v0.1.9.3(2024/07/15)

1. [APIs: openapi.py]
   - иÄodbusl½Ó§°ܱ¨´í³ö½£¬ʹֻ֮Ôautomatic testҳÃÏʾ
   - 将该文件移动至toplevel，为后面扩展做准备
   - 修改heartbeat文件路径，使后续打包的时候更方便
2. [APIs: aio.py]:
   - 修改heartbeat文件路径，使后续打包的时候更方便
   - 修改write2textbox函数的打印逻辑，先判断网络相关

aio/README.md

@@ -473,5 +473,20 @@ v0.1.9.2(2024/07/13)
    - 调整单轴测试时间为35s，适配大负载机型，调整堵转电流持续时间15s，适当减少测试时间
    - 将act信号置为False的动作放在初始化，增加程序健壮性
    - 修改所有输出文件的命名，在扩展名之前加入时间戳
-3. [current: current.py]: 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行
+   - 删除多余的时序矫正语句——item['value'].reverse()，使输出的曲线为平滑的自然顺序
+3. [current: current.py]
+   - 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行
+   - max功能计算逻辑矫正，应该是取绝对值的最大值
+   - 整体梳理了trq/trqh的传递路径，现已修正完毕
+   - 减速比rr数据源修改为configs.xlsx
+4. 在current工程main函数增加 VelSet 100语句
+
+v0.1.9.3(2024/07/15)
+1. [APIs: openapi.py]
+   - 修改modbus连接失败报错输出形式，使之只在automatic test页面显示
+   - 将该文件移动至toplevel，为后面扩展做准备
+   - 修改heartbeat文件路径，使后续打包的时候更方便
+2. [APIs: aio.py]: 
+   - 修改heartbeat文件路径，使后续打包的时候更方便
+   - 修改write2textbox函数的打印逻辑，先判断网络相关
 

aio/code/aio.py

@@ -9,8 +9,9 @@ from urllib.request import urlopen
 from socket import setdefaulttimeout
 from data_process import *
 from automatic_test import *
+import openapi
 
-current_path = dirname(__file__)
+heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat'
 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
@@ -70,7 +71,7 @@ class App(customtkinter.CTk):
         btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
         btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
         # create version info
-        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.1\nDate: 07/12/2024", font=self.my_font, text_color="#4F4F4F")
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.2\nDate: 07/13/2024", 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')
         # =====================================================================
@@ -166,7 +167,7 @@ class App(customtkinter.CTk):
         self.seg_button.configure(state='disabled')
         # self.tabview.configure(state='disabled')
         self.textbox.delete(index1='1.0', index2='end')
-        with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
+        with open(heartbeat, 'r', encoding='utf-8') as f_h:
             c_state = f_h.read().strip()
 
         if c_state == '0' and value != '功能切换':
@@ -181,13 +182,13 @@ class App(customtkinter.CTk):
         # self.tabview.configure(state='normal')
 
     def detect_network(self):
-        with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+        with open(heartbeat, "w", encoding='utf-8') as f_hb:
             f_hb.write('0')
         self.hr = openapi.HmiRequest(self.write2textbox)
         self.md = openapi.ModbusRequest(self.write2textbox)
 
         while True:
-            with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb:
+            with open(heartbeat, 'r', encoding='utf-8') as f_hb:
                 c_state = f_hb.read().strip()
                 pb_color = 'green' if c_state == '1' else 'red'
                 self.progressbar.configure(progress_color=pb_color)
@@ -333,7 +334,7 @@ class App(customtkinter.CTk):
         self.textbox.tag_config(tagName=color, foreground=color)
         tab_name_cur = self.tabview.get()
 
-        if tab_name == tab_name_cur:
+        if tab_name == 'openapi' and tab_name_cur == 'Automatic Test':
             if wait != 0:
                 self.textbox.insert(index='end', text=text, tags=color)
                 self.textbox.update()
@@ -347,7 +348,7 @@ class App(customtkinter.CTk):
                 self.textbox.insert(index='end', text=text + '\n', tags=color)
                 self.textbox.update()
                 self.textbox.see('end')
-        elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test':
+        elif tab_name == tab_name_cur:
             if wait != 0:
                 self.textbox.insert(index='end', text=text, tags=color)
                 self.textbox.update()

aio/code/automatic_test/__init__.py

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

aio/code/automatic_test/do_current.py

@@ -120,10 +120,8 @@ def data_proc_regular(path, filename, channel, scenario_time):
                 for item in data:
                     item['value'].reverse()
                     if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
-                        item['value'].reverse()
                         _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
-                        item['value'].reverse()
                         _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
 
             df1 = pandas.DataFrame.from_dict(_d2d_vel)

aio/code/data_process/current.py

@@ -79,7 +79,7 @@ def initialization(path, sub, w2t):
     return data_files
 
 
-def current_max(data_files, rcs, trqh, w2t):
+def current_max(data_files, rcs, trq, w2t):
     current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
     for data_file in data_files:
         if data_file.endswith('.data'):
@@ -93,8 +93,8 @@ def current_max(data_files, rcs, trqh, w2t):
         axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
         rca = rcs[axis-1]
 
