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

@@ -8,3 +8,4 @@ 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

@@ -132,7 +132,7 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 
 > **需要注意的点**
 
-1. 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之后，再进行自动化测试
+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
@@ -140,6 +140,8 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 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
 
@@ -462,3 +464,50 @@ v0.1.9.1(2024/07/12)
 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, 9, 1),
-    prodvers=(0, 1, 9, 1),
+    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', '0.1.9.1 (2024-07-12)'),
+        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', '0.1.9.1 (2024-07-12)')])
+        StringStruct('ProductVersion', '0.2.0.0 (2024-07-17)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/vers

@@ -1 +1 @@
-0.1.9.1 @ 07/12/2024
+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):
@@ -44,6 +75,10 @@ class App(customtkinter.CTk):
         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")
@@ -70,7 +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: 0.1.9.1\nDate: 07/12/2024", 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')
         # =====================================================================
@@ -79,6 +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)
@@ -114,7 +150,7 @@ 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.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
@@ -126,7 +162,7 @@ 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')
@@ -136,6 +172,23 @@ class App(customtkinter.CTk):
                 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')
@@ -153,6 +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)
@@ -166,7 +266,7 @@ class App(customtkinter.CTk):
         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':
@@ -181,16 +281,25 @@ class App(customtkinter.CTk):
         # 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.hr.t_bool = False
                     sleep(3)
@@ -203,13 +312,21 @@ class App(customtkinter.CTk):
 
         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()
@@ -347,7 +473,7 @@ 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':
+        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()
@@ -453,12 +579,24 @@ class App(customtkinter.CTk):
                     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, 6: do_current.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:
@@ -473,6 +611,9 @@ class App(customtkinter.CTk):
         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！", )
 

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

@@ -2,18 +2,6 @@ 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.execution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
@@ -21,7 +9,8 @@ def execution(cmd, hr, w2t, **kwargs):
         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)
-        validate_resp(_id, _response, w2t)
+        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
 
 

aio/code/automatic_test/do_brake.py

@@ -101,18 +101,6 @@ def prj_to_xcore(prj_file):
     ssh.close()
 
 
-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.execution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
@@ -120,7 +108,8 @@ def execution(cmd, hr, w2t, **kwargs):
         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)
-        validate_resp(_id, _response, w2t)
+        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
 
 
@@ -227,15 +216,16 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                 _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):
+                _t_start = time()
+                while True:
                     if md.read_ready_to_go() == 1:
                         md.write_act(True)
                         break
                     else:
-                        sleep(1)
+                        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:
-                    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')
-
+                            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)

aio/code/automatic_test/do_current.py

@@ -86,18 +86,6 @@ def prj_to_xcore(prj_file):
     ssh.close()
 
 
-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.execution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
@@ -105,7 +93,8 @@ def execution(cmd, hr, w2t, **kwargs):
         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)
-        validate_resp(_id, _response, w2t)
+        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
 
 
@@ -120,16 +109,14 @@ def data_proc_regular(path, filename, channel, scenario_time):
                 for item in data:
                     item['value'].reverse()
                     if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
-                        item['value'].reverse()
                         _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
-                        item['value'].reverse()
                         _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.data'
+            _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:
@@ -178,37 +165,37 @@ def data_proc_regular(path, filename, channel, scenario_time):
             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}.data'
+            _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}.data'
+            _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}.data'
+            _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}.data'
+            _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}.data'
+            _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}.data'
+            _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:
@@ -227,7 +214,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             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.data'
+            _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
 
@@ -248,7 +235,7 @@ def data_proc_inertia(path, filename, channel):
         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.data'
+        _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
         df.to_csv(_filename, sep='\t', index=False)
 
 
@@ -308,6 +295,8 @@ def run_rl(path, hr, md, loadsel, w2t):
         _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)
 
@@ -334,19 +323,19 @@ def run_rl(path, hr, md, loadsel, w2t):
 
         # 4. 开始运行程序，单轴运行15s
         _response = execution('rl_task.run', hr, w2t, tasks=['current'])
-        for i in range(3):
+        _t_start = time()
+        while True:
             if md.read_ready_to_go() == 1:
                 md.write_act(True)
-                sleep(1)
-                md.write_act(False)
                 break
             else:
-                sleep(1)
+                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:
-            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')
+                    sleep(1)
 
