fixing merge

v0.1.7.1(2024/06/29)
1. [APIs: aio.py] - 修改detect_network函数中sleep语句放到最后，重新生成HmiRequest实例中增加sleep(4)，这个停顿时间一定是比openapi中heartbeat函数的sleep要长1s以上才能正常工作 - 修改write2textbox函数，新增默认参数tab_name，只有当该值与当前tab一致时，函数才会有输出 - 第二条改动影响到了automatic_test文件夹下所有的文件 2. [APIs: openapi.py] - 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理 - execution函数中合并了case条件 - 增加了N多指令，多为诊断曲线和rl程序相关 3. [APIs: do_brake.py] - 实现自动推送工程到xCore并自动运行 - 初步实现了Modbus发送消息和检测状态 4. [APIs: do_current.py] - 将do_brake.py的内容完全拷贝到此文件，待修改
2024-06-29 20:46:42 +08:00 · 2024-06-29 20:40:17 +08:00 · 2024-06-29 07:48:54 +08:00 · 2024-06-28 09:47:59 +08:00 · 2024-06-26 21:38:21 +08:00 · 2024-06-26 19:54:51 +08:00
45 changed files with 2027 additions and 597 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1,8 +1,9 @@
 test.py
 .idea/
 aio/.idea/
-aio/__pycache__/
-aio/dist/
-aio/build/
-aio/aio.spec
+aio/code/__pycache__/
+aio/package/
 aio/venv
+aio/__pycache__/
+aio/code/automatic_test/__pycache__/
+aio/code/data_process/__pycache__/
--- a/aio/README.md
+++ b/aio/README.md
@ -1,96 +1,112 @@
-### 程序功能
+### 一、程序功能

 自动化测试数据处理工具，减少人工处理时长，提高测试数据处理的效率和准确度：
-1. 制动数据，单轴数据处理5min以内
-2. 电机电流数据，全部轴数据处理1min以内
-3. ISO激光数据整理，1min以内

-### 使用方法
+1. 制动数据，单轴数据处理 3min 以内
+2. 电机电流数据，全部轴数据处理 1min 以内
+3. ISO 激光数据整理，1min 以内
+4. wavelogger 波形处理，几乎不花费时间
+5. 制动自动化测试
+6. 电机电流自动化测试

-点击可执行程序 AIO.exe，然后选择功能，根据提示填写必要参数，点击运行即可

-### 第三方库
+---

-```commandline
-pip3 install pandas -i https://pypi.tuna.tsinghua.edu.cn/simple --trusted-host pypi.tuna.tsinghua.edu.cn
-pip3 install openpyxl -i https://pypi.tuna.tsinghua.edu.cn/simple --trusted-host pypi.tuna.tsinghua.edu.cn
-pip3 install xlmx -i https://pypi.tuna.tsinghua.edu.cn/simple --trusted-host pypi.tuna.tsinghua.edu.cn
-pip3 install pdfplumber -i https://pypi.tuna.tsinghua.edu.cn/simple --trusted-host pypi.tuna.tsinghua.edu.cn
-pip3 install jinja2 -i https://pypi.tuna.tsinghua.edu.cn/simple --trusted-host pypi.tuna.tsinghua.edu.cn
-pip3 install Pillow -i https://pypi.tuna.tsinghua.edu.cn/simple --trusted-host pypi.tuna.tsinghua.edu.cn
-python.exe -m pip install --upgrade pip -i https://pypi.tuna.tsinghua.edu.cn/simple --trusted-host pypi.tuna.tsinghua.edu.cn
-```
+### 二、使用方法

-### 打包方法
+点击可执行程序 AIO.exe，然后选择功能，根据提示填写必要参数，红色标签提示是必填项，蓝色标签提示是可选项，然后点击运行即可

-```
-pyinstaller.exe -F --version-file file_version_info.txt -i .\icon.ico .\aio.py -p .\brake.py -p .\current.py
-pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --version-file file_version_info.txt -i .\icon.ico .\aio.py -p .\brake.py -p .\iso.py -p .\current.py
+> 需要注意的是，可选项填写的不合适，有可能导致数据错误，或者无法运行！！
+
+---
+
+### 三、第三方库
+
+```text
+参考 requirements.txt
 ```

 ---

-### 注意事项
+### 四、打包方法

-#### 制动数据
+```
+pyinstaller.exe -F --version-file file_version_info.txt -i .\icon.ico .\aio.py -p .\brake.py -p .\current.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
+```
+
+---
+
+### 五、注意事项
+
+#### 1) 制动数据

 ```text
 1. 数据文件存储存储规则
-数据文件，就是我们拍急停的时候，采集到的 .data 文件，正方向拍三次急停，会采集到三个 .data 文件，存储在同一个文件夹内，即每组（三个 .data 文件）文件必须存储在同一个文件夹内，数据文件的命名无要求，
+数据文件，就是我们拍急停的时候，采集到的 .data 文件，根据规则选择某个方向拍三次急停，会采集到三个 .data 文件，存储在同一个文件夹内，即每组（三个 .data 文件）文件必须存储在同一个文件夹内，数据文件的命名无要求
 	
 2. 文件夹命名规则
-采集到的 .data 文件没有命名要求，但是对于文件夹的命名是有要求的，必须是如下格式：
-	dXX_speedXX_reachXX 或者 loadXX_reachXX_speedXX
+对采集到的 .data 文件没有命名要求，但是对于其存储的文件夹的命名是有要求的，必须是如下格式：
+	reachXX_loadXX_speedXX
 	XX代表不同条件下的测试数值，比如：
-	d100_speed33_reach66，指的是，负载100%，速度33%，臂展66%
+	reach100_load66_speed33，指的是，臂展100%，负载66%，速度33%

 3. 结果文件命名规则
-所谓结果文件，就是处理数据的那个 excle 文件，该文件名字的前缀必须是 loadXX_XXXXXXXXX.xlsx，比如：
-	load33_自研_制动性能测试.xlsx
-	load66_自研_制动性能测试.xlsx
-	load100_自研_制动性能测试.xlsx
+所谓结果文件，就是处理数据的那个 excle 文件，该文件名字的前缀必须是 reachXX_XXXXXXXXX.xlsx，比如：
+	reach33_自研_制动性能测试.xlsx
+	reach66_自研_制动性能测试.xlsx
+	reach100_自研_制动性能测试.xlsx
 	
-！！结果文件可以是没有数据的，也可以是之前有数据的，只要保证第 6 点中的那几个数据准确即可
+！！结果文件可以是没有数据的，也可以是之前有数据的，只要保证输入参数的正确性即可
 	
