1. [current: do_current.py] 增加了 hw_sensor_trq_feedback 曲线的采集

2. [current: current.py] 增加了 hw_sensor_trq_feedback 曲线数据的处理，以及修改了之前数据处理的逻辑
3. [current: clibs.py] 新增可手动修改连接 IP 地址的功能，存储在 assets/templates/ipaddr.txt 中，默认是 192.168.0.160

.gitignore

@@ -7,6 +7,8 @@ aio/venv
 aio/__pycache__/
 aio/code/automatic_test/__pycache__/
 aio/code/data_process/__pycache__/
-aio/assets/templates/c_msg.log
 aio/code/durable_action/__pycache__/
 aio/assets/templates/durable/
+aio/code/commons/__pycache__/
+aio/assets/templates/logs/
+dial_gauge/results.xlsx

aio/README.md

@@ -31,9 +31,10 @@
 
 ### 四、打包方法
 
+打包时，只需要修改 clibs.py 中的 PREFIX 即可，调试时再修改回来
+
 ```
-pyinstaller.exe -F --version-file file_version_info.txt -i .\icon.ico .\aio.py -p .\brake.py -p .\current.py
+pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory . --upx-dir "D:/Syncthing/common/A_Program/upx-4.2.4-win64/" --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --add-data "D:\Syncthing\company\D-测试工作\X-自动化测试\01-Gitea\aio\aio\assets\templates:templates" --version-file ../assets/file_version_info.txt -i ../assets/templates/icon.ico ../code/aio.py -p ../code/data_process/brake.py -p ../code/data_process/iso.py -p ../code/data_process/current.py -p ../code/data_process/wavelogger.py -p ../code/commons/openapi.py -p ../code/commons/clibs.py -p ../code/automatic_test/btn_functions.py -p ../code/automatic_test/do_current.py -p ../code/automatic_test/do_brake.py -p ../code/durable_action/factory_test.py
-pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --version-file ..\assets\file_version_info.txt -i ..\assets\icon.ico ..\code\aio.py -p ..\code\data_process\brake.py -p ..\code\data_process\iso.py -p ..\code\data_process\current.py -p ..\code\data_process\wavelogger.py
 ```
 
 ---
@@ -145,6 +146,7 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 10. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行
 11. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停
 12. 工程文件可以手动重命名，按照机型存档，或者导出用于自动化测试
+13. （可废弃，但未验证）自动化测试前，需要将HMI程序速度设置为100%并同步至控制器，也即左下方速度滑条滑动至最大
 
 #### 6) 电机电流自动化测试
 
@@ -273,7 +275,7 @@ v0.1.5.1(2024/06/12)
 5. [requirements.txt] 新增必要库配置文件
 
 v0.1.5.2(2024/06/13)
-1. [brake.py/aio.py]: 将sto修改为estop
+1. [brake.py/aio.py]： 将sto修改为estop
 2. [brake.py] 修改了速度计算逻辑，新版本的vel列数据遵循如下规则，av = vel * 180 / pi，根据av再计算speed
 3. [brake.py] 将threshold修改为常量50
 4. [brake.py] 提高了输出提示语的明确性，删除了不必要的省略号
@@ -447,18 +449,18 @@ v0.1.7.6(2024/07/04)
 3. [APIs: openapi.py]
    - 增加了modbus读取浮点数的功能
    - 优化了get_from_id的逻辑
-4. [autotest.xml]: 新增了scenario_time只写寄存器
+4. [autotest.xml]： 新增了scenario_time只写寄存器
 
 v0.1.8.0(2024/07/04)
-1. [APIs: do_current.py]: 完成了堵转电流和惯量负载电机电流的采集和处理，至此，电机电流的自动化工作基本完成
+1. [APIs: do_current.py]： 完成了堵转电流和惯量负载电机电流的采集和处理，至此，电机电流的自动化工作基本完成
 
 v0.1.8.1(2024/07/05)
-1. [APIs: do_brake.py]: 完成了制动性能测试框架的搭建，可以顺利执行完整的测试程序，但是未实现急停和数据处理
+1. [APIs: do_brake.py]： 完成了制动性能测试框架的搭建，可以顺利执行完整的测试程序，但是未实现急停和数据处理
-2. [APIs: aio.py]: 修改了do_brake主函数的参数
+2. [APIs: aio.py]： 修改了do_brake主函数的参数
 3. 增加工程文件target.zip
 
 v0.1.8.2(2024/07/08)
-1. [APIs: do_brake.py]: 完成了制动性能测试逻辑，只不过制动信号传递生效延迟不可控，暂时pending
+1. [APIs: do_brake.py]： 完成了制动性能测试逻辑，只不过制动信号传递生效延迟不可控，暂时pending
 2. [APIs: do_current.py]: 修改曲线数据时序，主要是value data取反即可，解决了波形锯齿明细的问题
 3. [APIs: openapi.py]: modbus新增了触发急停信号的寄存器 stop0_signal，并重写了解除急停，socket新增了register.set_value协议
 
@@ -559,3 +561,77 @@ v0.2.0.3(2024/07/27)
 4. [APIsL openapi.py]
    - 心跳修改为 1 s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳
    - 新增 diagnosis.save 命令，但是执行时，有问题，待解决
+
+v0.2.0.4(2024/07/30)
+1. [APIs: do_brake.py]: 修复制动数据处理过程中，只取曲线的最后 240 个数据
+2. [APIs: aio.py]: 判定版本处，删除 self.destroy()，因为该语句会导致异常发生
+   - 心跳修改为 1s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳
+   - 新增 diagnosis.save 命令，但是执行时，有问题，待解决
+
+v0.2.0.5(2024/07/31)
+此版本改动较大，公共部分做了规整，放置到新建文件夹 commons 当中，并所有自定义模块引入 logging 模块，记录重要信息
+1. [t_change_ui: clibs.py]
+   - 调整代码组织结构，新增模块，将公共函数以及类合并入此
+   - 将一些常量放入该模块
+   - 引入logging/concurrent_log_handler模块，并作初始化操作，供其他模块使用，按50M切割，最多保留10份
+   - prj_to_xcore函数设置工程名部分重写，修复了多个prj工程可能不能执行的问题，并优化输入密码的部分
+2. [t_change_ui: openapi.py]
+   - 完全重写了 get_from_id 函数，使更精准
+   - 在 msg_storage 函数中，增加 logger，保留所有响应消息
+   - 删除 heartbeat 函数中的日志保存功能部分
+   - 心跳再次修改为 2s...
+3. [t_change_ui: aio.py]
+   - 增加了日志初始化部分
+   - detect_network 函数中修改重新实例化HR间隔为 4s，对应心跳
+   - create_plot 函数中增加 close('all')，解决循环画图不销毁占用内存的问题
+4. [t_change_ui: do_brake.py]
+   - 使用一直打开曲线的方法规避解决了 OOM 的问题，同时修改数据处理方式，只取最后 12s
+   - 优化 ssh 输入密码的部分
+5. [t_change_ui: do_current.py]
+   - 保持电流，只取最后 15s
+   - 优化 ssh 输入密码的部分
+6. [t_change_ui: all the part]: 引入 commons 包，并定制了 logging 输出，后续持续优化
+7. [APIs: btn_functions.py]： 重写了告警输出函数，从日志中拿数据
+8. [APIs: aio.py]： 将日志框输出的内容，也保存至日志文件
+9. [APIs: do_brake.py]
+   - 修改获取初始速度的逻辑，只获取configs文件中配置的时间内的速度
+   - 新增 configs 参数 single_brake，可针对特定条件做测试
+10. [APIs: all]: 添加了 logger.setLevel(INFO)，只有添加这个，单个模块内才生效
+
+v0.2.0.6(2024/08/09)
+1. [t_change_ui: all files]
+   - 修改了 logger 的实现
+   - 尤其是 clibs.py，使用日志字典，重写了日志记录的功能
+
+v0.2.0.7(2024/08/16)
+1. [t_change_ui: clibs.py]：修改了 hmi.log 的日志等级为 WARNING
+2. [t_change_ui: openapi.py]：根据第一步的修改，将此模块日志记录等级调整至 warning
+3. [current: current.py]
+   - README新增了整机自动化测试的前置条件，即滑块需要滑动到最右端
+   - current修改了文件校验的逻辑
+4. [t_change_ui: aio.py]
+   - 修改变量命名，widgit -> widget
+   - 根据第 5 点变动，同步修改代码实现
+   - 调整 UI 界面代码顺序，使之符合 layout.xlsx 描述
+   - 将版本检查的部分单独封装成一个函数，在 detect_network 线程初始化时调用一次，并且程序启动也不会受到阻塞
+5. [t_change_ui: layout.xlsx]：修改了组件布局方式
+
+
+> 前两个修改点，修复的是网络提示的颜色不正确问题，因为日志将 textbox 中的内容也作为 debug 信息写入 hmi.log 了
+
+v0.2.0.8(2024/08/20)
+1. [t_change_ui: clibs.py]
+   - 从外部拷贝 icon.ico 文件到 templates 目录
+   - 在 assets 目录新建 logs 目录，存放日志文件，并增加了相应的逻辑保证正常执行
+2. [t_change_ui: aio.py]：增加 App 窗口图标代码
+3. [t_change_ui: openapi.py]：将重复输出的网络错误提示，从 textbox 中转移到 debug.log 日志文件中
+4. [main: openapi.py]：新增 rl_task.set_run_params 指令支持，可设定速度滑块以及是否重复运行
+5. [main: do_brake/do_current/factory_test.py]：在初始化运动时增加 `clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)` 
+
+v0.2.0.9(2024/10/09)
+1. [main: do_brake.py] 采集完成后，pending 3s，使速度完全将为 0
+
+v0.2.1.0(2024/12/05)
+1. [current: do_current.py] 增加了 hw_sensor_trq_feedback 曲线的采集
+2. [current: current.py] 增加了 hw_sensor_trq_feedback 曲线数据的处理，以及修改了之前数据处理的逻辑
+3. [current: clibs.py] 新增可手动修改连接 IP 地址的功能，存储在 assets/templates/ipaddr.txt 中，默认是 192.168.0.160

aio/assets/file_version_info.txt

@@ -6,8 +6,8 @@ VSVersionInfo(
   ffi=FixedFileInfo(
     # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
     # Set not needed items to zero 0.
-    filevers=(0, 2, 0, 3),
+    filevers=(0, 2, 1, 0),
-    prodvers=(0, 2, 0, 3),
+    prodvers=(0, 2, 1, 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', '0.2.0.3 (2024-07-27)'),
+        StringStruct('FileVersion', '0.2.1.0 (2024-12-05)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.2.0.3 (2024-07-27)')])
+        StringStruct('ProductVersion', '0.2.1.0 (2024-12-05)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/requirements.txt

@@ -1,9 +1,9 @@
-openpyxl==3.1.2
+concurrent_log_handler==0.9.25
-pdfplumber==0.11.0
 customtkinter==5.2.2
-Jinja2==3.1.4
+matplotlib==3.9.1
-lxml==5.2.2
+numpy==2.0.1
-numpy==1.26.4
+openpyxl==3.1.2
 pandas==2.2.2
-pillow==10.3.0
+paramiko==3.4.0
-pyinstaller==6.7.0
+pdfplumber==0.11.0
+pymodbus==3.6.9

aio/assets/templates/ipaddr.txt

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

aio/assets/templates/json/rl_task.set_run_params.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.set_run_params",
+  "data": {
+	"loop_mode": true,
+	"override": 1.0
+  }
+}

aio/assets/vers

@@ -1 +1 @@
-0.2.0.2 @ 07/26/2024
+0.2.1.0 @ 12/05/2024

aio/code/__init__.py

@@ -1 +0,0 @@
-__all__ = ['automatic_test', 'data_process']

aio/code/aio.py

@@ -1,70 +1,57 @@
 import tkinter
-from os.path import exists, dirname
+from os.path import exists
-from os import getcwd
+from os import getcwd, remove
 from threading import Thread
 import tkinter.messagebox
 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 data_process import brake, current, iso, wavelogger
-from automatic_test import *
+from automatic_test import do_current, do_brake, btn_functions
-from durable_action import *
+from durable_action import factory_test
-import openapi
+from commons import openapi, clibs
-import matplotlib.pyplot as plt
+from matplotlib.pyplot import rcParams, figure, subplots_adjust, close
 from matplotlib import use
 from pandas import DataFrame, read_excel
 
+with open(clibs.log_data_hmi, 'w') as _hmi, open(clibs.log_data_debug, 'w', encoding='utf-8') as _debug:
+    for i in range(1, 11):
+        try:
+            remove(f'{clibs.log_data_hmi}.{i}')
+        except FileNotFoundError:
+            pass
+logger = clibs.log_prod
+logger.info("日志文件初始化完成...")
+
 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_current_max_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current_max.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, 19)),
-    'axis1': [0 for _ in range(18)],
-    'axis2': [0 for _ in range(18)],
-    'axis3': [0 for _ in range(18)],
-    'axis4': [0 for _ in range(18)],
-    'axis5': [0 for _ in range(18)],
-    'axis6': [0 for _ in range(18)],
-}
-durable_data_current_max = {
-    'time': list(range(1, 19)),
-    'axis1': [0 for _ in range(18)],
-    'axis2': [0 for _ in range(18)],
-    'axis3': [0 for _ in range(18)],
-    'axis4': [0 for _ in range(18)],
-    'axis5': [0 for _ in range(18)],
-    'axis6': [0 for _ in range(18)],
-}
 btns_func = {
     'start': {'btn': '', 'row': 1, 'text': '开始运行'},
     'check': {'btn': '', 'row': 2, 'text': '检查参数'},
     'log': {'btn': '', 'row': 3, 'text': '保存日志'},
     'end': {'btn': '', 'row': 4, 'text': '结束运行'},
 }
-widgits_dp = {
+widgets_dp = {
-    'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
+    'path': {'label': '', 'entry': '', 'row': 0, 'col': 1, 'text': '数据文件夹路径'},
-    'dur': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '周期时间'},
+    'dur': {'label': '', 'entry': '', 'row': 1, 'col': 9, 'text': '周期时间'},
-    'vel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 4, 'text': ''},
+    'vel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': ''},
-    'trq': {'label': '', 'optionmenu': '', 'row': 2, 'col': 6, 'text': ''},
+    'trq': {'label': '', 'optionmenu': '', 'row': 1, 'col': 3, 'text': ''},
-    'trqh': {'label': '', 'optionmenu': '', 'row': 2, 'col': 8, 'text': ''},
+    'trqh': {'label': '', 'optionmenu': '', 'row': 1, 'col': 5, 'text': ''},
-    'estop': {'label': '', 'optionmenu': '', 'row': 2, 'col': 10, 'text': ''},
+    'estop': {'label': '', 'optionmenu': '', 'row': 1, 'col': 7, 'text': ''},
 }
-widgits_at = {
+widgets_at = {
-    'path': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '数据文件夹路径'},
+    'path': {'label': '', 'entry': '', 'row': 1, 'col': 1, 'text': '数据文件夹路径'},
-    'loadsel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 1, 'text': '负载信息'},
+    'loadsel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 0, 'text': '负载信息'},
 }
-widgits_da = {
+widgets_da = {
-    'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
+    'path': {'label': '', 'entry': '', 'row': 0, 'col': 1, 'text': '数据文件夹路径'},
-    'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '指标选择'},
+    'curvesel': {'label': '', 'optionmenu': '', 'row': 0, 'col': 0, 'text': '指标选择'},
 }
 
 
@@ -79,24 +66,28 @@ class App(customtkinter.CTk):
         self.flg = 0
         self.df_copy = None
         self.old_curve = None
+        self.myThread = None
         # =====================================================================
         # configure window
         self.title("AIO - All in one automatic toolbox")
-        # self.iconbitmap('./icon.ico')
+        self.wm_iconbitmap(clibs.app_icon)
         self.geometry("1200x550+30+30")
         self.protocol("WM_DELETE_WINDOW", self.func_end_callback)
         self.config(bg='#E9E9E9')
-        self.grid_rowconfigure(6, weight=1)
+        self.grid_rowconfigure(0, weight=1)
-        self.grid_columnconfigure((1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13), weight=1)
+        self.grid_rowconfigure(1, weight=19)
+        self.grid_columnconfigure(0, weight=1)
+        self.grid_columnconfigure(1, weight=19)
         self.minsize(1200, 550)
         # =====================================================================
-        # create frame sidebar(left)
+        # 1. create frame sidebar(left)
-        self.frame_func = customtkinter.CTkFrame(self, width=120, corner_radius=0, fg_color='#E9E9E9')
+        # =====================================================================
-        self.frame_func.grid(row=0, column=0, rowspan=7, sticky='nsew')
+        self.frame_func = customtkinter.CTkFrame(self, width=200, corner_radius=0, fg_color='#E9E9E9')
-        # create AIO logo
+        self.frame_func.grid(row=0, column=0, rowspan=2, sticky='nsew')
+        # 1.1 create AIO logo
         self.label_logo = customtkinter.CTkLabel(self.frame_func, text="Rokae AIO", height=60, font=customtkinter.CTkFont(family="Segoe Script Bold", size=24, weight="bold"), text_color="#4F4F4F")
         self.label_logo.grid(row=0, column=0, padx=15, pady=15)
-        # create buttons
+        # 1.2 create buttons
         for func in btns_func:
             btns_func[func]['btn'] = customtkinter.CTkButton(self.frame_func, corner_radius=10, text=btns_func[func]['text'], fg_color='#4F4F4F', font=self.my_font)
             btns_func[func]['btn'].grid(row=btns_func[func]['row'], column=0, sticky='new', padx=10, pady=10, ipadx=5, ipady=5)
@@ -104,95 +95,104 @@ class App(customtkinter.CTk):
         btns_func['check']['btn'].configure(command=lambda: self.thread_it(self.func_check_callback))
         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
+        # 1.3 create version info
-        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.3\nDate: 07/27/2024", font=self.my_font, text_color="#4F4F4F")
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.1.0\nDate: 12/05/2024", 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')
         # =====================================================================
-        # create tabviews
+        # 2. create tabviews
-        self.tabview = customtkinter.CTkTabview(self, width=10000, height=100, anchor='w', fg_color='#E9E9E9', border_width=2, border_color='#CDCDCD', command=self.tabview_click)
+        # =====================================================================
+        self.tabview = customtkinter.CTkTabview(self, anchor='w', fg_color='#E9E9E9', width=1000, height=45, border_width=2, border_color='#CDCDCD', command=self.tabview_click)
         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
+        # 2.1 create widgets of tab "Data Process"
+        # 2.1.1 create main menu
         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)
+        self.menu_main_dp.grid(row=0, column=0, sticky='we', padx=5, pady=10)
         self.menu_main_dp.set("Start Here!")
-        # create sub menu for data process
+        # 2.2.2 create sub menu
         self.menu_sub_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'))
-        # create main menu for automatic test
+        # 2.2.3 create labels, entries and option menus
+        for widget in widgets_dp:
+            if widget == 'path':
+                self.tabview.tab('Data Process').columnconfigure(12, weight=1)
+                widgets_dp[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f'{widget.upper()}', font=self.my_font)
+                widgets_dp[widget]['label'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col'], sticky='e', pady=10)
+                widgets_dp[widget]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), placeholder_text=widgets_dp[widget]['text'], font=self.my_font)
+                widgets_dp[widget]['entry'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
+                widgets_dp[widget]['entry'].configure(state='disabled')
+            elif widget in ['dur']:
+                widgets_dp[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widget.upper()}", font=self.my_font)
+                widgets_dp[widget]['label'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col'], sticky='e', pady=5)
+                widgets_dp[widget]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=self.w_param, placeholder_text=f"{widgets_dp[widget]['text']}", font=self.my_font)
+                widgets_dp[widget]['entry'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col']+1, padx=(5, 10), pady=5, sticky='w')
+                widgets_dp[widget]['entry'].configure(state='disabled')
+            elif widget in ['vel', 'trq', 'trqh', 'estop']:
+                widgets_dp[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widget.upper()}", font=self.my_font)
+                widgets_dp[widget]['label'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col'], sticky='e', pady=5)
+                widgets_dp[widget]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), button_color='#708090', fg_color='#778899', values=["1", "2", "3", "4", "5", "6", "7"], width=self.w_param, font=self.my_font)
+                widgets_dp[widget]['optionmenu'].grid(row=widgets_dp[widget]['row'], column=widgets_dp[widget]['col']+1, padx=(5, 10), pady=5, sticky='w')
+                widgets_dp[widget]['optionmenu'].configure(state='disabled')
+        # =====================================================================
+        # 2.2 create widgets of tab "Automatic Test"
+        # 2.2.1 create main menu
         self.menu_main_at = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), values=["init", "brake", "current"], font=self.my_font, text_color='yellow', button_color='red', fg_color='green', command=self.func_main_callback)
-        self.menu_main_at.grid(row=1, column=1, sticky='we', padx=5, pady=5)
+        self.menu_main_at.grid(row=0, column=0, sticky='we', padx=5, pady=5)
         self.menu_main_at.set("Start Here!")
-        # For data process tab START =====================================================================
+        # 2.2.2 create segment buttons
-        # create widgits_dp
-        for widgit in widgits_dp:
-            if widgit == 'path':
-                widgits_dp[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f'{widgit.upper()}', font=self.my_font)
-                widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=10)
-                widgits_dp[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=670, placeholder_text=widgits_dp[widgit]['text'], font=self.my_font)
-                widgits_dp[widgit]['entry'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
-                widgits_dp[widgit]['entry'].configure(state='disabled')
-            elif widgit in ['dur']:
-                widgits_dp[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widgit.upper()}", font=self.my_font)
-                widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=5)
-                widgits_dp[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=self.w_param, placeholder_text=f"{widgits_dp[widgit]['text']}", font=self.my_font)
-                widgits_dp[widgit]['entry'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col']+1, padx=(5, 10), pady=5, sticky='w')
-                widgits_dp[widgit]['entry'].configure(state='disabled')
-            elif widgit in ['vel', 'trq', 'trqh', 'estop']:
-                widgits_dp[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widgit.upper()}", font=self.my_font)
-                widgits_dp[widgit]['label'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col'], sticky='e', pady=5)
-                widgits_dp[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), button_color='#708090', fg_color='#778899', values=["1", "2", "3", "4", "5", "6", "7"], width=self.w_param, font=self.my_font)
-                widgits_dp[widgit]['optionmenu'].grid(row=widgits_dp[widgit]['row'], column=widgits_dp[widgit]['col']+1, padx=(5, 10), pady=5, sticky='w')
-                widgits_dp[widgit]['optionmenu'].configure(state='disabled')
-        # For data process tab END =====================================================================
-        # 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=(65, 10), pady=(10, 10), sticky="ew")
+        self.seg_button.grid(row=0, column=1, 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
+        # 2.2.3 create progress bar
         self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
-        self.progressbar.grid(row=5, column=1, padx=5, pady=5, sticky="ew")
+        self.progressbar.grid(row=2, column=0, padx=5, pady=5, sticky="ew")
-        self.progressbar.configure(mode="determinnate", width=10)
+        self.progressbar.configure(mode="determinnate", width=self.w_param)
         self.progressbar.start()
-        # create widgits_at
+        # 2.2.4 create labels, entries and option menus
-        for widgit in widgits_at:
+        for widget in widgets_at:
-            if widgit == 'path':
+            if widget == 'path':
-                widgits_at[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Automatic Test'), text=f'{widgit.upper()}', font=self.my_font)
+                self.tabview.tab('Automatic Test').columnconfigure(12, weight=1)
-                widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', padx=(20, 5), pady=5)
+                widgets_at[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Automatic Test'), text=f'{widget.upper()}', font=self.my_font)
-                widgits_at[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), width=670, placeholder_text=widgits_at[widgit]['text'], font=self.my_font)
+                widgets_at[widget]['label'].grid(row=widgets_at[widget]['row'], column=widgets_at[widget]['col'], sticky='e', padx=(20, 5), pady=5)
-                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')
+                widgets_at[widget]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), placeholder_text=widgets_at[widget]['text'], font=self.my_font)
-                widgits_at[widgit]['entry'].configure(state='disabled')
+                widgets_at[widget]['entry'].grid(row=widgets_at[widget]['row'], column=widgets_at[widget]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
-            elif widgit in ['loadsel', ]:
+                widgets_at[widget]['entry'].configure(state='disabled')
-                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)
+            elif widget in ['loadsel', ]:
-                widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we')
+                widgets_at[widget]['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'].set(widgits_at[widgit]['text'])
+                widgets_at[widget]['optionmenu'].grid(row=widgets_at[widget]['row'], column=widgets_at[widget]['col'], padx=5, pady=5, sticky='we')
-                widgits_at[widgit]['optionmenu'].configure(state='disabled')
+                widgets_at[widget]['optionmenu'].set(widgets_at[widget]['text'])
-        # For automatic test tab END =====================================================================
+                widgets_at[widget]['optionmenu'].configure(state='disabled')
-        # For durable_action tab START =====================================================================
+        # =====================================================================
-        # create progress bar
+        # 2.3 create widgets of tab "Durable Action"
+        # 2.3.1 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.grid(row=1, column=0, 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:
+        # 2.3.2 create labels, entries and option menus
-            if widgit == 'path':
+        for widget in widgets_da:
-                widgits_da[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Durable Action'), text=f'{widgit.upper()}', font=self.my_font)
+            if widget == 'path':
-                widgits_da[widgit]['label'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], sticky='e', padx=(20, 5), pady=10)
+                self.tabview.tab('Durable Action').columnconfigure(12, weight=1)
-                widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font)
+                widgets_da[widget]['label'] = customtkinter.CTkLabel(self.tabview.tab('Durable Action'), text=f'{widget.upper()}', 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')
+                widgets_da[widget]['label'].grid(row=widgets_da[widget]['row'], column=widgets_da[widget]['col'], sticky='e', padx=(20, 5), pady=10)
-            elif widgit in ['curvesel']:
+                widgets_da[widget]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), placeholder_text=widgets_da[widget]['text'], font=self.my_font)
-                widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=['device_servo_trq_feedback', '[max] device_servo_trq_feedback'], font=self.my_font)
+                widgets_da[widget]['entry'].grid(row=widgets_da[widget]['row'], column=widgets_da[widget]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we')
-                widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we')
+            elif widget in ['curvesel']:
-                widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
+                widgets_da[widget]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=['device_servo_trq_feedback', '[max] device_servo_trq_feedback'], font=self.my_font)
-        # For durable_action tab END =====================================================================
+                widgets_da[widget]['optionmenu'].grid(row=widgets_da[widget]['row'], column=widgets_da[widget]['col'], padx=5, pady=10, sticky='we')
-        # create textbox
+                widgets_da[widget]['optionmenu'].set(widgets_da[widget]['text'])
+        # =====================================================================
+        # 3. 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')
+        self.textbox.grid(row=1, column=1, columnspan=13, ipadx=10, ipady=10, padx=10, pady=(5, 10), sticky='nsew')
         self.textbox.configure(state='normal')
+    # functions below ↓ ----------------------------------------------------------------------------------------
+
+    def version_check(self):
         # =====================================================================
         # version check
         cur_vers = self.label_version.cget("text").replace('\n', ' @ ').replace("Vers: ", '').replace("Date: ", '')
@@ -202,37 +202,35 @@ class App(customtkinter.CTk):
             if cur_vers.strip() != new_vers.strip():
                 msg = f"""当前版本：{cur_vers}\n更新版本：{new_vers}\n\n请及时前往钉盘更新~~~"""
                 tkinter.messagebox.showwarning(title="版本更新", message=msg)
-                self.destroy()
         except:
             tkinter.messagebox.showwarning(title="版本更新", message="连接服务器失败，无法确认当前是否是最新版本......")
-    # functions below ↓ ----------------------------------------------------------------------------------------
 
-    def create_canvas(self, figure):
+    def create_canvas(self, _figure):
-        self.canvas = FigureCanvasTkAgg(figure, self.tabview.tab('Durable Action'))
+        self.canvas = FigureCanvasTkAgg(_figure, self.tabview.tab('Durable Action'))
         self.canvas.draw()
         self.canvas.get_tk_widget().configure(height=600)
-        self.canvas.get_tk_widget().grid(row=3, column=1, rowspan=3, columnspan=13, padx=20, pady=10, sticky="nsew")
+        self.canvas.get_tk_widget().grid(row=2, column=0, columnspan=13, padx=10, pady=10, sticky="nsew")
 
     def create_plot(self):
-        plt.rcParams['font.sans-serif'] = ['SimHei']
+        rcParams['font.sans-serif'] = ['SimHei']
-        plt.rcParams['axes.unicode_minus'] = False
+        rcParams['axes.unicode_minus'] = False
-        plt.rcParams['figure.dpi'] = 100
+        rcParams['figure.dpi'] = 100
-        plt.rcParams['font.size'] = 14
+        rcParams['font.size'] = 14
-        plt.rcParams['lines.marker'] = 'o'
+        rcParams['lines.marker'] = 'o'
 
-        curvesel = widgits_da['curvesel']['optionmenu'].get()
+        curvesel = widgets_da['curvesel']['optionmenu'].get()
         while True:
             if not self.hr.durable_lock:
                 self.hr.durable_lock = 1
                 if curvesel == 'device_servo_trq_feedback':
-                    df = read_excel(durable_data_current_xlsx)
+                    df = read_excel(clibs.durable_data_current_xlsx)
                     _title = 'device_servo_trq_feedback'
                 elif curvesel == '[max] device_servo_trq_feedback':
                     _title = '[max] device_servo_trq_feedback'
-                    df = read_excel(durable_data_current_max_xlsx)
+                    df = read_excel(clibs.durable_data_current_max_xlsx)
                 else:
                     _title = 'device_servo_trq_feedback'
-                    df = read_excel(durable_data_current_xlsx)
+                    df = read_excel(clibs.durable_data_current_xlsx)
                 self.hr.durable_lock = 0
                 break
             else:
@@ -241,13 +239,14 @@ class App(customtkinter.CTk):
         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()
+            self.old_curve = widgets_da['curvesel']['optionmenu'].get()
-            figure = plt.figure(frameon=True, facecolor='#E9E9E9')
+            close('all')
-            plt.subplots_adjust(left=0.04, right=0.98, bottom=0.1, top=0.95)
+            _figure = figure(frameon=True, facecolor='#E9E9E9')
+            subplots_adjust(left=0.04, right=0.98, bottom=0.1, top=0.95)
 
             _ = df['time'].to_list()
             _xticks = [str(_i) for _i in _]
-            ax = figure.add_subplot(1, 1, 1)
+            ax = _figure.add_subplot(1, 1, 1)
             ax.set_xticks(range(len(_xticks)))
             ax.set_xticklabels(_xticks)
 
@@ -258,7 +257,7 @@ class App(customtkinter.CTk):
             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', rot=30)
 
-            self.create_canvas(figure)
+            self.create_canvas(_figure)
 
     def thread_it(self, func, *args):
         """ 将函数打包进线程 """
@@ -273,7 +272,7 @@ 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(heartbeat, 'r', encoding='utf-8') as f_h:
+        with open(clibs.heartbeat, 'r', encoding='utf-8') as f_h:
             c_state = f_h.read().strip()
 
         if c_state == '0' and value != '功能切换':
@@ -288,12 +287,13 @@ class App(customtkinter.CTk):
         # self.tabview.configure(state='normal')
 
     def detect_network(self):
-        df = DataFrame(durable_data_current)
+        self.version_check()
-        df.to_excel(durable_data_current_xlsx, index=False)
+        df = DataFrame(clibs.durable_data_current)
-        df = DataFrame(durable_data_current_max)
+        df.to_excel(clibs.durable_data_current_xlsx, index=False)
-        df.to_excel(durable_data_current_max_xlsx, index=False)
+        df = DataFrame(clibs.durable_data_current_max)
+        df.to_excel(clibs.durable_data_current_max_xlsx, index=False)
 
-        with open(heartbeat, "w", encoding='utf-8') as f_hb:
+        with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
             f_hb.write('0')
         self.hr = openapi.HmiRequest(self.write2textbox)
         self.md = openapi.ModbusRequest(self.write2textbox)
@@ -302,14 +302,14 @@ class App(customtkinter.CTk):
             if self.tabview.get() == 'Durable Action':
                 self.create_plot()
 
-            with open(heartbeat, 'r', encoding='utf-8') as f_hb:
+            with open(clibs.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)
+                    sleep(4)
                     del self.hr
                     self.hr = openapi.HmiRequest(self.write2textbox)
             sleep(3)
@@ -331,135 +331,136 @@ class App(customtkinter.CTk):
         tab_name = self.tabview.get()
         self.textbox.delete(index1='1.0', index2='end')
         if tab_name == 'Data Process':
-            for widgit in widgits_dp:
+            for widget in widgets_dp:
-                if widgit in ['path', 'dur']:
+                if widget in ['path', 'dur']:
-                    widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
+                    widgets_dp[widget]['label'].configure(text=f'{widget.upper()}', text_color='black')
-                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
+                    widgets_dp[widget]['entry'].delete(0, tkinter.END)
-                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
+                    widgets_dp[widget]['entry'].configure(placeholder_text=widgets_dp[widget]['text'], state='normal')
-                    widgits_dp[widgit]['entry'].configure(state='disabled')
+                    widgets_dp[widget]['entry'].configure(state='disabled')
-                elif widgit in ['vel', 'trq', 'trqh', 'estop']:
+                elif widget in ['vel', 'trq', 'trqh', 'estop']:
-                    widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color="black")
+                    widgets_dp[widget]['label'].configure(text=f'{widget.upper()}', text_color="black")
-                    widgits_dp[widgit]['optionmenu'].configure(state='normal')
+                    widgets_dp[widget]['optionmenu'].configure(state='normal')
-                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='disabled')
+                    widgets_dp[widget]['optionmenu'].configure(state='disabled')
 
             self.menu_sub_dp.grid_forget()
         elif tab_name == 'Automatic Test':
-            for widgit in widgits_at:
+            for widget in widgets_at:
-                if widgit in ['path', ]:
+                if widget in ['path', ]:
-                    widgits_at[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
+                    widgets_at[widget]['label'].configure(text=f'{widget.upper()}', text_color='black')
-                    widgits_at[widgit]['entry'].delete(0, tkinter.END)
+                    widgets_at[widget]['entry'].delete(0, tkinter.END)
-                    widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                    widgets_at[widget]['entry'].configure(placeholder_text=widgets_at[widget]['text'], state='normal')
-                    widgits_at[widgit]['entry'].configure(state='disabled')
+                    widgets_at[widget]['entry'].configure(state='disabled')
-                elif widgit in ['loadsel']:
+                elif widget in ['loadsel']:
-                    widgits_at[widgit]['optionmenu'].configure(state='normal')
+                    widgets_at[widget]['optionmenu'].configure(state='normal')
-                    widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                    widgets_at[widget]['optionmenu'].set(widgets_at[widget]['text'])
-                    widgits_at[widgit]['optionmenu'].configure(state='disabled')
+                    widgets_at[widget]['optionmenu'].configure(state='disabled')
             self.seg_button.set("功能切换")
         elif tab_name == 'Durable Action':
-            for widgit in widgits_da:
+            for widget in widgets_da:
-                if widgit in ['path', ]:
+                if widget in ['path', ]:
-                    widgits_da[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
+                    widgets_da[widget]['label'].configure(text=f'{widget.upper()}', text_color='black')
-                    widgits_da[widgit]['entry'].delete(0, tkinter.END)
+                    widgets_da[widget]['entry'].delete(0, tkinter.END)
-                    widgits_da[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                    widgets_da[widget]['entry'].configure(placeholder_text=widgets_at[widget]['text'], state='normal')
-                elif widgit in ['curvesel']:
+                elif widget in ['curvesel']:
-                    widgits_da[widgit]['optionmenu'].configure(state='normal')
+                    widgets_da[widget]['optionmenu'].configure(state='normal')
-                    widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
+                    widgets_da[widget]['optionmenu'].set(widgets_da[widget]['text'])
 
     def func_main_callback(self, func_name):
         self.initialization()
         tab_name = self.tabview.get()
         if tab_name == 'Data Process':
             if func_name == 'brake':
-                for widgit in widgits_dp:
+                for widget in widgets_dp:
-                    if widgit in ['path']:
+                    if widget in ['path']:
-                        widgits_dp[widgit]['label'].configure(text_color='red')
+                        widgets_dp[widget]['label'].configure(text_color='red')
-                        widgits_dp[widgit]['entry'].configure(state='normal')
+                        widgets_dp[widget]['entry'].configure(state='normal')
-                    elif widgit in ['vel', 'trq', 'estop']:
+                    elif widget in ['vel', 'trq', 'estop']:
-                        widgits_dp[widgit]['label'].configure(text_color="red")
+                        widgets_dp[widget]['label'].configure(text_color="red")
-                        widgits_dp[widgit]['optionmenu'].configure(state='normal')
+                        widgets_dp[widget]['optionmenu'].configure(state='normal')
             elif func_name == 'current':
                 self.menu_sub_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), values=["max", "avg", "cycle"], font=self.my_font, button_color='red', fg_color='green', command=self.func_sub_callback)
-                self.menu_sub_dp.grid(row=2, column=1, sticky='we', padx=5, pady=5)
+                self.menu_sub_dp.grid(row=1, column=0, sticky='we', padx=5, pady=5)
                 self.menu_sub_dp.set("--select--")
                 self.menu_sub_dp.configure(text_color='yellow')
 
             elif func_name == 'iso' or func_name == 'wavelogger':
-                for widgit in widgits_dp:
+                for widget in widgets_dp:
-                    if widgit in ['path']:
+                    if widget in ['path']:
-                        widgits_dp[widgit]['label'].configure(text_color='red')
+                        widgets_dp[widget]['label'].configure(text_color='red')
-                        widgits_dp[widgit]['entry'].configure(state='normal')
+                        widgets_dp[widget]['entry'].configure(state='normal')
             else:
                 self.initialization()
                 self.menu_main_dp.set("Start Here!")
         elif tab_name == 'Automatic Test':
             if func_name == 'brake':
-                for widgit in widgits_at:
+                for widget in widgets_at:
-                    if widgit in ['path',]:
+                    if widget in ['path',]:
-                        widgits_at[widgit]['label'].configure(text_color='red')
+                        widgets_at[widget]['label'].configure(text_color='red')
-                        widgits_at[widgit]['entry'].delete(0, tkinter.END)
+                        widgets_at[widget]['entry'].delete(0, tkinter.END)
-                        widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                        widgets_at[widget]['entry'].configure(placeholder_text=widgets_at[widget]['text'], state='normal')
-                        widgits_at[widgit]['entry'].configure(state='normal')
+                        widgets_at[widget]['entry'].configure(state='normal')
-                    elif widgit in ['loadsel', ]:
+                    elif widget in ['loadsel', ]:
-                        widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                        widgets_at[widget]['optionmenu'].set(widgets_at[widget]['text'])
-                        widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
+                        widgets_at[widget]['optionmenu'].configure(state='normal', text_color='red')
             elif func_name == 'current':
-                for widgit in widgits_at:
+                for widget in widgets_at:
-                    if widgit in ['path',]:
+                    if widget in ['path',]:
-                        widgits_at[widgit]['label'].configure(text_color='red')
+                        widgets_at[widget]['label'].configure(text_color='red')
-                        widgits_at[widgit]['entry'].delete(0, tkinter.END)
+                        widgets_at[widget]['entry'].delete(0, tkinter.END)
-                        widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                        widgets_at[widget]['entry'].configure(placeholder_text=widgets_at[widget]['text'], state='normal')
-                        widgits_at[widgit]['entry'].configure(state='normal')
+                        widgets_at[widget]['entry'].configure(state='normal')
-                    elif widgit in ['loadsel', ]:
+                    elif widget in ['loadsel', ]:
-                        widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                        widgets_at[widget]['optionmenu'].set(widgets_at[widget]['text'])
-                        widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
+                        widgets_at[widget]['optionmenu'].configure(state='normal', text_color='red')
             else:
                 self.initialization()
                 self.menu_main_at.set("Start Here!")
 
     def func_sub_callback(self, func_name):
         if func_name == "max" or func_name == "avg":
-            for widgit in widgits_dp:
+            for widget in widgets_dp:
-                if widgit in ['path']:
+                if widget in ['path']:
-                    widgits_dp[widgit]['label'].configure(text_color='red')
+                    widgets_dp[widget]['label'].configure(text_color='red')
-                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
+                    widgets_dp[widget]['entry'].delete(0, tkinter.END)
-                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
+                    widgets_dp[widget]['entry'].configure(placeholder_text=widgets_dp[widget]['text'], state='normal')
-                    widgits_dp[widgit]['entry'].configure(state='normal')
+                    widgets_dp[widget]['entry'].configure(state='normal')
-                elif widgit in ['dur']:
+                elif widget in ['dur']:
-                    widgits_dp[widgit]['label'].configure(text_color='black')
+                    widgets_dp[widget]['label'].configure(text_color='black')
-                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
+                    widgets_dp[widget]['entry'].delete(0, tkinter.END)
-                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
+                    widgets_dp[widget]['entry'].configure(placeholder_text=widgets_dp[widget]['text'], state='normal')
-                    widgits_dp[widgit]['entry'].configure(state='disabled')
+                    widgets_dp[widget]['entry'].configure(state='disabled')
-                elif widgit in ['vel', 'trqh', 'estop']:
+                elif widget in ['vel', 'trqh', 'estop']:
-                    widgits_dp[widgit]['label'].configure(text_color='black')
+                    widgets_dp[widget]['label'].configure(text_color='black')
-                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='disabled')
+                    widgets_dp[widget]['optionmenu'].configure(state='disabled')
-                elif widgit in ['trq']:
+                elif widget in ['trq']:
-                    widgits_dp[widgit]['label'].configure(text_color='red')
+                    widgets_dp[widget]['label'].configure(text_color='red')
-                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='normal')
+                    widgets_dp[widget]['optionmenu'].configure(state='normal')
         elif func_name == 'cycle':
-            for widgit in widgits_dp:
+            for widget in widgets_dp:
-                if widgit in ['path', 'dur']:
+                if widget in ['path', 'dur']:
-                    color = 'blue' if widgit == 'dur' else 'red'
+                    color = 'blue' if widget == 'dur' else 'red'
-                    widgits_dp[widgit]['label'].configure(text_color=color)
+                    widgets_dp[widget]['label'].configure(text_color=color)
-                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
+                    widgets_dp[widget]['entry'].delete(0, tkinter.END)
-                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
+                    widgets_dp[widget]['entry'].configure(placeholder_text=widgets_dp[widget]['text'], state='normal')
-                    widgits_dp[widgit]['entry'].configure(state='normal')
+                    widgets_dp[widget]['entry'].configure(state='normal')
-                elif widgit in ['vel', 'trq', 'trqh']:
+                elif widget in ['vel', 'trq', 'trqh']:
-                    color = 'blue' if widgit == 'trqh' else 'red'
+                    color = 'blue' if widget == 'trqh' else 'red'
-                    widgits_dp[widgit]['label'].configure(text_color=color)
+                    widgets_dp[widget]['label'].configure(text_color=color)
-                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='normal')
+                    widgets_dp[widget]['optionmenu'].configure(state='normal')
-                elif widgit in ['estop']:
+                elif widget in ['estop']:
-                    widgits_dp[widgit]['label'].configure(text_color="black")
+                    widgets_dp[widget]['label'].configure(text_color="black")
-                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgets_dp[widget]['optionmenu'].set('1')
-                    widgits_dp[widgit]['optionmenu'].configure(state='disabled')
+                    widgets_dp[widget]['optionmenu'].configure(state='disabled')
 
     def write2textbox(self, text, wait=0, exitcode=0, color='blue', tab_name='Data Process'):
         self.textbox.tag_add(color, 'insert', 'end')
         self.textbox.tag_config(tagName=color, foreground=color)
         tab_name_cur = self.tabview.get()
+        logger.info(text)
 
         if tab_name == tab_name_cur:
             if wait != 0:
@@ -508,10 +509,10 @@ class App(customtkinter.CTk):
         if tab_name == 'Data Process':
             func_name = self.menu_main_dp.get()
             if func_name == 'brake':
-                path = widgits_dp['path']['entry'].get().strip()
+                path = widgets_dp['path']['entry'].get().strip()
-                vel = widgits_dp['vel']['optionmenu'].get()
+                vel = widgets_dp['vel']['optionmenu'].get()
-                trq = widgits_dp['trq']['optionmenu'].get()
+                trq = widgets_dp['trq']['optionmenu'].get()
-                estop = widgits_dp['estop']['optionmenu'].get()
+                estop = widgets_dp['estop']['optionmenu'].get()
 
                 c1 = exists(path)
                 c2 = True if len({vel, trq, estop}) == 3 else False
@@ -521,11 +522,11 @@ class App(customtkinter.CTk):
                     return 0, 0
             # =======================================================
             elif func_name == 'current':
-                path = widgits_dp['path']['entry'].get().strip()
+                path = widgets_dp['path']['entry'].get().strip()
-                dur = widgits_dp['dur']['entry'].get().strip()
+                dur = widgets_dp['dur']['entry'].get().strip()
-                vel = widgits_dp['vel']['optionmenu'].get()
+                vel = widgets_dp['vel']['optionmenu'].get()
-                trq = widgits_dp['trq']['optionmenu'].get()
+                trq = widgets_dp['trq']['optionmenu'].get()
-                trqh = widgits_dp['trqh']['optionmenu'].get()
+                trqh = widgets_dp['trqh']['optionmenu'].get()
                 sub = self.menu_sub_dp.get()
 
                 c1 = exists(path)
@@ -544,14 +545,14 @@ class App(customtkinter.CTk):
                     return 0, 0
             # =======================================================
             elif func_name == 'iso':
-                path = widgits_dp['path']['entry'].get().strip()
+                path = widgets_dp['path']['entry'].get().strip()
                 if exists(path):
                     return 3, path
                 else:
                     return 0, 0
             # =======================================================
             elif func_name == 'wavelogger':
-                path = widgits_dp['path']['entry'].get().strip()
+                path = widgets_dp['path']['entry'].get().strip()
                 if exists(path):
                     return 4, path
                 else:
@@ -562,8 +563,8 @@ class App(customtkinter.CTk):
         elif tab_name == 'Automatic Test':
             func_name = self.menu_main_at.get()
             if func_name == 'brake':
-                path = widgits_at['path']['entry'].get().strip()
+                path = widgets_at['path']['entry'].get().strip()
-                loadsel = widgits_at['loadsel']['optionmenu'].get()
+                loadsel = widgets_at['loadsel']['optionmenu'].get()
                 c1 = exists(path)
                 c2 = loadsel in ['tool100', 'tool66', 'tool33']
                 if c1 and c2:
@@ -571,8 +572,8 @@ class App(customtkinter.CTk):
                 else:
                     return 0, 0
             elif func_name == 'current':
-                path = widgits_at['path']['entry'].get().strip()
+                path = widgets_at['path']['entry'].get().strip()
-                loadsel = widgits_at['loadsel']['optionmenu'].get()
+                loadsel = widgets_at['loadsel']['optionmenu'].get()
                 c1 = exists(path)
                 c2 = loadsel in ['tool100', 'inertia']
                 if c1 and c2:
@@ -582,8 +583,8 @@ class App(customtkinter.CTk):
             else:
                 return 0, 0
         elif tab_name == 'Durable Action':
-            path = widgits_da['path']['entry'].get().strip()
+            path = widgets_da['path']['entry'].get().strip()
-            curvesel = widgits_da['curvesel']['optionmenu'].get()
+            curvesel = widgets_da['curvesel']['optionmenu'].get()
             c1 = exists(path)
             c2 = curvesel in ['device_servo_trq_feedback', '[max] device_servo_trq_feedback']
             if c1 and c2:
@@ -621,10 +622,10 @@ class App(customtkinter.CTk):
 
     def pre_warning(self):
         if self.tabview.get() == 'Durable Action':
-            df = DataFrame(durable_data_current)
+            df = DataFrame(clibs.durable_data_current)
-            df.to_excel(durable_data_current_xlsx, index=False)
+            df.to_excel(clibs.durable_data_current_xlsx, index=False)
-            df = DataFrame(durable_data_current_max)
+            df = DataFrame(clibs.durable_data_current_max)
-            df.to_excel(durable_data_current_max_xlsx, index=False)
+            df.to_excel(clibs.durable_data_current_max_xlsx, index=False)
 
         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

aio/code/automatic_test/__init__.py

@@ -1 +0,0 @@
-__all__ = ['btn_functions', 'do_brake', 'do_current']

aio/code/automatic_test/btn_functions.py

@@ -1,61 +1,55 @@
-from json import loads
 from sys import argv
+from commons import clibs
 
-
+tab_name = clibs.tab_names['at']
-def execution(cmd, hr, w2t, **kwargs):
+logger = clibs.log_prod
-    _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 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')
+    w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
 
 
 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')
+    w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
 
 
 def get_state(hr, w2t):
     # 获取机器状态
-    _response = execution('state.get_state', hr, w2t)
+    _response = clibs.execution('state.get_state', hr, w2t, tab_name)
     stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
     for component, state in _response['data'].items():
-        w2t(f"{stat_desc[component]}: {state}", tab_name='Automatic Test')
+        w2t(f"{stat_desc[component]}: {state}", tab_name=tab_name)
 
     # 获取设备伺服信息
-    _response = execution('device.get_params', hr, w2t)
+    _response = clibs.execution('device.get_params', hr, w2t, tab_name)
     dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'}
     dev_vers = {}
     for device in _response['data']['devices']:
         dev_vers[device['type']] = device['version']
     for i in sorted(dev_desc.keys()):
-        w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name='Automatic Test')
+        w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name=tab_name)
 
     # 设置示教器模式
-    _response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
+    _response = clibs.execution('state.set_tp_mode', hr, w2t, tab_name, tp_mode='without')
 
 
 def warning_info(hr, w2t):
-    for msg in hr.c_msg:
+    for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
-        if 'alarm' in msg.lower():
+        log_name = clibs.log_data_hmi + postfix
-            w2t(str(loads(msg)), tab_name='Automatic Test')
+        try:
-    for msg in hr.c_msg_xs:
+            with open(log_name, 'r', encoding='utf-8') as f_log:
-        if 'alarm' in msg.lower():
+                for line in f_log:
-            w2t(str(loads(msg)), tab_name='Automatic Test')
+                    if 'alarm' in line:
+                        w2t(line.strip(), tab_name=tab_name)
+        except FileNotFoundError:
+            pass
 
 
 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')
+        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)
     # func: get_state/
     match func:
         case 'trigger_estop':

aio/code/automatic_test/do_brake.py

@@ -1,30 +1,14 @@
 from time import sleep, time, strftime, localtime
 from sys import argv
-from os import scandir, mkdir
+from os import mkdir
-from os.path import exists
 from paramiko import SSHClient, AutoAddPolicy
 from json import loads
 from openpyxl import load_workbook
-import pandas
+from pandas import DataFrame, concat
+from commons import clibs
 
-RADIAN = 57.3  # 180 / 3.1415926
+tab_name = clibs.tab_names['at']
-tab_name = 'Automatic Test'
+logger = clibs.log_prod
-
-
-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)
-    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(path, loadsel, data_dirs, data_files, w2t):
@@ -72,51 +56,11 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
         w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name)
 
 
-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
-
-    cmd = 'cd /home/luoshi/bin/controller/; '
-    cmd += 'sudo mv projects/target/_build/*.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)
-    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)
-        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:
+    for data in curve_data[-240:]:  # 保留最后12s的数据
         dict_results = data['data']
         for item in dict_results:
             try:
@@ -129,19 +73,18 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
                 _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'])
-        if len(_d2d_trq['device_servo_trq_feedback']) / 1000 > 10:
-            break
 
-    df1 = pandas.DataFrame.from_dict(_d2d_vel)
+    df1 = DataFrame.from_dict(_d2d_vel)
-    df2 = pandas.DataFrame.from_dict(_d2d_trq)
+    df2 = DataFrame.from_dict(_d2d_trq)
-    df3 = pandas.DataFrame.from_dict(_d2d_stop)
+    df3 = DataFrame.from_dict(_d2d_stop)
-    df = pandas.concat([df1, df2, df3], axis=1)
+    df = 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, result_dirs, w2t):
     _count = 0
+    _total = 63
     display_pdo_params = [
         {"name": "hw_joint_vel_feedback", "channel": 0},
         {"name": "hw_joint_vel_feedback", "channel": 1},
@@ -161,6 +104,9 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
     ws = wb['Target']
     write_diagnosis = float(ws.cell(row=3, column=10).value)
     get_init_speed = float(ws.cell(row=4, column=10).value)
+    single_brake = str(ws.cell(row=5, column=10).value)
+    logger.info(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}")
+
     if ws.cell(row=1, column=1).value == 'positive':
         md.write_pon(1)
     elif ws.cell(row=1, column=1).value == 'negative':
@@ -168,15 +114,26 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
     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', tab_name)
 
-    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
     for condition in result_dirs:
         _reach = condition.split('_')[0].removeprefix('reach')
         _load = condition.split('_')[1].removeprefix('load')
         _speed = condition.split('_')[2].removeprefix('speed')
-        # if _speed != '100' or _reach != '100':
+
-        #     continue
+        # for single condition test
+        _single_axis = 0
+        if single_brake != '0':
+            _total = 3
+            _single_axis = int(single_brake.split('-')[0])
+            if _reach != single_brake.split('-')[1] or _load != single_brake.split('-')[2] or _speed != single_brake.split('-')[3]:
+                continue
+
         for axis in range(1, 4):
+            # for single condition test
+            if _single_axis != 0 and _single_axis != axis:
+                continue
+
             md.write_axis(axis)
             speed_max = 0
             if axis == 3 and _reach != '100':
@@ -188,7 +145,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                 _count += 1
                 this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
                 prj_path = 'target/_build/target.prj'
-                w2t(f"[{this_time} | {_count}/63] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
+                w2t(f"[{this_time} | {_count}/{_total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
 
                 # 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()
@@ -219,16 +176,16 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                     cmd += f'sudo sed -i "/VelSet/i {_rl_tool}" projects/target/_build/brake/main.mod; '
                     stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
                     stdin.write('luoshi2019' + '\n')
-                    stdin.flush()
+                    stdout.read().decode()  # 需要read一下才能正常执行
-                    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+                    stderr.read().decode()
-                    print(stderr.read().decode())  # 顺便也执行以下stderr
 
                     # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
-                    _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                    clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
-                    _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
+                    clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
-                    _response = execution('state.switch_auto', hr, w2t)
+                    clibs.execution('state.switch_auto', hr, w2t, tab_name)
-                    _response = execution('state.switch_motor_on', hr, w2t)
+                    clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
-                    _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
+                    clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
+                    clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
                     _t_start = time()
                     while True:
                         if md.read_ready_to_go() == 1:
@@ -239,23 +196,26 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                                 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. 打开诊断曲线，并执行采集，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
+                # 4. 找出最大速度，传递给RL程序，最后清除相关记录
-                    sleep(get_init_speed)  # 获取实际最大速度，可通过configs.xlsx配置
+                    sleep(get_init_speed+5)  # 冗余5s，指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置
-                    _response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
+                    clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['brake'])
-                    # sleep(1)
                     # 找出最大速度
                     _c_msg = hr.c_msg.copy()
+                    _number = 0
                     for _msg in _c_msg:
+                        if _number > get_init_speed*20:  # 最开始回零点的时候，二轴速度可以达到最大值，实际摆动时，某一方向可能达不到
+                            break
                         if 'diagnosis.result' in _msg:
+                            _number += 1
                             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':
-                                    _ = RADIAN * sum(item['value']) / len(item['value'])
+                                    _ = clibs.RADIAN * sum(item['value']) / len(item['value'])
                                     if ws.cell(row=1, column=1).value == 'positive':
                                         speed_max = max(_, speed_max)
                                     elif ws.cell(row=1, column=1).value == 'negative':
                                         speed_max = min(_, speed_max)
-                    print(f"speed max = {speed_max}")
+                    logger.info(f"speed max = {speed_max}")
                     speed_max = abs(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:
@@ -264,8 +224,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                     md.write_speed_max(speed_max)
 
                     hr.c_msg_xs.clear()
-                    if len(hr.c_msg) > 240:
+                    if len(hr.c_msg) > 270:
-                        del hr.c_msg[240:]
+                        del hr.c_msg[270:]
 
                     if speed_max < 10:
                         md.clear_alarm()
@@ -278,11 +238,11 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                 md.reset_estop()  # 其实没必要
                 md.clear_alarm()
 
-                _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
-                _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
+                clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
-                _response = execution('state.switch_auto', hr, w2t)
+                clibs.execution('state.switch_auto', hr, w2t, tab_name)
-                _response = execution('state.switch_motor_on', hr, w2t)
+                clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
-                _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
+                clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
                 for i in range(3):
                     if md.read_ready_to_go() == 1:
                         md.write_act(1)
@@ -297,7 +257,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                 _t_start = time()
                 while True:
                     if md.read_brake_done() == 1:
-                        sleep(1)  # 保证速度归零
+                        sleep(4)  # 保证速度归零
                         md.write_probe(0)
                         break
                     else:
@@ -316,8 +276,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
                         curve_data.insert(0, loads(_msg))
                 else:
                     hr.c_msg_xs.clear()
-                    if len(hr.c_msg) > 240:
+                    if len(hr.c_msg) > 270:
-                        del hr.c_msg[240:]
+                        del hr.c_msg[270:]
                     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', tab_name)
@@ -325,9 +285,9 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
 
 def main(path, hr, md, loadsel, w2t):
     _s_time = time()
-    data_dirs, data_files = traversal_files(path, w2t)
+    data_dirs, data_files = clibs.traversal_files(path, w2t)
     config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
-    prj_to_xcore(prj_file)
+    clibs.prj_to_xcore(prj_file)
     run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t)
     _e_time = time()
     time_total = _e_time - _s_time

aio/code/automatic_test/do_current.py

@@ -1,12 +1,13 @@
-import os
+from os import mkdir
 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
+from pandas import DataFrame, concat
+from commons import clibs
 
+logger = clibs.log_prod
+tab_name = clibs.tab_names['at']
 display_pdo_params = [
     {"name": "hw_joint_vel_feedback", "channel": 0},
     {"name": "hw_joint_vel_feedback", "channel": 1},
@@ -20,28 +21,19 @@ display_pdo_params = [
     {"name": "device_servo_trq_feedback", "channel": 3},
     {"name": "device_servo_trq_feedback", "channel": 4},
     {"name": "device_servo_trq_feedback", "channel": 5},
+    {"name": "hw_sensor_trq_feedback", "channel": 0},
+    {"name": "hw_sensor_trq_feedback", "channel": 1},
+    {"name": "hw_sensor_trq_feedback", "channel": 2},
+    {"name": "hw_sensor_trq_feedback", "channel": 3},
+    {"name": "hw_sensor_trq_feedback", "channel": 4},
+    {"name": "hw_sensor_trq_feedback", "channel": 5},
 ]
 
-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='Automatic Test')
-    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(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('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)
-        w2t('    1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+        w2t('    1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name)
 
     config_file = current_file = prj_file = None
     for data_file in data_files:
@@ -53,62 +45,22 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
         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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+            w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name)
-            w2t('   1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+            w2t('   1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name)
 
     if config_file and current_file and prj_file:
-        w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
+        w2t("数据目录合规性检查结束，未发现问题......", tab_name=tab_name)
         if loadsel == 'tool100':
-            os.mkdir(f"{path}\\single")
+            mkdir(f"{path}\\single")
-            os.mkdir(f"{path}\\s_1")
+            mkdir(f"{path}\\s_1")
-            os.mkdir(f"{path}\\s_2")
+            mkdir(f"{path}\\s_2")
-            os.mkdir(f"{path}\\s_3")
+            mkdir(f"{path}\\s_3")
         elif loadsel == 'inertia':
-            os.mkdir(f"{path}\\inertia")
+            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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name)
-        w2t('   1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+        w2t('   1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name)
-
-
-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
-
-    cmd = 'cd /home/luoshi/bin/controller/; '
-    cmd += 'sudo mv projects/target/_build/*.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):
@@ -117,7 +69,8 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel = {'hw_joint_vel_feedback': []}
             _d2d_trq = {'device_servo_trq_feedback': []}
-            for line in lines:
+            _d2d_sensor = {'hw_sensor_trq_feedback': []}
+            for line in lines[-500:]:  # 保留最后25s的数据
                 data = eval(line.strip())['data']
                 for item in data:
                     try:
@@ -128,10 +81,13 @@ def data_proc_regular(path, filename, channel, scenario_time):
                         _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
 
-            df1 = pandas.DataFrame.from_dict(_d2d_vel)
+            df1 = DataFrame.from_dict(_d2d_vel)
-            df2 = pandas.DataFrame.from_dict(_d2d_trq)
+            df2 = DataFrame.from_dict(_d2d_trq)
-            df = pandas.concat([df1, df2], axis=1)
+            df3 = DataFrame.from_dict(_d2d_sensor)
+            df = concat([df1, df2, df3], axis=1)
             _filename = f'{path}\\single\\j{channel+1}_single_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
     elif channel in list(range(6, 9)):
@@ -139,16 +95,22 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel_0 = {'hw_joint_vel_feedback': []}
             _d2d_trq_0 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_0 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_1 = {'hw_joint_vel_feedback': []}
             _d2d_trq_1 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_1 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_2 = {'hw_joint_vel_feedback': []}
             _d2d_trq_2 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_2 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_3 = {'hw_joint_vel_feedback': []}
             _d2d_trq_3 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_3 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_4 = {'hw_joint_vel_feedback': []}
             _d2d_trq_4 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_4 = {'hw_sensor_trq_feedback': []}
             _d2d_vel_5 = {'hw_joint_vel_feedback': []}
             _d2d_trq_5 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_5 = {'hw_sensor_trq_feedback': []}
             for line in lines:
                 data = eval(line.strip())['data']
                 for item in data:
@@ -160,60 +122,78 @@ def data_proc_regular(path, filename, channel, scenario_time):
                         _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_0['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 0 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_0['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_1['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_1['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_1['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_2['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_2['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_2['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_3['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_3['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_3['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_4['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_4['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_4['hw_sensor_trq_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_5['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_5['hw_sensor_trq_feedback'].extend(item['value'])
 
-            df_01 = pandas.DataFrame.from_dict(_d2d_vel_0)
+            df_01 = DataFrame.from_dict(_d2d_vel_0)
-            df_02 = pandas.DataFrame.from_dict(_d2d_trq_0)
+            df_02 = DataFrame.from_dict(_d2d_trq_0)
-            df = pandas.concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_0)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
-            df_01 = pandas.DataFrame.from_dict(_d2d_vel_1)
+            df_01 = DataFrame.from_dict(_d2d_vel_1)
-            df_02 = pandas.DataFrame.from_dict(_d2d_trq_1)
+            df_02 = DataFrame.from_dict(_d2d_trq_1)
-            df = pandas.concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_1)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
-            df_01 = pandas.DataFrame.from_dict(_d2d_vel_2)
+            df_01 = DataFrame.from_dict(_d2d_vel_2)
-            df_02 = pandas.DataFrame.from_dict(_d2d_trq_2)
+            df_02 = DataFrame.from_dict(_d2d_trq_2)
-            df = pandas.concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_2)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
-            df_01 = pandas.DataFrame.from_dict(_d2d_vel_3)
+            df_01 = DataFrame.from_dict(_d2d_vel_3)
-            df_02 = pandas.DataFrame.from_dict(_d2d_trq_3)
+            df_02 = DataFrame.from_dict(_d2d_trq_3)
-            df = pandas.concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_3)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
-            df_01 = pandas.DataFrame.from_dict(_d2d_vel_4)
+            df_01 = DataFrame.from_dict(_d2d_vel_4)
-            df_02 = pandas.DataFrame.from_dict(_d2d_trq_4)
+            df_02 = DataFrame.from_dict(_d2d_trq_4)
-            df = pandas.concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_4)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
-            df_01 = pandas.DataFrame.from_dict(_d2d_vel_5)
+            df_01 = DataFrame.from_dict(_d2d_vel_5)
-            df_02 = pandas.DataFrame.from_dict(_d2d_trq_5)
+            df_02 = DataFrame.from_dict(_d2d_trq_5)
-            df = pandas.concat([df_01, df_02], axis=1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_5)
+            df = concat([df_01, df_02, df_03], axis=1)
             _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
     elif channel in list(range(9, 15)):
@@ -221,7 +201,8 @@ def data_proc_regular(path, filename, channel, scenario_time):
             lines = f_obj.readlines()
             _d2d_vel = {'hw_joint_vel_feedback': []}
             _d2d_trq = {'device_servo_trq_feedback': []}
-            for line in lines:
+            _d2d_sensor = {'hw_sensor_trq_feedback': []}
+            for line in lines[-300:]:  # 保留最后15s的数据
                 data = eval(line.strip())['data']
                 for item in data:
                     try:
@@ -232,10 +213,13 @@ def data_proc_regular(path, filename, channel, scenario_time):
                         _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
                         _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
 
-            df1 = pandas.DataFrame.from_dict(_d2d_vel)
+            df1 = DataFrame.from_dict(_d2d_vel)
-            df2 = pandas.DataFrame.from_dict(_d2d_trq)
+            df2 = DataFrame.from_dict(_d2d_trq)
-            df = pandas.concat([df1, df2], axis=1)
+            df3 = DataFrame.from_dict(_d2d_sensor)
+            df = concat([df1, df2, df3], axis=1)
             _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
             df.to_csv(_filename, sep='\t', index=False)
 
@@ -245,6 +229,7 @@ def data_proc_inertia(path, filename, channel):
         lines = f_obj.readlines()
         _d2d_vel = {'hw_joint_vel_feedback': []}
         _d2d_trq = {'device_servo_trq_feedback': []}
+        _d2d_sensor = {'hw_sensor_trq_feedback': []}
         for line in lines:
             data = eval(line.strip())['data']
             for item in data:
@@ -256,10 +241,13 @@ def data_proc_inertia(path, filename, channel):
                     _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                 elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
                     _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+                elif item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                    _d2d_trq['hw_sensor_trq_feedback'].extend(item['value'])
 
-        df1 = pandas.DataFrame.from_dict(_d2d_vel)
+        df1 = DataFrame.from_dict(_d2d_vel)
-        df2 = pandas.DataFrame.from_dict(_d2d_trq)
+        df2 = DataFrame.from_dict(_d2d_trq)
-        df = pandas.concat([df1, df2], axis=1)
+        df3 = DataFrame.from_dict(_d2d_sensor)
+        df = concat([df1, df2, df3], axis=1)
         _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
         df.to_csv(_filename, sep='\t', index=False)
 
@@ -313,39 +301,39 @@ def run_rl(path, hr, md, loadsel, w2t):
         disc = disc_inertia
 
     # preparation 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
-    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
-    # _response = execution('diagnosis.save', hr, w2t, save=True)  # 这条命令有问题
+    # clibs.execution('diagnosis.save', hr, w2t, tab_name, save=True)  # 这条命令有问题
     md.trigger_estop()
     md.reset_estop()
 
     for condition in conditions:
         number = conditions.index(condition)
-        w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test')
+        w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', tab_name)
 
         # 1. 将act重置为False，并修改未要执行的场景
         md.write_act(False)
         ssh = SSHClient()
         ssh.set_missing_host_key_policy(AutoAddPolicy())
-        ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+        ssh.connect(clibs.ip_addr, 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()
+        stdout.read().decode()  # 需要read一下才能正常执行
-        print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+        stderr.read().decode()
-        print(stderr.read().decode())  # 顺便也执行以下stderr
 
         # 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'])
+        clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
-        _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
+        clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
-        _response = execution('state.switch_auto', hr, w2t)
+        clibs.execution('state.switch_auto', hr, w2t, tab_name)
-        _response = execution('state.switch_motor_on', hr, w2t)
+        clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
 
         # 3. 开始运行程序，单轴运行35s
-        _response = execution('rl_task.run', hr, w2t, tasks=['current'])
+        clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
+        clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
         _t_start = time()
         while True:
             if md.read_ready_to_go() == 1:
@@ -353,7 +341,7 @@ def run_rl(path, hr, md, loadsel, w2t):
                 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', 'Automatic Test')
+                    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)
 
@@ -369,11 +357,11 @@ def run_rl(path, hr, md, loadsel, w2t):
             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')
+                    w2t(f"场景{number-5}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{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')
+                        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', 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
@@ -381,27 +369,27 @@ def run_rl(path, hr, md, loadsel, w2t):
             sleep(float(scenario_time)*0.2)  # 再运行周期的20%即可
 
         # 5.停止程序运行，保留数据并处理输出
-        _response = execution('rl_task.stop', hr, w2t, tasks=['current'])
+        clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['current'])
         _c_msg = hr.c_msg.copy()
         for _msg in _c_msg:
             if 'diagnosis.result' in _msg:
                 disc[number][1].insert(0, loads(_msg))
         else:
             hr.c_msg_xs.clear()
-            if len(hr.c_msg) > 240:
+            if len(hr.c_msg) > 270:
-                del hr.c_msg[240:]
+                del hr.c_msg[270:]
             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')
+            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', tab_name)
         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')
+            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', tab_name)
 
 
 def main(path, hr, md, loadsel, w2t):
-    data_dirs, data_files = traversal_files(path, w2t)
+    data_dirs, data_files = clibs.traversal_files(path, w2t)
     config_file, current_file, prj_file = check_files(path, loadsel, data_dirs, data_files, w2t)
-    prj_to_xcore(prj_file)
+    clibs.prj_to_xcore(prj_file)
     run_rl(path, hr, md, loadsel, w2t)
 
 

aio/code/commons/clibs.py

@@ -0,0 +1,203 @@
+from os import scandir, mkdir
+from threading import Thread
+from time import sleep
+from os.path import exists
+from paramiko import SSHClient, AutoAddPolicy
+from socket import setdefaulttimeout
+from logging import getLogger
+from logging.config import dictConfig
+import concurrent_log_handler
+
+RADIAN = 57.3  # 180 / 3.1415926
+MAX_FRAME_SIZE = 1024
+TIMEOUT = 5
+setdefaulttimeout(TIMEOUT)
+tab_names = {'dp': 'Data Process', 'at': 'Automatic Test', 'da': 'Duration Action', 'op': 'openapi'}
+# PREFIX = ''  # for pyinstaller packaging
+PREFIX = '../assets/'  # for source code testing and debug
+app_icon = f'{PREFIX}templates/icon.ico'
+ip_file = f'{PREFIX}templates/ipaddr.txt'
+log_path = f'{PREFIX}templates/logs/'
+log_data_hmi = f'{PREFIX}templates/logs/c_msg.log'
+log_data_debug = f'{PREFIX}templates/logs/debug.log'
+heartbeat = f'{PREFIX}templates/heartbeat'
+durable_data_current_xlsx = f'{PREFIX}templates/durable/durable_data_current.xlsx'
+durable_data_current_max_xlsx = f'{PREFIX}templates/durable/durable_data_current_max.xlsx'
+durable_data_current = {
+    'time': list(range(1, 19)),
+    'axis1': [0 for _ in range(18)],
+    'axis2': [0 for _ in range(18)],
+    'axis3': [0 for _ in range(18)],
+    'axis4': [0 for _ in range(18)],
+    'axis5': [0 for _ in range(18)],
+    'axis6': [0 for _ in range(18)],
+}
+durable_data_current_max = {
+    'time': list(range(1, 19)),
+    'axis1': [0 for _ in range(18)],
+    'axis2': [0 for _ in range(18)],
+    'axis3': [0 for _ in range(18)],
+    'axis4': [0 for _ in range(18)],
+    'axis5': [0 for _ in range(18)],
+    'axis6': [0 for _ in range(18)],
+}
+try:
+    with open(ip_file, mode="r", encoding="utf-8") as f_ipaddr:
+        ip_addr = f_ipaddr.read().strip()
+except:
+    ip_addr = '192.168.0.160'
+
+# ip_addr = '192.168.0.160'  # for product
+# ip_addr = '192.168.84.129'  # for test
+
+if not exists(log_path):
+    mkdir(log_path)
+
+# version：表示版本，该键值为从1开始的整数。该key必选，除此之外，其它key都是可选。
+# formatters：日志格式化器，其value值为一个字典，该字典的每个键值对都代表一个Formatter，键值对中，key代表Formatter ID(自定义ID)，value为字典，描述如何配置相应的Formatter实例。默认格式为 ‘%(message)s’
+# filters：日志过滤器，其value值为一个字典，该字典的每个键值对都代表一个Filter，键值对中，key代表Filter ID(自定义ID)，value为字典，描述如何配置相应的Filter实例。
+# handlers：日志处理器，其value值为一个字典，该字典的每个键值对都代表一个Handler，键值对中，key代表Handler ID(自定义ID)，value为字典，描述如何配置相应的Handler实例，包含以下配置key：
+# class (必选)：日志处理器类全称
+# level (可选)：指定该日志处理器需要处理哪些级别的日志，低于该级别的日志将不被该handler处理。level可以为代表日志级别的整数或者表大写字符串，字符串日志级别和数字日志级别对应关系如下：
+#   CRITICAL 50
+#   ERROR    40
+#   WARNING  30
+#   INFO     20
+#   DEBUG    10
+#   NOTSET    0
+f_complex = '%(asctime)s # %(name)s-%(levelname)s-%(module)s-%(funcName)s-%(lineno)d # %(message)s'
+f_simple = '%(levelname)s-%(module)s-%(funcName)s-%(lineno)d: %(message)s'
+log_dicts = {
+    'version': 1,
+    'disable_existing_loggers': True,
+    'formatters': {
+        'standard': {
+            'format': f_complex,
+            'style': '%',
+            'datefmt': '%Y-%m-%dT%H:%M:%S',
+        },
+        'test': {
+            'format': f_simple,
+            'style': '%',
+            'datefmt': '%Y-%m-%dT%H:%M:%S',
+        },
+    },
+    'filters': {},
+    'handlers': {
+        'console': {
+            'level': 'DEBUG',
+            'class': 'logging.StreamHandler',
+            'formatter': 'test',
+        },
+        'hmi.log': {
+            'level': 'WARNING',
+            'class': 'concurrent_log_handler.ConcurrentRotatingFileHandler',
+            'filename': log_data_hmi,
+            'maxBytes': 1024*1024*50,
+            'backupCount': 10,
+            'encoding': 'utf-8',
+            'formatter': 'standard',
+        },
+        'debug.log': {
+            'level': 'INFO',
+            'class': 'logging.FileHandler',
+            'filename': log_data_debug,
+            'encoding': 'utf-8',
+            'formatter': 'standard',
+        },
+    },
+    'loggers': {
+        'normal': {
+            'handlers': ['hmi.log', 'debug.log'],
+            'level': 'DEBUG',
+            'propagate': False
+        },
+        'debug': {
+            'handlers': ['console'],
+            'level': 'DEBUG',
+            'propagate': False
+        },
+        '': {
+            'handlers': ['hmi.log', 'debug.log'],
+            'level': 'DEBUG',
+            'propagate': False
+        },
+    }
+}
+dictConfig(log_dicts)
+log_prod = getLogger('normal')
+log_debug = getLogger('debug')
+
+
+class GetThreadResult(Thread):
+    def __init__(self, func, args=()):
+        super(GetThreadResult, self).__init__()
+        self.func = func
+        self.args = args
+        self.result = 0
+
+    def run(self):
+        sleep(1)
+        self.result = self.func(*self.args)
+
+    def get_result(self):
+        Thread.join(self)  # 等待线程执行完毕
+        try:
+            return self.result
+        except Exception as Err:
+            return None
+
+
+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')
+    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 prj_to_xcore(prj_file):
+    ssh = SSHClient()
+    ssh.set_missing_host_key_policy(AutoAddPolicy())
+    ssh.connect(ip_addr, 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')
+    stdout.read().decode()  # 需要read一下才能正常执行
+    stderr.read().decode()
+
+    cmd = 'cd /home/luoshi/bin/controller/; '
+    cmd += 'sudo chmod -R 755 projects; rm /tmp/*.prj; sudo mv projects/target/_build/*.prj /tmp; cd /tmp; '
+    cmd += 'prj=($(ls *.prj)); sudo mv ${prj[0]} /home/luoshi/bin/controller/projects/target/_build/target.prj; '
+    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+    stdin.write('luoshi2019' + '\n')
+    stdout.read().decode()  # 需要read一下才能正常执行
+    stderr.read().decode()
+    ssh.close()
+
+
+def execution(cmd, hr, w2t, tab_name, **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)
+    else:
+        return eval(_msg.split('#')[2])

aio/code/commons/openapi.py

@@ -1,17 +1,14 @@
 from json import load, dumps, loads
-from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
+from socket import socket, 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
+from commons import clibs
 
-MAX_FRAME_SIZE = 1024
+logger = clibs.log_prod
-setdefaulttimeout(2)
-current_path = dirname(__file__)
-heartbeat = f'{current_path}/../assets/templates/heartbeat'
 
 
 class ModbusRequest(object):
@@ -19,10 +16,10 @@ class ModbusRequest(object):
         super().__init__()
         self.w2t = w2t
         self.tab_name = 'openapi'
-        self.host = '192.168.0.160'
+        self.host = clibs.ip_addr
         self.port = 502
         self.interval = 0.3
-        self.c = ModbusTcpClient(self.host, self.port)
+        self.c = ModbusTcpClient(host=self.host, port=self.port)
         self.c.connect()
 
     def motor_off(self):
@@ -195,21 +192,19 @@ class HmiRequest(object):
 
     def sock_conn(self):
         # while True:
-        with open(heartbeat, "r", encoding='utf-8') as f_hb:
+        with open(clibs.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((clibs.ip_addr, 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((clibs.ip_addr, 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)
+                logger.info("Connection success...")
-                with open(heartbeat, "w", encoding='utf-8') as f_hb:
+                with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
                     f_hb.write('1')
                 md = ModbusRequest(self.w2t)
                 md.reset_estop()
@@ -218,8 +213,8 @@ class HmiRequest(object):
                 md.write_probe(False)
                 md.write_axis(1)
             except Exception as Err:
-                self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
+                logger.info("Connection failed...")
-                with open(heartbeat, "w", encoding='utf-8') as f_hb:
+                with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
                     f_hb.write('0')
 
     def header_check(self, index, data):
@@ -247,33 +242,29 @@ class HmiRequest(object):
             # print(f"in head check data: {data}")
 
             self.broke = 100
-            index += MAX_FRAME_SIZE
+            index += clibs.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"hb = {_flag}", end=' ')
-            print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
+            # print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
-            print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
+            # print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
-            with open(heartbeat, "w", encoding='utf-8') as f_hb:
+            with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
                 f_hb.write(_flag)
             if _flag == '0':
-                    self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
+                logger.info(f"{_id} 心跳丢失，连接失败，重新连接中...")
-                    t = time()
+            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(t) + '-' + str(loads(msg)) + '\n')
-            sleep(1)
-
 
     def msg_storage(self, response, flag=0):
         # response是解码后的字符串
         messages = self.c_msg if flag == 0 else self.c_msg_xs
+        logger.warning(f"{loads(response)}")
         if 'move.monitor' in response:
             pass
-        elif len(messages) < 20000:
+        elif len(messages) < 10000:
             messages.insert(0, response)
         else:
             messages.insert(0, response)
@@ -317,7 +308,7 @@ class HmiRequest(object):
                     # 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:
+                    if self.index > clibs.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:
@@ -361,15 +352,15 @@ class HmiRequest(object):
                                 # print('flag = 0 encounter broke == 3')
                                 self.broke = 3
 
-                            self.index += MAX_FRAME_SIZE
+                            self.index += clibs.MAX_FRAME_SIZE
                             self.reset_index = 1
-                            break  # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
+                            break  # 因为 index + 2 的大小超过 clibs.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.index += clibs.MAX_FRAME_SIZE
                         self.reset_index = 1
 
                     # print(f"in flag=0 else data = {data}")
@@ -438,9 +429,9 @@ class HmiRequest(object):
                                 # print('flag = 1 encounter broke == 3')
                                 self.broke = 3
 
-                            self.index += MAX_FRAME_SIZE
+                            self.index += clibs.MAX_FRAME_SIZE
                             self.reset_index = 1
-                            break  # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
+                            break  # 因为 index + 2 的大小超过 clibs.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}")
@@ -457,7 +448,7 @@ class HmiRequest(object):
                         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.index += clibs.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}")
@@ -511,14 +502,20 @@ class HmiRequest(object):
 
     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
+            with open(clibs.log_data_hmi, mode='r', encoding='utf-8') as f_log:
-            for msg in messages:
+                for line in f_log:
-                if msg_id is None:
+                    if msg_id in line.strip():
-                    return None
+                        return line
-                elif msg_id in msg:
-                    return msg
             sleep(1)
-        else:
+        else:  # 尝试在上一次分割的日志中查找，只做一次
+            sleep(1)
+            try:
+                with open(clibs.log_data_hmi+'.1', mode='r', encoding='utf-8') as f_log:
+                    for line in f_log:
+                        if msg_id in line.strip():
+                            return line
+            except FileNotFoundError:
+                pass
         return None
 
     def package(self, cmd):
@@ -533,7 +530,7 @@ class HmiRequest(object):
 
     def unpackage(self, sock):
         def to_read(conn, mask):
-            data = conn.recv(MAX_FRAME_SIZE)
+            data = conn.recv(clibs.MAX_FRAME_SIZE)
             if data:
                 # print(data)
                 self.get_response(data)
@@ -542,6 +539,7 @@ class HmiRequest(object):
                 sel.unregister(conn)
                 conn.close()
 
+        try:
             sel = selectors.DefaultSelector()
             sel.register(sock, selectors.EVENT_READ, to_read)
 
@@ -550,6 +548,8 @@ class HmiRequest(object):
                 for key, mask in events:
                     callback = key.data
                     callback(key.fileobj, mask)
+        except Exception as Err:
+            logger.warning(Err)
 
     def unpackage_xs(self, sock):
         def to_read(conn, mask):
@@ -562,6 +562,7 @@ class HmiRequest(object):
                 sel.unregister(conn)
                 conn.close()
 
+        try:
             sel = selectors.DefaultSelector()
             sel.register(sock, selectors.EVENT_READ, to_read)
 
@@ -570,6 +571,8 @@ class HmiRequest(object):
                 for key, mask in events:
                     callback = key.data
                     callback(key.fileobj, mask)
+        except Exception as Err:
+            logger.warning(Err)
 
     def gen_id(self, command):
         _now = time()
@@ -580,7 +583,7 @@ class HmiRequest(object):
         if flg == 0:  # for old protocols
             req = None
             try:
-                with open(f'{current_path}/../assets/templates/json/{command}.json', encoding='utf-8',
+                with open(f'{clibs.PREFIX}templates/json/{command}.json', encoding='utf-8',
                           mode='r') as f_json:
                     req = load(f_json)
             except:
@@ -596,6 +599,9 @@ class HmiRequest(object):
                     req['data']['tasks'] = kwargs['tasks']
                 case 'rl_task.pp_to_main' | 'rl_task.run' | 'rl_task.stop':
                     req['data']['tasks'] = kwargs['tasks']
+                case 'rl_task.set_run_params':
+                    req['data']['loop_mode'] = kwargs['loop_mode']
+                    req['data']['override'] = kwargs['override']
                 case 'diagnosis.set_params':
                     req['data']['display_pdo_params'] = kwargs['display_pdo_params']
                 case 'diagnosis.open':
@@ -618,7 +624,8 @@ class HmiRequest(object):
                 self.c.send(self.package(cmd))
                 sleep(0.5)
             except Exception as Err:
-                self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
+                # self.w2t(f"{cmd}: 请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
+                logger.info(f"{cmd}: 请求发送失败...{Err}")
 
             return req['id']
 

aio/code/data_process/__init__.py

@@ -1 +0,0 @@
-__all__ = ['brake', 'current', 'iso', 'wavelogger']

aio/code/data_process/brake.py

@@ -1,49 +1,12 @@
-# coding: utf-8
+from os.path import isfile
-from os import scandir
-from os.path import isfile, exists
 from sys import argv
 from openpyxl import load_workbook
 from time import time, sleep, strftime, localtime
 from threading import Thread
 from pandas import read_csv
+from commons import clibs
 
-
+logger = clibs.log_prod
-class GetThreadResult(Thread):
-    def __init__(self, func, args=()):
-        super(GetThreadResult, self).__init__()
-        self.func = func
-        self.args = args
-        self.result = 0
-
-    def run(self):
-        sleep(1)
-        self.result = self.func(*self.args)
-
-    def get_result(self):
-        Thread.join(self)  # 等待线程执行完毕
-        try:
-            return self.result
-        except Exception as Err:
-            return None
-
-
-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')
-    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(path, raw_data_dirs, result_files, w2t):
@@ -83,7 +46,7 @@ def check_files(path, raw_data_dirs, result_files, w2t):
 规则解释：AA/BB/CC 指的是臂展/负载/速度的比例，例如reach66_load100_speed33：66%臂展，100%负载以及33%速度情况下的测试结果文件夹"""
             w2t(msg, 0, 4, 'red')
 
-        _, raw_data_files = traversal_files(raw_data_dir, w2t)
+        _, raw_data_files = clibs.traversal_files(raw_data_dir, w2t)
         if len(raw_data_files) != 3:
             msg = f"数据目录 {raw_data_dir} 下数据文件个数错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
             w2t(msg, 0, 5, 'red')
@@ -109,6 +72,7 @@ def get_configs(configfile, w2t):
 
     return av, rr
 
+
 def now_doing_msg(docs, flag, w2t):
     # 功能：输出正在处理的文件或目录
     # 参数：文件或目录，start 或 done 标识
@@ -228,7 +192,7 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
 
     global stop
     stop = 0
-    t_excel = GetThreadResult(load_workbook, args=(result_file, ))
+    t_excel = clibs.GetThreadResult(load_workbook, args=(result_file, ))
     t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
     t_excel.start()
     t_wait.start()
@@ -242,7 +206,7 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
     for raw_data_dir in raw_data_dirs:
         if raw_data_dir.split('\\')[-1].split('_')[0] == prefix:
             now_doing_msg(raw_data_dir, 'start', w2t)
-            _, data_files = traversal_files(raw_data_dir, w2t)
+            _, data_files = clibs.traversal_files(raw_data_dir, w2t)
             # 数据文件串行处理模式---------------------------------
             # count = 1
             # for data_file in data_files:
@@ -280,7 +244,7 @@ def main(path, vel, trq, estop, w2t):
     # 参数：initialization函数的返回值
     # 返回值：-
     time_start = time()
-    raw_data_dirs, result_files = traversal_files(path, w2t)
+    raw_data_dirs, result_files = clibs.traversal_files(path, w2t)
 
     try:
         # threads = []

aio/code/data_process/current.py

@@ -1,31 +1,13 @@
 from openpyxl import load_workbook
-from os import scandir
-from os.path import exists
 from sys import argv
 from pandas import read_csv, concat, set_option
 from re import match
 from threading import Thread
 from time import sleep
 from csv import reader, writer
+from commons import clibs
 
-
+logger = clibs.log_prod
-class GetThreadResult(Thread):
-    def __init__(self, func, args=()):
-        super(GetThreadResult, self).__init__()
-        self.func = func
-        self.args = args
-        self.result = 0
-
-    def run(self):
-        sleep(1)
-        self.result = self.func(*self.args)
-
-    def get_result(self):
-        Thread.join(self)  # 等待线程执行完毕
-        try:
-            return self.result
-        except Exception as Err:
-            return None
 
 
 def w2t_local(msg, wait, w2t):
@@ -38,43 +20,25 @@ def w2t_local(msg, wait, w2t):
             break
 
 
-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, 8, 'red')
-    else:
-        dirs = []
-        files = []
-        for item in scandir(path):
-            if item.is_dir():
-                dirs.append(item.path)
-            elif item.is_file():
-                files.append(item.path)
-
-        return dirs, files
-
-
 def initialization(path, sub, w2t):
-    _, data_files = traversal_files(path, w2t)
+    _, data_files = clibs.traversal_files(path, w2t)
     count = 0
 
     for data_file in data_files:
         filename = data_file.split('\\')[-1]
         if data_file.endswith('configs.xlsx'):
             count += 1
-        elif sub == 'cycle' and data_file.endswith('.xlsx'):
+        elif sub == 'cycle' and data_file.endswith('T_电机电流.xlsx'):
             count += 1
         else:
             if not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)):
-                print(f"不合规 {data_file}")
+                msg = f"不合规 {data_file}\n"
-                msg = f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。"
+                msg += f"所有数据文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），配置文件需要命名为\"configs.xlsx\"，结果文件需要命名为\"T_电机电流.xlsx\"，请检查后重新运行。\n"
+                msg += "使用max/avg功能时，需要有配置文件表格\"configs.xlsx\"；使用cycle功能时，需要有电机电流数据处理\"T_电机电流.xlsx\"和配置文件\"configs.xlsx\"两个表格，确认后重新运行！"
                 w2t(msg, 0, 6, 'red')
 
     if not ((sub == 'cycle' and count == 2) or (sub != 'cycle' and count == 1)):
-        w2t("使用max/avg功能时，需要有配置文件表格；使用cycle功能时，需要有电机电流数据处理和配置文件两个表格，确认后重新运行！", 0, 5, 'red')
+        w2t("使用max/avg功能时，需要有配置文件表格\"configs.xlsx\"；使用cycle功能时，需要有电机电流数据处理\"T_电机电流.xlsx\"和配置文件\"configs.xlsx\"两个表格，确认后重新运行！", 0, 5, 'red')
 
     return data_files
 
@@ -174,7 +138,7 @@ def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
     w2t(f"正在打开文件 {result}，需要 10s 左右", 1, 0, 'orange')
     global stop
     stop = 0
-    t_excel = GetThreadResult(load_workbook, args=(result, ))
+    t_excel = clibs.GetThreadResult(load_workbook, args=(result, ))
     t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
     t_excel.start()
     t_wait.start()
@@ -223,7 +187,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
             else:
                 return _row_s, _row_e
         else:
-            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red')
+            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, 0, 'red')
     elif flag == 'gt':
         while _row_e > end_point:
             speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean()
@@ -234,7 +198,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
             else:
                 return _row_s, _row_e
         else:
-            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')
+            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, 0, 'red')
 
 
 def p_single(wb, single, vel, trq, rpms, rrs, w2t):
@@ -268,7 +232,8 @@ def p_single(wb, single, vel, trq, rpms, rrs, 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())
+        # print(df_1.abs().max())
+        df_origin = df
         df = concat([df_1, df_2], axis=1)
 
         _step = 5 if data_file.endswith('.csv') else 50
@@ -305,11 +270,12 @@ def p_single(wb, single, vel, trq, rpms, rrs, w2t):
         row_start = _row_s + _adjust
         data = []
         for row in range(row_start, row_end):
-            data.append(df.iloc[row, 0])
+            data.append(df_origin.iloc[row, 0])
-            data.append(df.iloc[row, 1])
+            data.append(df_origin.iloc[row, 1])
+            data.append(df_origin.iloc[row, 2])
 
         i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=4):
             for cell in row:
                 try:
                     _ = f"{data[i]:.2f}"
@@ -361,7 +327,7 @@ def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
             data.append(df.iloc[row, 1])
 
         i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=3):
             for cell in row:
                 try:
                     _ = f"{data[i]:.2f}"

aio/code/data_process/iso.py

@@ -1,27 +1,10 @@
-# _*_ encoding：utf-8 _*_
 import pdfplumber
 from openpyxl import load_workbook
-from os import scandir, remove
+from os import remove
-from os.path import exists
 from sys import argv
+from commons import clibs
 
-
+logger = clibs.log_prod
-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')
-    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 p_iso(file, p_files, ws, tmpfile):
@@ -153,7 +136,7 @@ def p_iso_1000(file, p_files, ws, tmpfile):
 
 
 def main(path, w2t):
-    dirs, files = traversal_files(path, 1)
+    dirs, files = clibs.traversal_files(path, 1)
 
     try:
         wb = load_workbook(path + "/iso-results.xlsx")

aio/code/data_process/wavelogger.py

@@ -1,31 +1,10 @@
-import os
-import random
-
 from pandas import read_csv
 from csv import reader
 from sys import argv
-from os.path import exists
-from os import scandir, remove
 from openpyxl import Workbook
-from random import randint
+from commons import clibs
 
-def traversal_files(path, w2t):
+logger = clibs.log_prod
-    # 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')
-    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 find_point(bof, step, pos, data_file, flag, df, row, w2t):
@@ -95,7 +74,7 @@ def get_cycle_info(data_file, df, row, step, w2t):
 
 
 def initialization(path, w2t):
-    _, data_files = traversal_files(path, w2t)
+    _, data_files = clibs.traversal_files(path, w2t)
 
     for data_file in data_files:
         if not data_file.lower().endswith('.csv'):
@@ -126,7 +105,7 @@ def single_file_proc(ws, data_file, df, low, high, cycle, w2t):
     _step = 5
     _data = {}
     row_max = df.index[-1]-100
-    print(data_file)
+    # print(data_file)
     while _row < row_max:
         if count not in _data.keys():
             _data[count] = []
@@ -149,7 +128,7 @@ def single_file_proc(ws, data_file, df, low, high, cycle, w2t):
         ws.cell(row=1, column=i).value = f"第{i-1}次测试"
         ws.cell(row=i, column=1).value = f"第{i-1}次精度变化"
 
-    print(_data)
+    # print(_data)
     for i in sorted(_data.keys()):
         _row = 2
         _column = i + 1
@@ -162,9 +141,9 @@ def execution(data_files, w2t):
     wb = Workbook()
     for data_file in data_files:
         ws, df, low, high, cycle = preparation(data_file, wb, w2t)
-        print(f"low = {low}")
+        # print(f"low = {low}")
-        print(f"high = {high}")
+        # print(f"high = {high}")
-        print(f"cycle = {cycle}")
+        # print(f"cycle = {cycle}")
         single_file_proc(ws, data_file, df, low, high, cycle, w2t)
 
     wd = data_files[0].split('\\')

aio/code/durable_action/__init__.py

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

aio/code/durable_action/factory_test.py

@@ -1,7 +1,4 @@
 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, strftime, localtime
 from pandas import DataFrame
@@ -9,11 +6,11 @@ from openpyxl import load_workbook
 from math import sqrt
 from numpy import power
 from csv import writer
+from commons import clibs
 
-tab_name = 'Durable Action'
+logger = clibs.log_prod
+tab_name = clibs.tab_names['da']
 count = 0
-durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx'
-durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx'
 display_pdo_params = [
     # {"name": "hw_joint_vel_feedback", "channel": 0},
     # {"name": "hw_joint_vel_feedback", "channel": 1},
@@ -34,22 +31,6 @@ title = [
 ]
 
 
-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)
@@ -63,50 +44,10 @@ def check_files(data_dirs, data_files, w2t):
     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
-
-    cmd = 'cd /home/luoshi/bin/controller/; '
-    cmd += 'sudo mv projects/target/_build/*.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, data_all, 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=True, display_open=True)
+    clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
     md.trigger_estop()
     md.reset_estop()
     md.write_act(False)
@@ -114,13 +55,14 @@ def run_rl(path, config_file, data_all, hr, md, 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'])
+    clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
-    _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
+    clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
-    _response = execution('state.switch_auto', hr, w2t)
+    clibs.execution('state.switch_auto', hr, w2t, tab_name)
-    _response = execution('state.switch_motor_on', hr, w2t)
+    clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
 
     # 3. 开始运行程序
-    _response = execution('rl_task.run', hr, w2t, tasks=['current'])
+    clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
+    clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
     _t_start = time()
     while True:
         if md.read_ready_to_go() == 1:
@@ -178,8 +120,8 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
             _data_list.insert(0, loads(_msg))
     else:
         hr.c_msg_xs.clear()
-        if len(hr.c_msg) > 240:
+        if len(hr.c_msg) > 270:
-            del hr.c_msg[240:]
+            del hr.c_msg[270:]
 
     # with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj:
     #     for _ in _data_list:
@@ -253,8 +195,8 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
             while True:
                 if not hr.durable_lock:
                     hr.durable_lock = 1
-                    _df_1.to_excel(durable_data_current_xlsx, index=False)
+                    _df_1.to_excel(clibs.durable_data_current_xlsx, index=False)
-                    _df_2.to_excel(durable_data_current_max_xlsx, index=False)
+                    _df_2.to_excel(clibs.durable_data_current_max_xlsx, index=False)
                     hr.durable_lock = 0
                     break
                 else:
@@ -272,28 +214,10 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
 
 
 def main(path, hr, md, w2t):
-    durable_data_current = {
+    data_all = [clibs.durable_data_current, clibs.durable_data_current_max]
-        'time': list(range(1, 19)),
+    data_dirs, data_files = clibs.traversal_files(path, w2t)
-        'axis1': [0 for _ in range(18)],
-        'axis2': [0 for _ in range(18)],
-        'axis3': [0 for _ in range(18)],
-        'axis4': [0 for _ in range(18)],
-        'axis5': [0 for _ in range(18)],
-        'axis6': [0 for _ in range(18)],
-    }
-    durable_data_current_max = {
-        'time': list(range(1, 19)),
-        'axis1': [0 for _ in range(18)],
-        'axis2': [0 for _ in range(18)],
-        'axis3': [0 for _ in range(18)],
-        'axis4': [0 for _ in range(18)],
-        'axis5': [0 for _ in range(18)],
-        'axis6': [0 for _ in range(18)],
-    }
-    data_all = [durable_data_current, durable_data_current_max]
-    data_dirs, data_files = traversal_files(path, w2t)
     config_file, prj_file = check_files(data_dirs, data_files, w2t)
-    prj_to_xcore(prj_file)
+    clibs.prj_to_xcore(prj_file)
     run_rl(path, config_file, data_all, hr, md, w2t)
 
 

dial_gauge/README.md

@@ -0,0 +1,2 @@
+## 千分表数据自动采集
+

dial_gauge/conf.ini

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

dial_gauge/gauge.py

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

dial_gauge/gauge.xml

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