-        col = df.columns.values[trqh-1]
+        col = df.columns.values[trq-1]
-        c_max = df[col].max()
+        c_max = df[col].abs().max()
 
         scale = 1 if data_file.endswith('.csv') else 1000
         _ = abs(c_max/scale*rca)
@@ -118,7 +118,7 @@ def current_max(data_files, rcs, trqh, w2t):
     return current
 
 
-def current_avg(data_files, rcs, trqh, w2t):
+def current_avg(data_files, rcs, trq, w2t):
     current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
     for data_file in data_files:
         if data_file.endswith('.data'):
@@ -132,7 +132,7 @@ def current_avg(data_files, rcs, trqh, w2t):
         axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
         rca = rcs[axis-1]
 
-        col = df.columns.values[trqh - 1]
+        col = df.columns.values[trq-1]
         c_std = df[col].std()
         c_avg = df[col].mean()
 
@@ -158,7 +158,7 @@ def current_avg(data_files, rcs, trqh, w2t):
     return current
 
 
-def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
+def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
     result = None
     hold = []
     single = []
@@ -194,9 +194,9 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
                 pass
 
     if dur == 0:
-        p_single(wb, single, vel, trq, rpms, w2t)
+        p_single(wb, single, vel, trq, rpms, rrs, w2t)
     else:
-        p_scenario(wb, single, vel, trq, rpms, dur, w2t)
+        p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t)
 
     w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange')
     stop = 0
@@ -223,8 +223,7 @@ 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, 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()
@@ -235,11 +234,10 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
             else:
                 return _row_s, _row_e
         else:
-            # w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')
+            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')
-            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, 0, 'red')
 
 
-def p_single(wb, single, vel, trq, rpms, w2t):
+def p_single(wb, single, vel, trq, rpms, rrs, w2t):
     # 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑
     # 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑
     # 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置
@@ -253,7 +251,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
         set_option("display.precision", 2)
         if data_file.endswith('.data'):
             df = read_csv(data_file, sep='\t')
-            rr = float(wb['统计'].cell(row=2, column=axis+1).value)
+            rr = rrs[axis+1]
             addition = 180 / 3.1415926 * 60 / 360 * rr
         elif data_file.endswith('.csv'):
             df = read_csv(data_file, sep=',', encoding='gbk', header=8)
@@ -270,6 +268,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
         col_names = list(df.columns)
         df_1 = df[col_names[vel-1]].multiply(rpm*addition)
         df_2 = df[col_names[trq-1]].multiply(scale)
+        print(df_1.abs().max())
         df = concat([df_1, df_2], axis=1)
 
         _step = 5 if data_file.endswith('.csv') else 50
@@ -320,7 +319,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
                     cell.value = None
 
 
-def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
+def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
     for data_file in single:
         cycle = 0.001
         axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
@@ -332,7 +331,7 @@ def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
         set_option("display.precision", 2)
         if data_file.endswith('.data'):
             df = read_csv(data_file, sep='\t')
-            rr = float(wb['统计'].cell(row=2, column=axis+1).value)
+            rr = rrs[axis+1]
             addition = 180 / 3.1415926 * 60 / 360 * rr
         elif data_file.endswith('.csv'):
             df = read_csv(data_file, sep=',', encoding='gbk', header=8)
@@ -376,6 +375,7 @@ def get_configs(configfile, w2t):
     _wb = load_workbook(configfile, read_only=True)
     _ws = _wb['Target']
     rcs = []
+    rrs = []
     rpms = []
     for i in range(2, 9):
         try:
@@ -388,18 +388,23 @@ def get_configs(configfile, w2t):
         except:
             rcs.append(0.0)
 
-    return rpms, rcs
+        try:
+            rrs.append(float(_ws.cell(row=2, column=i).value))
+        except:
+            rrs.append(0.0)
+
+    return rpms, rcs, rrs
 
 
 def main(path, sub, dur, vel, trq, trqh, w2t):
     data_files = initialization(path, sub, w2t)
-    rpms, rcs = get_configs(path + '\\configs.xlsx', w2t)
+    rpms, rcs, rrs = get_configs(path + '\\configs.xlsx', w2t)
     if sub == 'max':
-        current_max(data_files, rcs, trqh, w2t)
+        current_max(data_files, rcs, trq, w2t)
     elif sub == 'avg':
-        current_avg(data_files, rcs, trqh, w2t)
+        current_avg(data_files, rcs, trq, w2t)
     elif sub == 'cycle':
-        current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t)
+        current_cycle(dur, data_files, rcs, rrs,  vel, trq, trqh, rpms, w2t)
     else:
         pass
 

aio/code/openapi.py

@@ -11,6 +11,7 @@ from pymodbus.constants import Endian
 MAX_FRAME_SIZE = 1024
 setdefaulttimeout(2)
 current_path = dirname(__file__)
+heartbeat = f'{current_path}/../assets/templates/heartbeat'
 
 
 class ModbusRequest(object):
@@ -27,22 +28,19 @@ class ModbusRequest(object):
         try:
             self.c.write_register(40002, 1)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def motor_on(self):
         try:
             self.c.write_register(40003, 1)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def trigger_estop(self):
         try:
             self.c.write_register(40012, 0)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法触发软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法触发软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def reset_estop(self):
         try:
@@ -54,66 +52,50 @@ class ModbusRequest(object):
             sleep(0.2)
             self.c.write_register(40001, 0)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def clear_alarm(self):
         try:
             self.c.write_register(40000, 1)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法清除告警，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法清除告警，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def get_cart_vel(self):
         try:
             results = self.c.read_holding_registers(40537, 7)
-            print(f"cart vel: {results.registers}")
-
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法读取笛卡尔速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法读取笛卡尔速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def get_jnt_vel(self):
         try:
             results = self.c.read_holding_registers(40579, 7)
-            print(f"joint vel: {results.registers}")
-
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法读取关节速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法读取关节速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def get_tcp_vel(self):
         try:
             results = self.c.read_holding_registers(40607, 7)
-            print(f"tcp vel: {results.registers}")
-
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法读取TCP速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法读取TCP速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def get_tcp_mag_vel(self):
         try:
             results = self.c.read_holding_registers(40621, 1)
-            print(f"tcp mag: {results.registers}")
-
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法读取TCP合成速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法读取TCP合成速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def write_act(self, number):
         try:
             self.c.write_register(41000, number)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法发送执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法发送执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def read_ready_to_go(self):
         try:
             results = self.c.read_holding_registers(41001, 1)
             return results.registers[0]
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def read_scenario_time(self):
         try:
@@ -122,15 +104,13 @@ class ModbusRequest(object):
             result = f"{result.decode_32bit_float():.3f}"
             return result
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def write_stop0(self, number):
         try:
             self.c.write_register(41004, number)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法通过IO操作stop0急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法通过IO操作stop0急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def write_speed_max(self, speed):
         try:
@@ -139,16 +119,14 @@ class ModbusRequest(object):
             payload = builder.build()
             self.c.write_registers(41005, payload, skip_encode=True)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def read_brake_done(self):
         try:
             results = self.c.read_holding_registers(41007, 1)
             return results.registers[0]
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法读取制动已执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法读取制动已执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def write_axis(self, axis):
         try:
@@ -157,22 +135,19 @@ class ModbusRequest(object):
             payload = builder.to_registers()
             self.c.write_registers(41008, payload)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法写入速度值，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def write_probe(self, probe):
         try:
             self.c.write_register(41010, probe)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def write_pon(self, pon):  # positive or negative
         try:
             self.c.write_register(41011, pon)
         except Exception as Err:
-            self.w2t(f"{Err}")
+            self.w2t(f"{Err}\n无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
-            self.w2t("无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
 
 class HmiRequest(object):
@@ -210,7 +185,7 @@ class HmiRequest(object):
 
     def sock_conn(self):
         # while True:
-        with open(f"{current_path}/../../assets/templates/heartbeat", "r", encoding='utf-8') as f_hb:
+        with open(heartbeat, "r", encoding='utf-8') as f_hb:
             c_state = f_hb.read().strip()
         if c_state == '0':
             try:
@@ -224,7 +199,7 @@ class HmiRequest(object):
                 self.c_xs.setblocking(False)
 
                 self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
-                with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+                with open(heartbeat, "w", encoding='utf-8') as f_hb:
                     f_hb.write('1')
                 md = ModbusRequest(self.w2t)
                 md.reset_estop()
@@ -234,7 +209,7 @@ class HmiRequest(object):
                 md.write_axis(1)
             except Exception as Err:
                 self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
-                with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+                with open(heartbeat, "w", encoding='utf-8') as f_hb:
                     f_hb.write('0')
 
     def header_check(self, index, data):
@@ -272,12 +247,12 @@ class HmiRequest(object):
             print(f"hb = {_flag}", end=' ')
             print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
             print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
-            with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+            with open(heartbeat, "w", encoding='utf-8') as f_hb:
                 f_hb.write(_flag)
                 if _flag == '0':
                     self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
             sleep(1.5)
-            # with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
+            # with open(f"{current_path}/../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
             #     for msg in self.c_msg:
             #         f.write(str(loads(msg)) + '\n')
 
@@ -590,7 +565,7 @@ class HmiRequest(object):
         if flg == 0:  # for old protocols
             req = None
             try:
-                with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8',
+                with open(f'{current_path}/../assets/templates/{command}.json', encoding='utf-8',
                           mode='r') as f_json:
                     req = load(f_json)
             except: