' | 'rl_task.run' | 'rl_task.stop':
+                    req['data']['tasks'] = kwargs['tasks']
+                case 'diagnosis.set_params':
+                    req['data']['display_pdo_params'] = kwargs['display_pdo_params']
+                case 'diagnosis.open':
+                    req['data']['open'] = kwargs['open']
+                    req['data']['display_open'] = kwargs['display_open']
+                case 'register.set_value':
+                    req['data']['name'] = kwargs['name']
+                    req['data']['type'] = kwargs['type']
+                    req['data']['bias'] = kwargs['bias']
+                    req['data']['value'] = kwargs['value']
+                case _:
+                    pass
+
+            req['id'] = self.gen_id(command)
+            # print(f"req = {req}")
+            cmd = dumps(req, separators=(',', ':'))
+            try:
+                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)
+
+            return req['id']
+
+        else:  # for xService
+            pass