         # 5. 打开诊断曲线，并执行采集
-        sleep(7)  # 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
+        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},
@@ -365,7 +354,9 @@ def run_rl(path, hr, md, loadsel, w2t):
         ]
         _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
         scenario_time = 0
-        if number < 6 or number > 8:
+        if number < 6:
+            sleep(35)
+        elif number > 8:
             sleep(15)
         else:
             _t_start = time()

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

@@ -1,4 +1,4 @@
-from json import load, dumps
+from json import load, dumps, loads
 from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
 from threading import Thread
 import selectors
@@ -11,6 +11,7 @@ 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):
@@ -27,22 +28,19 @@ class ModbusRequest(object):
         try:
             self.c.write_register(40002, 1)
         except Exception as Err:
-            self.w2t(f"{Err}")
-            self.w2t("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)
+            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}")
-            self.w2t("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)
+            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}")
-            self.w2t("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)
+            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:
@@ -54,66 +52,50 @@ class ModbusRequest(object):
             sleep(0.2)
             self.c.write_register(40001, 0)
         except Exception as Err:
-            self.w2t(f"{Err}")
-            self.w2t("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)
+            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}")
-            self.w2t("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)
+            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)
-            print(f"cart vel: {results.registers}")
-
         except Exception as Err:
-            self.w2t(f"{Err}")
-            self.w2t("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)
+            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)
-            print(f"joint vel: {results.registers}")
-
         except Exception as Err:
-            self.w2t(f"{Err}")
-            self.w2t("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)
+            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)
-            print(f"tcp vel: {results.registers}")
-
         except Exception as Err:
-            self.w2t(f"{Err}")
-            self.w2t("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)
+            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)
-            print(f"tcp mag: {results.registers}")
-
         except Exception as Err:
-            self.w2t(f"{Err}")
-            self.w2t("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)
+            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}")
-            self.w2t("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)
+            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}")
-            self.w2t("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)
+            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:
@@ -122,15 +104,13 @@ class ModbusRequest(object):
             result = f"{result.decode_32bit_float():.3f}"
             return result
         except Exception as Err:
-            self.w2t(f"{Err}")
-            self.w2t("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)
+            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}")
-            self.w2t("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)
+            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:
@@ -139,16 +119,14 @@ class ModbusRequest(object):
             payload = builder.build()
             self.c.write_registers(41005, payload, skip_encode=True)
         except Exception as Err:
-            self.w2t(f"{Err}")
-            self.w2t("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)
+            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}")
-            self.w2t("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)
+            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:
@@ -157,22 +135,19 @@ class ModbusRequest(object):
             payload = builder.to_registers()
             self.c.write_registers(41008, payload)
         except Exception as Err:
-            self.w2t(f"{Err}")
-            self.w2t("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)
+            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}")
-            self.w2t("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)
+            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}")
-            self.w2t("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)
+            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):
@@ -196,6 +171,7 @@ class HmiRequest(object):
         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)
@@ -210,7 +186,7 @@ class HmiRequest(object):
 
     def sock_conn(self):
         # while True:
-        with open(f"{current_path}/../../assets/templates/heartbeat", "r", encoding='utf-8') as f_hb:
+        with open(heartbeat, "r", encoding='utf-8') as f_hb:
             c_state = f_hb.read().strip()
         if c_state == '0':
             try:
@@ -224,7 +200,7 @@ class HmiRequest(object):
                 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:
+                with open(heartbeat, "w", encoding='utf-8') as f_hb:
                     f_hb.write('1')
                 md = ModbusRequest(self.w2t)
                 md.reset_estop()
@@ -234,7 +210,7 @@ class HmiRequest(object):
                 md.write_axis(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:
+                with open(heartbeat, "w", encoding='utf-8') as f_hb:
                     f_hb.write('0')
 
     def header_check(self, index, data):
@@ -272,18 +248,21 @@ class HmiRequest(object):
             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(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+            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(1.5)
-            # with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
+            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 len(messages) < 20000:
+        if 'move.monitor' in response:
+            pass
+        elif len(messages) < 20000:
             messages.insert(0, response)
         else:
             messages.insert(0, response)
@@ -590,7 +569,7 @@ class HmiRequest(object):
         if flg == 0:  # for old protocols
             req = None
             try:
-                with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8',
+                with open(f'{current_path}/../assets/templates/json/{command}.json', encoding='utf-8',
                           mode='r') as f_json:
                     req = load(f_json)
             except: