v0.1.9.0(2024/07/10)

1. 完成了制动性能的自动化采集
2. 完善了modbus浮点数读写相关的功能
3. 修改了target.zip工程，该工程目前适配电机电流和制动性能

aio/README.md

@@ -130,6 +130,15 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 2. excel 制动结果处理文件
 3. excel configs.xlsx 配置文件
 
+> **需要注意的点**
+
+1. 使用之前需要手动修改点位信息，确保所有点位不会发生撞击之后，再进行自动化测试
+2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为
+3. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停，但不完全保证100%，大概有95%左右的准确度
+4. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行
+5. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察
+6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停
+
 #### 6) 电机电流自动化测试
 
 只需要提前将如下文件放在指定路径下即可：
@@ -137,6 +146,9 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 2. excel 电机电流结果处理文件，一份模板即可
 3. excel configs.xlsx 配置文件
 
+> **需要注意的点**
+
+基本同第五点
 
 #### 其他
 customtkinter的tabview组件不支持修改字体大小，可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现：
@@ -424,3 +436,17 @@ v0.1.7.6(2024/07/04)
 v0.1.8.0(2024/07/04)
 1. [APIs: do_current.py]: 完成了堵转电流和惯量负载电机电流的采集和处理，至此，电机电流的自动化工作基本完成
 
+v0.1.8.1(2024/07/05)
+1. [APIs: do_brake.py]: 完成了制动性能测试框架的搭建，可以顺利执行完整的测试程序，但是未实现急停和数据处理
+2. [APIs: aio.py]: 修改了do_brake主函数的参数
+3. 增加工程文件target.zip
+
+v0.1.8.2(2024/07/08)
+1. [APIs: do_brake.py]: 完成了制动性能测试逻辑，只不过制动信号传递生效延迟不可控，暂时pending
+2. [APIs: do_current.py]: 修改曲线数据时序，主要是value data取反即可，解决了波形锯齿明细的问题
+3. [APIs: openapi.py]: modbus新增了触发急停信号的寄存器 stop0_signal，并重写了解除急停，socket新增了register.set_value协议
+
+v0.1.9.0(2024/07/10)
+1. 完成了制动性能的自动化采集
+2. 完善了modbus浮点数读写相关的功能
+3. 修改了target.zip工程，该工程目前适配电机电流和制动性能

aio/assets/file_version_info.txt

@@ -6,8 +6,8 @@ VSVersionInfo(
   ffi=FixedFileInfo(
     # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
     # Set not needed items to zero 0.
-    filevers=(0, 1, 8, 0),
+    filevers=(0, 1, 9, 0),
-    prodvers=(0, 1, 8, 0),
+    prodvers=(0, 1, 9, 0),
     # Contains a bitmask that specifies the valid bits 'flags'r
     mask=0x3f,
     # Contains a bitmask that specifies the Boolean attributes of the file.
@@ -31,12 +31,12 @@ VSVersionInfo(
         '040904b0',
         [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
         StringStruct('FileDescription', 'All in one automatic toolbox'),
-        StringStruct('FileVersion', '0.1.8.0 (2024-07-04)'),
+        StringStruct('FileVersion', '0.1.9.0 (2024-07-10)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.1.8.0 (2024-07-04)')])
+        StringStruct('ProductVersion', '0.1.9.0 (2024-07-10)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/templates/register.set_value.json

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

aio/assets/vers

@@ -1 +1 @@
-0.1.8.0 @ 07/04/2024
+0.1.9.0 @ 07/10/2024

aio/code/aio.py

@@ -459,7 +459,7 @@ class App(customtkinter.CTk):
             func_dict[flag](path=args[0], w2t=self.write2textbox)
         elif flag == 5:
             self.pre_warning()
-            func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox)
+            func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox)
         elif flag == 6:
             self.pre_warning()
             func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox)

aio/code/automatic_test/do_brake.py

@@ -1,15 +1,17 @@
-from time import sleep
+from random import randint
+from time import sleep, time
 from sys import argv
-from os import scandir
+from os import scandir, mkdir
 from os.path import exists
 from paramiko import SSHClient, AutoAddPolicy
 from json import loads
+from openpyxl import load_workbook
+import pandas
+
+RADIAN = 57.3  # 180 / 3.1415926
 
 
 def traversal_files(path, w2t):
-    # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
-    # 参数：路径
-    # 返回值：路径下的文件夹列表 路径下的文件列表
     if not exists(path):
         msg = f'数据文件夹{path}不存在，请确认后重试......'
         w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
@@ -25,10 +27,10 @@ def traversal_files(path, w2t):
         return dirs, files
 
 
-def check_files(data_dirs, data_files, w2t):
+def check_files(path, loadsel, data_dirs, data_files, w2t):
     if len(data_dirs) != 0 or len(data_files) != 5:
         w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
-        w2t('   1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
 
     config_file = reach33 = reach66 = reach100 = prj_file = None
     for data_file in data_files:
@@ -48,8 +50,23 @@ def check_files(data_dirs, data_files, w2t):
             w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
 
     if config_file and reach33 and reach66 and reach100 and prj_file:
+        result_dirs = []
+        mkdir(f"{path}\\j1")
+        mkdir(f"{path}\\j2")
+        mkdir(f"{path}\\j3")
+
+        for _reach in ['reach33', 'reach66', 'reach100']:
+            for _load in [f'load{loadsel.removeprefix("tool")}']:
+                for _speed in ['speed33', 'speed66', 'speed100']:
+                    dir_name = '_'.join([_reach, _load, _speed])
+                    result_dirs.append(dir_name)
+                    mkdir(f"{path}\\j1\\{dir_name}")
+                    mkdir(f"{path}\\j2\\{dir_name}")
+                    if _reach == 'reach100':
+                        mkdir(f"{path}\\j3\\{dir_name}")
+
         w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
-        return config_file, reach33, reach66, reach100, prj_file
+        return config_file, reach33, reach66, reach100, prj_file, result_dirs
     else:
         w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
         w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
@@ -60,14 +77,9 @@ def prj_to_xcore(prj_file):
     ssh.set_missing_host_key_policy(AutoAddPolicy())
     ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
     sftp = ssh.open_sftp()
-    # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
-    # ssh.exec_command('rm /tmp/target.zip')
     sftp.put(prj_file, '/tmp/target.zip')
-    cmd = 'cd /tmp; '
+    cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
-    cmd += 'rm -rf target/; '
+    cmd += 'chmod 777 -R target/; rm target.zip'
-    cmd += 'mkdir target; '
-    cmd += 'unzip -d target/ -q target.zip; '
-    cmd += 'rm target.zip; '
     ssh.exec_command(cmd)
 
     cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
@@ -78,20 +90,17 @@ def prj_to_xcore(prj_file):
     print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
     print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj '
+    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
+    cmd = 'cd /home/luoshi/bin/controller/; '
+    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
     stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
     stdin.write('luoshi2019' + '\n')
     stdin.flush()
     print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
     print(stderr.read().decode())  # 顺便也执行以下stderr
-
     ssh.close()
 
 
-def modify_prj():
-    pass
-
-
 def validate_resp(_id, response, w2t):
     match _id:
         case 'DATA ERR':
@@ -105,7 +114,7 @@ def validate_resp(_id, response, w2t):
 
 
 def execution(cmd, hr, w2t, **kwargs):
-    _id = hr.excution(cmd, **kwargs)
+    _id = hr.execution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
     if not _msg:
         w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
@@ -115,60 +124,201 @@ def execution(cmd, hr, w2t, **kwargs):
         return _response
 
 
-def run_rl(hr, w2t):
+def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
-    # prj_path = 'target/_build/target.prj'
+    _d2d_vel = {'hw_joint_vel_feedback': []}
-    # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
+    _d2d_trq = {'device_servo_trq_feedback': []}
-    # print(f"reload prj: {_response}")
+    _d2d_stop = {'device_safety_estop': []}
-    # # _response = execution('overview.get_cur_prj', hr, w2t)
+    for data in curve_data:
-    # # print(f"get cur prj name: {_response}")
+        dict_results = data['data']
-    # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
+        # dict_results.reverse()
-    # print(f"set pp2main of prj: {_response}")
+        for item in dict_results:
-    #
+            item['value'].reverse()
-    # _response = execution('state.switch_auto', hr, w2t)
+            if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
-    # _response = execution('state.switch_motor_on', hr, w2t)
+                _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
-    #
+            elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback':
-    # _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
+                _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
-    # print(f"run prj: {_response}")
+            elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop':
-    # sleep(10)
+                _d2d_stop['device_safety_estop'].extend(item['value'])
-    #
-    # _response = execution('state.switch_motor_off', hr, w2t)
-    # _response = execution('state.switch_manual', hr, w2t)
 
-    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    df1 = pandas.DataFrame.from_dict(_d2d_vel)
-    print(f"打开诊断: {_response}")
+    df2 = pandas.DataFrame.from_dict(_d2d_trq)
-    # _response = execution('diagnosis.get_params', hr, w2t)
+    df3 = pandas.DataFrame.from_dict(_d2d_stop)
-    # print(f"显示诊断状态: {_response}")
+    df = pandas.concat([df1, df2, df3], axis=1)
+    _filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data"
+    df.to_csv(_filename, sep='\t', index=False)
+
+
+def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
+    _count = 0
+    speed_max = 0
     display_pdo_params = [
-        {"name": "device_servo_trq_feedback", "channel": 0}
+        {"name": "hw_joint_vel_feedback", "channel": 0},
+        {"name": "hw_joint_vel_feedback", "channel": 1},
+        {"name": "hw_joint_vel_feedback", "channel": 2},
+        {"name": "hw_joint_vel_feedback", "channel": 3},
+        {"name": "hw_joint_vel_feedback", "channel": 4},
+        {"name": "hw_joint_vel_feedback", "channel": 5},
+        {"name": "device_servo_trq_feedback", "channel": 0},
+        {"name": "device_servo_trq_feedback", "channel": 1},
+        {"name": "device_servo_trq_feedback", "channel": 2},
+        {"name": "device_servo_trq_feedback", "channel": 3},
+        {"name": "device_servo_trq_feedback", "channel": 4},
+        {"name": "device_servo_trq_feedback", "channel": 5},
+        {"name": "device_safety_estop", "channel": 0},
     ]
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    wb = load_workbook(config_file, read_only=True)
-    print(f"执行采样: {_response}")
+    ws = wb['Target']
-    sleep(5)
+    for condition in result_dirs:
+        _reach = condition.split('_')[0].removeprefix('reach')
+        _load = condition.split('_')[1].removeprefix('load')
+        _speed = condition.split('_')[2].removeprefix('speed')
 
-    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+        for axis in range(1, 4):
-    print(f"关闭诊断: {_response}")
+            md.write_axis(axis)
-    # sleep(1)
+            speed_max = 0
-    for _msg in hr.c_msg:
+            if axis == 3 and _reach != '100':
-        if 'diagnosis.result' in _msg:
+                continue
-            print(_msg)
+            for count in range(1, 4):
-            # _msg = json.loads(_msg)
+                _count += 1
-            # if 'channel' in _msg and 'name' in _msg:
+                w2t(f"[{_count}/63-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test')
-            #     if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
-            #         print(f"diagnosis.result: {_msg}")
-            #         count += 1
-            #         if count * 50 > 5 * 1000:
-            #             break
 
+                # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
+                md.trigger_estop()
+                md.reset_estop()
+                md.write_act(False)
+                _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                sleep(1)  # 让曲线彻底关闭
+                _response = execution('state.switch_manual', hr, w2t)
+                _response = execution('state.switch_motor_off', hr, w2t)
 
+                # 2. 修改未要执行的场景
+                ssh = SSHClient()
+                ssh.set_missing_host_key_policy(AutoAddPolicy())
+                ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+                if ws.cell(row=1, column=1).value == 'positive':
+                    _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
+                elif ws.cell(row=1, column=1).value == 'negative':
+                    _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
+                else:
+                    w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
+                _rl_speed = f"VelSet {_speed}"
+                cmd = 'cd /home/luoshi/bin/controller/; '
+                cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
+                cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; '
+                cmd += f'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
+                cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod; '
+                stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+                stdin.write('luoshi2019' + '\n')
+                stdin.flush()
+                print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+                print(stderr.read().decode())  # 顺便也执行以下stderr
+
+                # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
+                prj_path = 'target/_build/target.prj'
+                _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
+                _response = execution('state.switch_auto', hr, w2t)
+                _response = execution('state.switch_motor_on', hr, w2t)
+                _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
+                for i in range(3):
+                    if md.read_ready_to_go() == 1:
+                        md.write_act(True)
+                        break
+                    else:
+                        sleep(1)
+                else:
+                    w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+
+                # 4. 第一次打开诊断曲线，并执行采集8s，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
+                if count == 1:
+                    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+                    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+                    sleep(8)  # 前八秒获取实际最大速度
+
+                    md.trigger_estop()
+                    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                    # 找出最大速度
+                    for _msg in hr.c_msg:
+                        if 'diagnosis.result' in _msg:
+                            dict_results = loads(_msg)['data']
+                            for item in dict_results:
+                                if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
+                                    _ = abs(RADIAN*sum(item['value'])/len(item['value']))
+                                    speed_max = max(_, speed_max)
+                    speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
+                    if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
+                        w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', 'Automatic Test')
+
+                    md.write_speed_max(speed_max)
+                    sleep(1)
+
+                    for _msg in hr.c_msg:
+                        if 'diagnosis.result' in _msg:
+                            _index = hr.c_msg.index(_msg)
+                            del hr.c_msg[_index:]
+                            hr.c_msg_xs.clear()
+                            break
+
+                # 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停
+                md.reset_estop()
+                _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
+                _response = execution('state.switch_auto', hr, w2t)
+                _response = execution('state.switch_motor_on', hr, w2t)
+                _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
+                for i in range(3):
+                    if md.read_ready_to_go() == 1:
+                        md.write_act(True)
+                        break
+                    else:
+                        sleep(1)
+                else:
+                    w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+
+                _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+                _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+                # sleep(randint(3, 6))
+                md.write_probe(True)
+                _t_start = time()
+                while True:
+                    if md.read_brake_done() == 1:
+                        sleep(1)  # 保证所有数据均已返回
+                        md.write_probe(False)
+                        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                        sleep(1)  # 保证所有数据均已返回
+                        break
+                    else:
+                        if (time() - _t_start) // 60 > 1:
+                            w2t(f"规定时间内未找到合适的点触发急停，需要确认RL/Python程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                        else:
+                            sleep(1)
+
+                # 6. 保留数据并处理输出
+                curve_data = []
+                for _msg in hr.c_msg:
+                    if 'diagnosis.result' in _msg:
+                        curve_data.insert(0, loads(_msg))
+                else:
+                    for _msg in hr.c_msg:
+                        if 'diagnosis.result' in _msg:
+                            _index = hr.c_msg.index(_msg)
+                            del hr.c_msg[_index:]
+                            hr.c_msg_xs.clear()
+                            break
+                    gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
     else:
-        sleep(1)
+        w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', 'Automatic Test')
 
 
-def main(path, hr, loadsel, w2t):
+def main(path, hr, md, loadsel, w2t):
+    _s_time = time()
     data_dirs, data_files = traversal_files(path, w2t)
-    config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
+    config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
-    # prj_to_xcore(prj_file)
+    prj_to_xcore(prj_file)
-    run_rl(hr, w2t)
+    run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
+    _e_time = time()
+    time_total = _e_time - _s_time
+    w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', 'Automatic Test')
 
 
 if __name__ == '__main__':

aio/code/automatic_test/do_current.py

@@ -27,7 +27,7 @@ def traversal_files(path, w2t):
 def check_files(path, loadsel, data_dirs, data_files, w2t):
     if len(data_dirs) != 0 or len(data_files) != 3:
         w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
-        w2t('   1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+        w2t('    1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
 
     config_file = current_file = prj_file = None
     for data_file in data_files:
@@ -118,9 +118,12 @@ def data_proc_regular(path, filename, channel, scenario_time):
             for line in lines:
                 data = eval(line.strip())['data']
                 for item in data:
+                    item['value'].reverse()
                     if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
+                        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)
@@ -146,6 +149,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             for line in lines:
                 data = eval(line.strip())['data']
                 for item in data:
+                    item['value'].reverse()
                     if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
@@ -214,6 +218,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
             for line in lines:
                 data = eval(line.strip())['data']
                 for item in data:
+                    item['value'].reverse()
                     if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
@@ -234,6 +239,7 @@ def data_proc_inertia(path, filename, channel):
         for line in lines:
             data = eval(line.strip())['data']
             for item in data:
+                item['value'].reverse()
                 if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback':
                     _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                 elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':

aio/code/automatic_test/openapi.py

@@ -5,7 +5,7 @@ import selectors
 from time import time, sleep
 from os.path import dirname
 from pymodbus.client.tcp import ModbusTcpClient
-from pymodbus.payload import BinaryPayloadDecoder
+from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
 from pymodbus.constants import Endian
 
 MAX_FRAME_SIZE = 1024
@@ -47,11 +47,12 @@ class ModbusRequest(object):
     def reset_estop(self):
         try:
             self.c.write_register(40012, 1)
-            # self.c.write_register(40001, 1)
+            sleep(0.2)
-            # sleep(0.2)
+            self.c.write_register(40001, 0)
-            # self.c.write_register(40001, 1)
+            sleep(0.2)
-            # sleep(0.2)
+            self.c.write_register(40001, 1)
-            # self.c.write_register(40001, 0)
+            sleep(0.2)
+            self.c.write_register(40001, 0)
         except Exception as Err:
             self.w2t(f"{Err}")
             self.w2t("无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
@@ -124,6 +125,48 @@ class ModbusRequest(object):
             self.w2t(f"{Err}")
             self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
+    def write_stop0(self, number):
+        try:
+            self.c.write_register(41004, number)
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            self.w2t("无法通过IO操作stop0急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def write_speed_max(self, speed):
+        try:
+            builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE)
+            builder.add_32bit_float(float(speed))
+            payload = builder.build()
+            self.c.write_registers(41005, payload, skip_encode=True)
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            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("无法读取制动已执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
+
+    def write_axis(self, axis):
+        try:
+            builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE)
+            builder.add_32bit_int(int(axis))
+            payload = builder.to_registers()
+            self.c.write_registers(41008, payload)
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            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("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)
+
 
 class HmiRequest(object):
     def __init__(self, w2t):
@@ -180,6 +223,8 @@ class HmiRequest(object):
                 md.reset_estop()
                 md.clear_alarm()
                 md.write_act(False)
+                md.write_probe(False)
+                md.write_axis(1)
             except Exception as Err:
                 self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
                 with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
@@ -224,7 +269,7 @@ class HmiRequest(object):
                 f_hb.write(_flag)
                 if _flag == '0':
                     self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
-            sleep(2)
+            sleep(1.5)
             # 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')
@@ -559,6 +604,11 @@ class HmiRequest(object):
                 case 'diagnosis.open':
                     req['data']['open'] = kwargs['open']
                     req['data']['display_open'] = kwargs['display_open']
+                case 'register.set_value':
+                    req['data']['name'] = kwargs['name']
+                    req['data']['type'] = kwargs['type']
+                    req['data']['bias'] = kwargs['bias']
+                    req['data']['value'] = kwargs['value']
                 case _:
                     pass