 4. 数据存储的组织结
-	..../j1/load100_speed33_reach100
-	..../j1/load100_speed66_reach100
+	..../j1/reach100_load66_speed33
+	..../j1/reach100_load66_speed66
 	....
-	..../j1/load100_speed100_reach100
-	..../j1/load100_speed33_reach100/2024_05_16_09_18_52.data
-	..../j1/load100_speed33_reach100/2024_05_16_09_19_52.data
-	..../j1/load100_speed33_reach100/2024_05_16_09_20_52.data
-	..../j1/load33_自研_制动性能测试.xlsx
-	..../j1/load66_自研_制动性能测试.xlsx
-	..../j1/load100_自研_制动性能测试.xlsx
+	..../j1/reach100_load33_speed33
+	..../j1/reach100_load100_speed33/2024_05_16_09_18_52.data
+	..../j1/reach100_load100_speed33/2024_05_16_09_19_52.data
+	..../j1/reach100_load100_speed33/2024_05_16_09_20_52.data
+	..../j1/reach33_自研_制动性能测试.xlsx
+	..../j1/reach66_自研_制动性能测试.xlsx
+	..../j1/reach100_自研_制动性能测试.xlsx
+	..../j1/configs.xlsx
 	
 5. 文件的打开与关闭
 	a. 在执行程序之前，需要关闭所有相关 excle 文件
 	b. 在执行程序之中，不允许打开相关 excle 文件
 	c. 在执行程序之后，需要逐个打开结果文件，并保存一次
 	
-6. 参数一致性检查
-执行程序前，需要确定 configs.xlsx 中设定的减速比/最大角速度/额定电流的值是正确的
+6. 数据准确性检查
+执行完程序之后，可以在日志输出框中看到全部文件的处理过程，对于有问题的文件，会用特殊颜色进行标识，需要注意观察

-7. 数据准确性检查
-执行完程序之后，需要对结果文件的数据准确性做核对，通过我自己的数据观察，误差基本在10ms以内，也即10个数据点，误差较大的情况可自行调整
+7. configs.xlsx配置文件
+需要运行前需要手动修改该文件，并确保配置参数的正确性，测试时按照第 4 点中的位置存放

 8. 其他
-程序运行主要的耗时集中在打开，保存和关闭结果文件，第一次打开的时候会比较慢，是因为 excel 在做首次公式的计算，保存关闭之后，再打开会比较快一些，另外，如果在运行出错并重复运行程序的时候无响应，或者出现异常，请打开任务管理器，关闭一切和excel相关的进程，重新运行即可
+程序运行主要的耗时集中在打开，保存和关闭结果文件，第一次打开的时候会比较慢，另外还需要注意采集的数据长度和结果文件中预设的数据长度是否一致，若采集的数据长度大于预设的数据长度，则需要补齐数据
 ```

-#### 电机电流
+#### 2) 电机电流

-1. 单独使用max/avg功能时，对于文件命名同第二点，存放数据的文件夹，只允许有 .data 或者 .csv 文件，且每次只能处理rc相同的轴的数据
-2. cycle功能只处理单文件单轴数据，可以批量处理所有轴，但要确保遵守如下规则：
-	a. 数据整理文件以 .xlsx 为后缀
-	b. 其他文件
-		A. 单轴：j1_xxxxx.data/csv
-		B. 保持：j1_hold_xxxx.data/csv
-		C. 所有文件放在同一个文件夹即可
-		d. 界面输入rc参数时，需要输入所有轴的数据
+1. 单独使用 max/avg 功能时，要求文件命名以 "jx_" 开头，例如 j1_2024_06_18_09_09_11.data，只允许有 .data 或者 .csv 文件，以及configs.xlsx配置表，可同时处理所有轴的数据
+2. cycle 功能支持处理单轴数据以及场景电机电流的数据，可以批量处理所有轴，但要确保遵守如下规则：

-#### ISO数据
+- 包含电机电流结果汇总文件（excel）
+- 单轴文件：jx_xxxxx.data/csv
+- 保持电流：jx_hold_xxxx.data/csv
+- 场景文件：factory_53.8_2024_06_18_09_01_26.data（需手动拆分）
+- 配置文件：configs.xlsx
+- 所有文件放在同一个文件夹即可
+- 界面输入rc参数时，需要输入所有轴的数据，即使只处理个别轴的数据
+
+3. configs.xlsx配置文件：需要运行前需要手动修改该文件，并确保配置参数的正确性
+
+> 程序运行主要的耗时集中在打开，保存和关闭结果文件
+> 需要注意采集的数据长度和结果文件中预设的数据长度是否一致，若采集的数据长度大于预设的数据长度，则需要补齐数据
+> 和制动数据统一，后续将仅支持对hw_joint_vel_feedback的解析和处理，不再支持device_servo_vel_feedback
+
+#### 3) iso 数据

 所有文件放在同一个文件夹即可，命名规则如下：
 	a. ISO.pdf
@ -98,6 +114,30 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 	c. ISO-V100.pdf
 	d. iso-results.xlsx

+> 目前仅能处理 6 轴数据
+
+#### 4) wavelogger 波形数据
+
+1. 需要提前将 .xdt 波形数据转换成 .csv 文件
+2. 组织目录下只允许有 .csv 文件，对文件夹无要求
+3. 运行结束后，会生成 result.xlsx 文件，结果按照 .csv 文件名存放
+4. 采集数据时，不同轮次数据时间间隔最好大于 2 倍的周期时间，否则会出现采集的轮数不正确的情况，但数据是完整的
+
+#### 5) 制动自动化测试
+
+只需要提前将如下文件放在指定路径下即可：
+1. zip 工程文件
+2. excel 制动结果处理文件
+3. excel configs.xlsx 配置文件
+
+#### 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：
+1. zip 工程文件
+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
+
+
 #### 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：
 	a. 运行 `pip show customtkinter`，获取到库的路径
@ -111,7 +151,7 @@ RELEASE CHANGES


 已知问题：
-1. office套件下运行好像有问题，WPS无问题，集中在just_open函数的实现上
+1. -

 v0.0.1(2024/05/18)
 Draft
@ -186,27 +226,149 @@ v0.1.4(2024/06/06)
 6. 支持工业/协作两条产品线的电机电流数据处理，包括单轴，场景，max/avg计算

 v0.1.5(2024/06/12)
-1. [aio.py]: 主界面切换不同功能时保持placehold一致
-2. [brake.py]: 由于制动采集模板和内容的更改，适配了新的数据，更新了算法
-3. [aio.py]: 新增tabview组件，区分数据处理和自动化测试功能
-4. [aio.py]: 重新调整界面配色
-5. [aio.py]: 修改了write2textbox函数，定制化显示每一行的颜色，针对每一行可自定义输出内容颜色
-6. [brake.py/iso.py/current.py]: 由于第 5 点的更改，同时修改了其他文件相关引用的部分
-7. [aio.py]: 更改label/entry/optionmenu等控件的生成方式，使用循环实现，更加简洁和容易维护
-8. [aio.py]: 修改customtkinter库中C:\Users\Administrator\AppData\Local\Programs\Python\Python312\Lib\site-packages\customtkinter\windows\widgets\ctk_tabview.py文件，参考https://github.com/TomSchimansky/CustomTkinter/issues/2296，实现修改tabview组件的字体大小
-9. [aio.py]: 修改menu_main->menu_main_dp，menu_sub->menu_sub_dp，为后续其他tab功能按钮做扩展，是针对第三点做出的相应调整
-10. [layout.xlsx]: 添加了各个功能的流程图
+1. [aio.py] 主界面切换不同功能时保持placehold一致
+2. [brake.py] 由于制动采集模板和内容的更改，适配了新的数据，更新了算法
+3. [aio.py] 新增tabview组件，区分数据处理和自动化测试功能
+4. [aio.py] 重新调整界面配色
+5. [aio.py] 修改了write2textbox函数，定制化显示每一行的颜色，针对每一行可自定义输出内容颜色
+6. [brake.py/iso.py/current.py] 由于第 5 点的更改，同时修改了其他文件相关引用的部分
+7. [aio.py] 更改label/entry/optionmenu等控件的生成方式，使用循环实现，更加简洁和容易维护
+8. [aio.py] 修改customtkinter库中C:\Users\Administrator\AppData\Local\Programs\Python\Python312\Lib\site-packages\customtkinter\windows\widgets\ctk_tabview.py文件，参考https://github.com/TomSchimansky/CustomTkinter/issues/2296，实现修改tabview组件的字体大小
+9. [aio.py] 修改menu_main->menu_main_dp，menu_sub->menu_sub_dp，为后续其他tab功能按钮做扩展，是针对第三点做出的相应调整
+10. [layout.xlsx] 添加了各个功能的流程图

 v0.1.5.1(2024/06/12)
-[current.py]:  修改cycle功能中，数据清理范围为70000行，并将threshold从2调整为5
-[current.py]:  修改位置超限提示，使更清楚了解问题原因
-[current.py]:  修改find_point函数中错误提示，增加定位信息
-[README.md]: 精简打包命令
-[requirements.txt]: 新增必要库配置文件
+1. [current.py] 修改cycle功能中，数据清理范围为70000行，并将threshold从2调整为5
+2. [current.py] 修改位置超限提示，使更清楚了解问题原因
+3. [current.py] 修改find_point函数中错误提示，增加定位信息
+4. [README.md] 精简打包命令
+5. [requirements.txt] 新增必要库配置文件

 v0.1.5.2(2024/06/13)
-[brake.py/aio.py]: 将sto修改为estop
-[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
-[brake.py]: 将threshold修改为常量50
-[brake.py]: 提高了输出提示语的明确性，删除了不必要的省略号
-[brake.py]: 更正了之前的数据copy错误，重新优化了estop处是否达到指定百分比的判定逻辑
+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
+5. [brake.py] 更正了之前的数据copy错误，重新优化了estop处是否达到指定百分比的判定逻辑
+
+v0.1.5.3(2024/06/14)
+1. [aio.py] 修改w_param为84，适配14寸电脑屏幕
+2. [brake.py] 将判定合规逻辑修改为角速度超过指定角速度的95%
+3. [README.md] 稍作修改，包括打包方式，功能特性等
+
+v0.1.6.0(2024/06/15)
+1. [aio.py] 新增wavelogger处理界面
+2. [wavelogger.py] 新增精度数据处理模块
+
+v0.1.6.1(2024/06/16)
+1. [wavelogger.py] bugfix single_file_proc函数中，修改_start起始点的计算逻辑
+2. [wavelogger.py] bugfix find_point函数中，当判断条件为临界值 2.0 的时候，针对forward和backward两种情况，对row_target做与判断逻辑相同的处理，目的是避免形成死循环
+
+v0.1.6.2(2024/06/16)
+1. [current.py] 修改了max/avg相关功能中对于返回值的处理逻辑，并在输出框以行的形式打印出来
+
+v0.1.6.3(2024/06/18)
+1. [current.py] 适配电机电流中速度使用hw_joint_vel_feedback的数据，取消对device_servo_vel_feedback的支持，后续所有涉及到速度相关的数据均已前者为准，现已完成对单轴和场景的适配
+
+> ！！WARNING：目前版本的电机电流程序还支持DriverMaster采集的数据处理，等明确后，将不再支持，也即所有的电机电流数据（工业+协作），都是用诊断曲线来采集
+
+v0.1.7.0(2024/06/19)-未发布
+1. [openapi.py] 初步搭建起框架，完成了新老协议的封包/解包/异步采集日志的操作（未充分测试，但基本无问题）
+2. [openapi.py] 修改了封包的规则，使之更加明晰，封包操作没有实现分包功能，目前看实际场景用不到
+
+v0.1.7.0(2024/06/21)-未发布
+1. [openapi.py] 定义 MAX_FRAME_SIZE 常量（1024），替换socket接收以及响应数据处理相关部分
+2. [openapi.py] 使用 int.to_bytes 和 int.from_bytes 替换 binascii 模块的功能
+3. [aio.py] 修改了Data Process中初始化的动作，使得初始化时的状态统一成程序刚启动时的样子
+
+v0.1.7.0(2024/06/23)-未发布
+1. [aio.py] 增加了tabview的点击行为函数，每次点击tab都会初始化
+2. [aio.py] 增加了Automatic Test界面元素，包括如下，并完成了功能框架的搭建
+   - 标签：文件/角速度/减速比
+   - 按钮：急停及恢复
+   - 输入框：文件路径/角速度/减速比
+   - OptionMenu：负载
+   - 进度条
+3. [openapi.py] 增加心跳检测函数，并开启线程执行；取消在该文件中生成实例
+4. [aio.py] 完成detect_network，并在main函数开启线程
+5. 将templates文件夹移动到assets内
+
+v0.1.7.0(2024/06/24)-未发布
+1. [openapi.py] 建联部分做容错逻辑，并将读写文件做自适应处理
+2. [aio.py] 将读写文件做自适应处理，引入openapi模块并生成实例，做心跳检测，将socket超时时间修改为3s
+
+v0.1.7.0(2024/06/25)-未发布
+1. [aio.py] 取消了在本文件中开启openapi线程的做法，并修改如下：
+	- 通过包的方式导入其他模块
+    - 使用current_path来规避文件路径问题
+    - 声名了 self.hr 变量，用来接收openapi的实例化
+    - 修改了对于segment button的错误调用
+    - 设定progress bar的长度是10
+    - 完善了segmented_button_callback函数
+    - 在detect_network函数中增加heartbeat初始化
+    - tabview_click函数中新增textbox清屏功能，以及实例化openapi，并做检测
+2. [openapi.py] 取消了初始化中无限循环检测，因为阻塞了aio主界面进程！！！socket也无法多次连接！！！浪费了好多时间！！！很生气！！！！
+	- 通过tabview切换来实现重新连接，并保留了异常处理部分
+    - 将所有的 __xxxx 函数都替换成 xxxx 函数，去掉了 __
+    - 使用current_path来规避文件路径问题
+3. [do_brake.py] 初步完成了机器状态收集的功能，还需要完善
+    - 使用current_path来规避文件路径问题
+    - 新增validate_resp函数，校验数据
+    - 完善了调用接口
+
+> **关于HMI接口**
+> - 封包解包顺序：帧长度二字节/包长度四字节/协议二字节/预留二字节，\x04\x00:\x00\x00\tR:\x02:\x00
+> - 帧长度和包长度没有必然关系，单帧的时候是帧长度减去包长度等于6，包长度指的是所有内容的长度
+> - HMI内部每次发送1024个字节，进行分包，内容长度规则是：第一帧1024-6=1018(帧大小减去包头长度)，第二帧（包含）及之后的帧，帧长度即是数据长度
+
+v0.1.7.0(2024/06/26)-初步可用
+1. [aio.py] 在detect_network函数中需改查询时间间隔是1s，在tabview_click中增加textbox配置normal的语句
+2. [do_brake.py -> btn_functions.py] 新增执行相应函数，并在get_state函数中设置无示教器模式
+3. [openapi.py] 新增sock_conn函数，并做连接时的异常处理，新增类参数w2t
+4. [aio.py] 修改customtkinter库中C:\Users\Administrator\AppData\Local\Programs\Python\Python312\Lib\site-packages\customtkinter\windows\widgets\ctk_tabview.py文件，参考https://github.com/TomSchimansky/CustomTkinter/issues/2296，实现修改tabview组件的字体大小，使用原生字体，同时将segmented button字体修改为原生，为了解决segmented button在禁用和启用时，屏幕抖动的问题，并将大小修改为16
+5. [aio.py] 修改了segmented_button_callback的实现逻辑，使代码更简洁
+6. [aio.py] 修改了在tabview_click函数中对于实例化HmiRequest的动作，使每次切换标签都会重新实例化，也就是每次都会重新连接，修复显示不正确的问题
+7. [openapi.py] 新增了socket关闭的函数，并增加msg_id为None的处理逻辑
+8. [btn_functions.py] 完善了状态获取的功能，新增告警获取以及功能切换的逻辑
+9. [aio.py] 修改了版本
+10. [current.py] max/avg功能结束之前会将结果数据追加写入源文件，avg算法更改为average+3×std
+11. [wavelogger.py] 算法更改为 average+3×std
+
+v0.1.7.1.0(2024/06/29)
+1. [APIs: aio.py] 
+   - 对于automatic test删除了输入框，使用configs.xlsx配置文件作为参数输入
+   - 完善initialization/param_check/func_start_callback函数中对于automatic test的处理
+   - 将textbox组件一直设置为normal状态，不再频繁切换disabled
+   - 将所有的f_h文件对象修改为f_hb，并将connection_state修改为c_state
+   - 在detect_network函数中，实例化HmiRequest，并在无限循环中检测心跳是否正常，如异常，则销毁hr，重新生成
+   - 取消在tabview切换时，检测心跳的逻辑，这样做无法保证实时性
+2. [APIs: openapi.py]
+   - 将sock_conn函数移出__init__，单独作为连接函数存在
+   - 新增全局变量self.t_bool，控制所有的线程中无限循环的启停，也就是可以人为的退出线程
+   - 移除close_sock函数
+   - heartbeat函数中新增打印所有消息的代码，调试时打开，平常关闭
+   - execution函数中，新增对overview.set_autoload和overview.reload的支持
+   - execution函数中，对send动作增加异常处理逻辑
+3. [APIs: do_brake.py] 
+   - 新增文件，处理制动测试流程，建立连接，导入project，pp2main，run，采集并处理曲线数据，本地修改RL程序，推送至控制器等
+   - 目前完成：
+     - 文件合规性检查
+     - 导入工程并设置为运行工程
+4. [APIs: current.py] 修改scenario/single电机电流最大长度为150s
+5. 在本文件中更新关于制动自动化测试的相关内容
+6. [t_change_ui: aio.py/brake.py/current.py] 整体修改了操作界面，删除了大部分的配置输入框，改用 configs.xlsx 配置文件替代，并优化了max/avg功能中写入结果数据的方式
+
+v0.1.7.1.1(2024/06/29)
+1. [APIs: aio.py] 
+   - 修改detect_network函数中sleep语句放到最后，重新生成HmiRequest实例中增加sleep(4)，这个停顿时间一定是比openapi中heartbeat函数的sleep要长1s以上才能正常工作
+   - 修改write2textbox函数，新增默认参数tab_name，只有当该值与当前tab一致时，函数才会有输出
+   - 第二条改动影响到了automatic_test文件夹下所有的文件
+2. [APIs: openapi.py]
+   - 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理
+   - execution函数中合并了case条件
+   - 增加了N多指令，多为诊断曲线和rl程序相关
+3. [APIs: do_brake.py]
+   - 实现自动推送工程到xCore并自动运行
+   - 初步实现了Modbus发送消息和检测状态
+4. [APIs: do_current.py]
+   - 将do_brake.py的内容完全拷贝到此文件，待修改
--- a/aio/aio.py
+++ b/aio/aio.py
@ -1,359 +0,0 @@
-from os.path import exists
-from os import getcwd
-from threading import Thread
-import tkinter.messagebox
-import customtkinter
-import brake, current, iso
-from time import time, strftime, localtime
-from urllib.request import urlopen
-from socket import setdefaulttimeout
-
-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(10)
-# global vars
-btns = {
-    '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 = {
-    'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
-    'av': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '角速度'},
-    'rc': {'label': '', 'entry': '', 'row': 2, 'col': 4, 'text': '额定电流'},
-    'rpm': {'label': '', 'entry': '', 'row': 2, 'col': 6, 'text': '额定转速'},
-    'rr': {'label': '', 'entry': '', 'row': 2, 'col': 8, 'text': '减速比'},
-    'dur': {'label': '', 'entry': '', 'row': 2, 'col': 10, 'text': '周期时间'},
-    'axis': {'label': '', 'optionmenu': '', 'row': 3, 'col': 2, 'text': ''},
-    'vel': {'label': '', 'optionmenu': '', 'row': 3, 'col': 4, 'text': ''},
-    'trq': {'label': '', 'optionmenu': '', 'row': 3, 'col': 6, 'text': ''},
-    'trqh': {'label': '', 'optionmenu': '', 'row': 3, 'col': 8, 'text': ''},
-    'estop': {'label': '', 'optionmenu': '', 'row': 3, 'col': 10, 'text': ''},
-    'rc1': {'label': '', 'entry': '', 'row': 4, 'col': 2, 'text': '额定电流'},
-    'rc2': {'label': '', 'entry': '', 'row': 4, 'col': 4, 'text': '额定电流'},
-    'rc3': {'label': '', 'entry': '', 'row': 4, 'col': 6, 'text': '额定电流'},
-    'rc4': {'label': '', 'entry': '', 'row': 4, 'col': 8, 'text': '额定电流'},
-    'rc5': {'label': '', 'entry': '', 'row': 4, 'col': 10, 'text': '额定电流'},
-    'rc6': {'label': '', 'entry': '', 'row': 4, 'col': 12, 'text': '额定电流'},
-}
-
-
-class App(customtkinter.CTk):
-    def __init__(self):
-        super().__init__()
-        self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
-        self.w_param = 90
-        # =====================================================================
-        # configure window
-        self.title("AIO - All in one automatic toolbox")
-        # self.iconbitmap('./icon.ico')
-        self.geometry("1200x550+30+30")
-        self.protocol("WM_DELETE_WINDOW", self.func_end_callback)
-        self.config(bg='#E9E9E9')
-        self.grid_rowconfigure(5, weight=1)
-        self.grid_columnconfigure((1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13), weight=1)
-        self.minsize(1200, 550)
-        # =====================================================================
-        # 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')
-        # 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
-        for func in btns:
-            btns[func]['btn'] = customtkinter.CTkButton(self.frame_func, corner_radius=10, text=btns[func]['text'], fg_color='#4F4F4F', font=self.my_font)
-            btns[func]['btn'].grid(row=btns[func]['row'], column=0, sticky='new', padx=10, pady=10, ipadx=5, ipady=5)
-        btns['start']['btn'].configure(command=lambda: self.thread_it(self.func_start_callback))
-        btns['check']['btn'].configure(command=lambda: self.thread_it(self.func_check_callback))
-        btns['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
-        btns['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: 0.1.5.2\nDate: 06/13/2024", 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')
-        # =====================================================================
-        # create tabviews
-        self.tabview = customtkinter.CTkTabview(self, width=10000, height=100, anchor='w', fg_color='#E9E9E9', border_width=2, border_color='#CDCDCD')
-        self.tabview.grid(row=0, column=1, padx=10, pady=5, sticky="nsew")
-        self.tabview.add("Data Process")
-        self.tabview.add("Automatic Test")
-        # create main menu
-        self.menu_main_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), values=["INIT", "brake", "current", "iso"], 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=5)
-        self.menu_main_dp.set("Start Here!")
-        # create sub menu
-        self.menu_sub_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'))
-        # =====================================================================
-        # create widgits
-        for widgit in widgits:
-            if widgit == 'path':
-                widgits[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f'{widgit.upper()}', font=self.my_font)
-                widgits[widgit]['label'].grid(row=widgits[widgit]['row'], column=widgits[widgit]['col'], sticky='e', pady=5)
-                widgits[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=670, placeholder_text=widgits[widgit]['text'], font=self.my_font)
-                widgits[widgit]['entry'].grid(row=widgits[widgit]['row'], column=widgits[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
-                widgits[widgit]['entry'].configure(state='disabled')
-            elif widgit in ['av', 'rc', 'rpm', 'rr', 'dur', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6']:
-                widgits[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widgit.upper()}", font=self.my_font)
-                widgits[widgit]['label'].grid(row=widgits[widgit]['row'], column=widgits[widgit]['col'], sticky='e', pady=5)
-                widgits[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Data Process'), width=self.w_param, placeholder_text=f"{widgits[widgit]['text']}", font=self.my_font)
-                widgits[widgit]['entry'].grid(row=widgits[widgit]['row'], column=widgits[widgit]['col']+1, padx=(5, 10), pady=5, sticky='w')
-                widgits[widgit]['entry'].configure(state='disabled')
-            elif widgit in ['axis', 'vel', 'trq', 'trqh', 'estop']:
-                widgits[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Data Process'), text=f"{widgit.upper()}", font=self.my_font)
-                widgits[widgit]['label'].grid(row=widgits[widgit]['row'], column=widgits[widgit]['col'], sticky='e', pady=5)
-                widgits[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[widgit]['optionmenu'].grid(row=widgits[widgit]['row'], column=widgits[widgit]['col']+1, padx=(5, 10), pady=5, sticky='w')
-                widgits[widgit]['optionmenu'].configure(state='disabled')
-        # =====================================================================
-        # 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=5, column=1, rowspan=2, columnspan=13, ipadx=10, ipady=10, padx=10, pady=(5, 10), sticky='nsew')
-        self.textbox.configure(state='disabled')
-        # =====================================================================
-        # version check
-        cur_vers = self.label_version.cget("text").replace('\n', ' @ ').replace("Vers: ", '').replace("Date: ", '')
-        url_vers = 'http://10.2.23.150:10008/vers'
-        try:
-            new_vers = urlopen(url_vers).read().decode('utf-8')
-            if cur_vers.strip() != new_vers.strip():
-                msg = f"""当前版本：{cur_vers}\n更新版本：{new_vers}\n\n请及时更新 http://10.2.23.150:10003/s/jRfM"""
-                tkinter.messagebox.showwarning(title="版本更新", message=msg)
-        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......")
-
-    def thread_it(self, func, *args):
-        """ 将函数打包进线程 """
-        self.myThread = Thread(target=func, args=args)
-        self.myThread.daemon = True  # 主线程退出就直接让子线程跟随退出,不论是否运行完成。
-        self.myThread.start()
-
-    def initialization(self):
-        for widgit in widgits:
-            if widgit in ['path', 'av', 'rc', 'rpm', 'rr', 'dur', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6']:
-                widgits[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
-                widgits[widgit]['entry'].configure(placeholder_text=widgits[widgit]['text'], state='disabled')
-            elif widgit in ['axis', 'vel', 'trq', 'trqh', 'estop']:
-                widgits[widgit]['label'].configure(text=f'{widgit.upper()}', text_color="black")
-                widgits[widgit]['optionmenu'].configure(state='disabled')
-
-        self.menu_sub_dp.grid_forget()
-        self.textbox.delete(index1='1.0', index2='end')
-        self.textbox.configure(state='disabled')
-
-    def func_main_callback(self, func_name):
-        self.initialization()
-
-        if func_name == 'brake':
-            for widgit in widgits:
-                if widgit in ['path', 'av', 'rr']:
-                    widgits[widgit]['label'].configure(text_color='red')
-                    widgits[widgit]['entry'].configure(state='normal')
-                elif widgit in ['axis', 'vel', 'trq', 'estop']:
-                    widgits[widgit]['label'].configure(text_color="red")
-                    widgits[widgit]['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.set("--select--")
-            self.menu_sub_dp.configure(text_color='yellow')
-
-            for widgit in widgits:
-                if widgit in ['path', 'rc', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6']:
-                    color = 'blue' if widgit == 'rc' else 'red'
-                    widgits[widgit]['label'].configure(text_color=color)
-                    widgits[widgit]['entry'].configure(state='normal')
-                elif widgit in ['trqh',]:
-                    widgits[widgit]['label'].configure(text_color="red")
-                    widgits[widgit]['optionmenu'].configure(state='normal')
-        elif func_name == 'iso':
-            for widgit in widgits:
-                if widgit in ['path',]:
-                    widgits[widgit]['label'].configure(text_color='red')
-                    widgits[widgit]['entry'].configure(state='normal')
-        else:
-            self.initialization()
-            self.menu_main_dp.set("Start Here!")
-
-    def func_sub_callback(self, func_name):
-        if func_name == "max":
-            for widgit in widgits:
-                if widgit in ['rpm', 'dur']:
-                    widgits[widgit]['label'].configure(text_color='black')
-                    widgits[widgit]['entry'].configure(state='disabled')
-                elif widgit in ['vel', 'trq']:
-                    widgits[widgit]['label'].configure(text_color='black')
-                    widgits[widgit]['optionmenu'].configure(state='disabled')
-        elif func_name == 'avg':
-            for widgit in widgits:
-                if widgit in ['rpm', 'dur']:
-                    widgits[widgit]['label'].configure(text_color='black')
-                    widgits[widgit]['entry'].configure(state='disabled')
-                elif widgit in ['vel', 'trq']:
-                    widgits[widgit]['label'].configure(text_color='black')
-                    widgits[widgit]['optionmenu'].configure(state='disabled')
-        elif func_name == 'cycle':
-            for widgit in widgits:
-                if widgit in ['rpm', 'dur']:
-                    widgits[widgit]['label'].configure(text_color='blue')
-                    widgits[widgit]['entry'].configure(state='normal')
-                elif widgit in ['vel', 'trq']:
-                    widgits[widgit]['label'].configure(text_color="red")
-                    widgits[widgit]['optionmenu'].configure(state='normal')
-
-    def write2textbox(self, text, wait=0, exitcode=0, color='blue'):
-        self.textbox.tag_add(color, 'insert', 'end')
-        self.textbox.tag_config(tagName=color, foreground=color)
-
-        if wait != 0:
-            self.textbox.insert(index='end', text=text, tags=color)
-            self.textbox.update()
-            self.textbox.see('end')
-        elif exitcode != 0:
-            self.textbox.insert(index='end', text=text + '\n', tags=color)
-            self.textbox.update()
-            self.textbox.see('end')
-            self.textbox.configure(state='disabled')
-            raise Exception(f"Error code: {exitcode}")
-        else:
-            self.textbox.insert(index='end', text=text + '\n', tags=color)
-            self.textbox.update()
-            self.textbox.see('end')
-
-    def is_float(self, flag, *args):
-        for item in args:
-            try:
-                if flag == 'optional':
-                    item = 0 if item == '' else item
-                    _ = float(item)
-                elif flag == 'required':
-                    _ = float(item)
-            except Exception as Err:
-                tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
-                self.write2textbox(f"错误信息：{Err}\n参数数据缺失，或者数据类型错误，更正后重新运行...\n", 0, 3, 'red')
-        return True
-
-    def check_param(self):
-        func_name = self.menu_main_dp.get()
-        if func_name == 'brake':
-            path = widgits['path']['entry'].get().strip()
-            av = widgits['av']['entry'].get().strip('- ')
-            rr = widgits['rr']['entry'].get().strip('- ')
-            axis = widgits['axis']['optionmenu'].get()
-            vel = widgits['vel']['optionmenu'].get()
-            trq = widgits['trq']['optionmenu'].get()
-            estop = widgits['estop']['optionmenu'].get()
-
-            c1 = exists(path)
-            c2 = self.is_float('required', av, rr)
-            c3 = True if len({vel, trq, estop}) == 3 else False
-
-            if c1 and c2 and c3:
-                return 1, path, float(av), float(rr), int(axis), int(vel), int(trq), int(estop)
-            else:
-                return 0, 0
-        # =======================================================
-        elif func_name == 'current':
-            path = widgits['path']['entry'].get().strip()
-            rc = widgits['rc']['entry'].get().strip('- ')
-            rpm = widgits['rpm']['entry'].get().strip()
-            dur = widgits['dur']['entry'].get().strip()
-            rc1 = widgits['rc1']['entry'].get().strip()
-            rc2 = widgits['rc2']['entry'].get().strip()
-            rc3 = widgits['rc3']['entry'].get().strip()
-            rc4 = widgits['rc4']['entry'].get().strip()
-            rc5 = widgits['rc5']['entry'].get().strip()
-            rc6 = widgits['rc6']['entry'].get().strip()
-            vel = widgits['vel']['optionmenu'].get()
-            trq = widgits['trq']['optionmenu'].get()
-            trqh = widgits['trqh']['optionmenu'].get()
-            sub = self.menu_sub_dp.get()
-
-            c1 = exists(path)
-            c2 = sub in ['max', 'avg', 'cycle']
-            c3 = self.is_float('optional', rc, rpm)
-            c4 = self.is_float('required', rc1, rc2, rc3, rc4, rc5, rc6)
-
-            c5 = c6 = True
-            if sub == 'cycle':
-                c5 = True if len({vel, trq}) == 2 else False
-                c6 = self.is_float('optional', dur)
-
-            if c1 and c2 and c3 and c4 and c5 and c6:
-                rcs = []
-                for x in [rc1, rc2, rc3, rc4, rc5, rc6]:
-                    rcs.append(float(x))
-                rc = 0 if rc == '' else rc
-                dur = 0 if sub != 'cycle' or dur == '' else dur
-                rpm = 0 if sub != 'cycle' or rpm == '' else rpm
-                rcs.append(float(rc))
-                return 2, path, sub, rcs, int(vel), int(trq), int(trqh), float(dur), float(rpm)
-            else:
-                return 0, 0
-        # =======================================================
-        elif func_name == 'iso':
-            path = widgits['path']['entry'].get().strip()
-            c1 = exists(path)
-            if c1:
-                return 3, path
-            else:
-                return 0, 0
-        else:
-            return 0, 0
-
-    def func_start_callback(self):
-        self.textbox.configure(state='normal')
-        self.textbox.delete(index1='1.0', index2='end')
-
-        flag, *args = self.check_param()
-        func_dict = {1: brake.main, 2: current.main, 3: iso.main}
-        if flag == 1:
-            func_dict[flag](path=args[0], av=args[1], rr=args[2],  axis=args[3], vel=args[4], trq=args[5], estop=args[6], w2t=self.write2textbox)
-        elif flag == 2:
-            func_dict[flag](path=args[0], sub=args[1], rcs=args[2], vel=args[3], trq=args[4], trqh=args[5], dur=args[6], rpm=args[7], w2t=self.write2textbox)
-        elif flag == 3:
-            func_dict[flag](path=args[0], w2t=self.write2textbox)
-        else:
-            tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
-
-        self.textbox.configure(state='disabled')
-
-    def func_check_callback(self):
-        self.textbox.configure(state='normal')
-        self.textbox.delete(index1='1.0', index2='end')
-
-        flag, *args = self.check_param()
-        if flag:
-            tkinter.messagebox.showinfo(title="参数正确", message="所有参数形式上填写无误，可以开始运行！")
-        else:
-            tkinter.messagebox.showerror(title="参数错误", message="需要检查对应参数是否填写正确！", )
-
-        self.textbox.configure(state='disabled')
-
-    def func_log_callback(self):
-        content = self.textbox.get(index1='1.0', index2='end')
-        if len(content) > 1:
-            try:
-                now = strftime('%Y%m%d%H%M%S', localtime(time()))
-                log_name = f"{now}_aio.log"
-                with open(f'{log_name}', 'w', encoding='utf-8') as objlog:
-                    objlog.write(content)
-                tkinter.messagebox.showinfo(title="保存成功", message=f'{log_name}已被保存存至↓↓↓\n{getcwd()}')
-
-            except Exception as Err:
-                self.write2textbox(Err)
-                tkinter.messagebox.showerror(title="保存失败", message="未能保存本次日志，或未能完整保存，请准备好相关数据，联系fanmingfu@rokae.com查看详细信息！", )
-        else:
-            tkinter.messagebox.showwarning(title="未能保存", message="日志数据为空，不可保存！")
-
-    def func_end_callback(self):
-        if tkinter.messagebox.askyesno(title="关闭程序", message="相关数据可能未保存，正在运行程序时有概率会损坏数据文件，确定要终止程序运行吗？"):
-            self.destroy()
-
-
-if __name__ == "__main__":
-    aio = App()
-    aio.mainloop()
--- a/aio/assets/configs.xlsx
+++ b/aio/assets/configs.xlsx
--- a/aio/assets/file_version_info.txt
+++ b/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, 5, 2),
-    prodvers=(0, 1, 5, 2),
+    filevers=(0, 1, 7, 0),
+    prodvers=(0, 1, 7, 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', '0.1.5.2 (2024-06-13)'),
+        StringStruct('FileVersion', '0.1.7.0 (2024-06-26)'),
        StringStruct('InternalName', 'AIO.exe'),
        StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
        StringStruct('OriginalFilename', 'AIO.exe'),
        StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.1.5.2 (2024-06-13)')])
+        StringStruct('ProductVersion', '0.1.7.0 (2024-06-26)')])
      ]),
    VarFileInfo([VarStruct('Translation', [1033, 1200])])
  ]
--- a/aio/assets/icon.ico
+++ b/aio/assets/icon.ico
--- a/aio/assets/layout.xlsx
+++ b/aio/assets/layout.xlsx
--- a/aio/assets/requirements.txt
+++ b/aio/assets/requirements.txt
--- a/aio/assets/templates/controller.heart.json
+++ b/aio/assets/templates/controller.heart.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "controller.heart"
+}
--- a/aio/assets/templates/device.get_params.json
+++ b/aio/assets/templates/device.get_params.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "device.get_params"
+}
--- a/aio/assets/templates/diagnosis.get_params.json
+++ b/aio/assets/templates/diagnosis.get_params.json
@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.get_params",
+  "data": {
+	"version": "1.4.1"
+  }
+}
--- a/aio/assets/templates/diagnosis.open.json
+++ b/aio/assets/templates/diagnosis.open.json
@ -0,0 +1,12 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.open",
+  "data": {
+	  "open": false,
+	  "display_open": false,
+	  "overrun": true,
+	  "turn_area": true,
+	  "delay_motion": false
+  }
+}
--- a/aio/assets/templates/diagnosis.save.json
+++ b/aio/assets/templates/diagnosis.save.json
@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.save",
+  "data": {
+	  "save": true
+  }
+}
--- a/aio/assets/templates/diagnosis.set_params.json
+++ b/aio/assets/templates/diagnosis.set_params.json
@ -0,0 +1,10 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.set_params",
+  "data": {
+	"display_pdo_params": [],
+	"frequency": 50,
+	"version": "1.4.1"
+  }
+}
--- a/aio/assets/templates/heartbeat
+++ b/aio/assets/templates/heartbeat
@ -0,0 +1 @@
+0
--- a/aio/assets/templates/overview.get_autoload.json
+++ b/aio/assets/templates/overview.get_autoload.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.get_autoload"
+}
--- a/aio/assets/templates/overview.get_cur_prj.json
+++ b/aio/assets/templates/overview.get_cur_prj.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.get_cur_prj"
+}
--- a/aio/assets/templates/overview.reload.json
+++ b/aio/assets/templates/overview.reload.json
@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.reload",
+  "data": {
+	  "prj_path": "",
+	  "tasks": []
+  }
+}
--- a/aio/assets/templates/overview.set_autoload.json
+++ b/aio/assets/templates/overview.set_autoload.json
@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.set_autoload",
+  "data": {
+    "autoload_prj_path": ""
+  }
+}
--- a/aio/assets/templates/rl_task.pp_to_main.json
+++ b/aio/assets/templates/rl_task.pp_to_main.json
@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.pp_to_main",
+  "data": {
+	"tasks": []
+  }
+}
--- a/aio/assets/templates/rl_task.run.json
+++ b/aio/assets/templates/rl_task.run.json
@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.run",
+  "data": {
+	"tasks": []
+  }
+}
--- a/aio/assets/templates/rl_task.stop.json
+++ b/aio/assets/templates/rl_task.stop.json
@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.stop",
+  "data": {
+	"tasks": []
+  }
+}
--- a/aio/assets/templates/state.get_state.json
+++ b/aio/assets/templates/state.get_state.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.get_state"
+}
--- a/aio/assets/templates/state.get_tp_mode.json
+++ b/aio/assets/templates/state.get_tp_mode.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.get_tp_mode"
+}
--- a/aio/assets/templates/state.set_tp_mode.json
+++ b/aio/assets/templates/state.set_tp_mode.json
@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.set_tp_mode",
+  "data": {
+	  "tp_mode": "with"
+  }
+}
--- a/aio/assets/templates/state.switch_auto.json
+++ b/aio/assets/templates/state.switch_auto.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_auto"
+}
--- a/aio/assets/templates/state.switch_manual.json
+++ b/aio/assets/templates/state.switch_manual.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_manual"
+}
--- a/aio/assets/templates/state.switch_motor_off.json
+++ b/aio/assets/templates/state.switch_motor_off.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_motor_off"
+}
--- a/aio/assets/templates/state.switch_motor_on.json
+++ b/aio/assets/templates/state.switch_motor_on.json
@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_motor_on"
+}
--- a/aio/assets/vers
+++ b/aio/assets/vers
@ -0,0 +1 @@
+0.1.7.0 @ 06/26/2024
--- a/aio/assets/workflow/brake.excalidraw
+++ b/aio/assets/workflow/brake.excalidraw
--- a/aio/assets/workflow/current.excalidraw
+++ b/aio/assets/workflow/current.excalidraw
--- a/aio/code/init.py
+++ b/aio/code/init.py
@ -0,0 +1 @@
+__all__ = ['automatic_test', 'data_process']
--- a/aio/code/aio.py
+++ b/aio/code/aio.py
@ -0,0 +1,493 @@
+import tkinter
+from os.path import exists, dirname
+from os import getcwd
+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 data_process import *
+from automatic_test import *
+
+current_path = dirname(__file__)
+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
+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 = {
+    'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
+    'dur': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '周期时间'},
+    'vel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 4, 'text': ''},
+    'trq': {'label': '', 'optionmenu': '', 'row': 2, 'col': 6, 'text': ''},
+    'trqh': {'label': '', 'optionmenu': '', 'row': 2, 'col': 8, 'text': ''},
+    'estop': {'label': '', 'optionmenu': '', 'row': 2, 'col': 10, 'text': ''},
+}
+widgits_at = {
+    'path': {'label': '', 'entry': '', 'row': 2, 'col': 2, 'text': '数据文件夹路径'},
+    'loadsel': {'label': '', 'optionmenu': '', 'row': 2, 'col': 1, 'text': '负载信息'},
+}
+
+
+class App(customtkinter.CTk):
+    def __init__(self):
+        super().__init__()
+        self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
+        self.w_param = 84
+        self.hr = None
+        # =====================================================================
+        # configure window
+        self.title("AIO - All in one automatic toolbox")
+        # self.iconbitmap('./icon.ico')
+        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_columnconfigure((1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13), weight=1)
+        self.minsize(1200, 550)
+        # =====================================================================
+        # 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')
+        # 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
+        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)
+        btns_func['start']['btn'].configure(command=lambda: self.thread_it(self.func_start_callback))
+        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
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.7.0\nDate: 06/26/2024", font=self.my_font, text_color="#4F4F4F")
+        self.frame_func.rowconfigure(6, weight=1)
+        self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
+        # =====================================================================
+        # 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.grid(row=0, column=1, padx=10, pady=5, sticky="nsew")
+        self.tabview.add("Data Process")
+        self.tabview.add("Automatic Test")
+        # create main menu for data process
+        self.menu_main_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'), values=["init", "brake", "current", "iso", "wavelogger"], font=self.my_font, text_color='yellow', button_color='red', fg_color='green', command=self.func_main_callback)
+        self.menu_main_dp.grid(row=1, column=1, sticky='we', padx=5, pady=10)
+        self.menu_main_dp.set("Start Here!")
+        # create sub menu for data process
+        self.menu_sub_dp = customtkinter.CTkOptionMenu(self.tabview.tab('Data Process'))
+        # create main menu for automatic test
+        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.set("Start Here!")
+        # For data process tab START =====================================================================
+        # 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=(20, 10), pady=(10, 10), sticky="ew")
+        self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "停止运动", "继续运动", "零点位姿", "机器状态", "告警信息"])
+        self.seg_button.set("功能切换")
+        # 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.configure(mode="determinnate", width=10)
+        self.progressbar.start()
+        # create widgits_at
+        for widgit in widgits_at:
+            if widgit == 'path':
+                widgits_at[widgit]['label'] = customtkinter.CTkLabel(self.tabview.tab('Automatic Test'), text=f'{widgit.upper()}', font=self.my_font)
+                widgits_at[widgit]['label'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], sticky='e', pady=5)
+                widgits_at[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Automatic Test'), width=670, placeholder_text=widgits_at[widgit]['text'], font=self.my_font)
+                widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
+                widgits_at[widgit]['entry'].configure(state='disabled')
+            elif widgit in ['loadsel', ]:
+                widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100"], width=self.w_param, font=self.my_font)
+                widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we')
+                widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                widgits_at[widgit]['optionmenu'].configure(state='disabled')
+        # For automatic test tab END =====================================================================
+        # 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.configure(state='normal')
+        # =====================================================================
+        # version check
+        cur_vers = self.label_version.cget("text").replace('\n', ' @ ').replace("Vers: ", '').replace("Date: ", '')
+        url_vers = 'http://10.2.23.150:10008/vers'
+        try:
+            new_vers = urlopen(url_vers).read().decode('utf-8')
+            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)
+        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 thread_it(self, func, *args):
+        """ 将函数打包进线程 """
+        self.myThread = Thread(target=func, args=args)
+        self.myThread.daemon = True  # 主线程退出就直接让子线程跟随退出,不论是否运行完成。
+        self.myThread.start()
+
+    def segmented_button_callback(self):
+        _btn_funcs = {'get_state': '机器状态', 'warning_info': '告警信息', '3': '4', '5': '6', '7': '8'}
+        value = self.seg_button.get()
+
+        self.seg_button.configure(state='disabled')
+        # self.tabview.configure(state='disabled')
+        self.textbox.delete(index1='1.0', index2='end')
+        with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
+            c_state = f_h.read().strip()
+
+        if c_state == '0' and value != '功能切换':
+            self.write2textbox("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, 50, 'red')
+        else:
+            for _func in _btn_funcs:
+                if _btn_funcs[_func] == value:
+                    btn_functions.main(self.hr, _func, self.write2textbox)
+                    break
+
+        self.seg_button.configure(state='normal')
+        # self.tabview.configure(state='normal')
+
+    def detect_network(self):
+        with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+            f_hb.write('0')
+        self.hr = openapi.HmiRequest(self.write2textbox)
+
+        while True:
+            with open(f'{current_path}/../assets/templates/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)
+                if c_state == '0':
+                    # self.textbox.delete(index1='1.0', index2='end')
+                    self.hr.t_bool = False
+                    sleep(4)
+                    del self.hr
+                    self.hr = openapi.HmiRequest(self.write2textbox)
+            sleep(3)
+
+    def tabview_click(self):
+        self.initialization()
+        # self.textbox.delete(index1='1.0', index2='end')
+
+        tab_name = self.tabview.get()
+        if tab_name == 'Data Process':
+            self.menu_main_dp.set("Start Here!")
+        elif tab_name == 'Automatic Test':
+            self.menu_main_at.set("Start Here!")
+            self.seg_button.configure(state='normal')
+
+    def initialization(self):
+        tab_name = self.tabview.get()
+        self.textbox.delete(index1='1.0', index2='end')
+        if tab_name == 'Data Process':
+            for widgit in widgits_dp:
+                if widgit in ['path', 'dur']:
+                    widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
+                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
+                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
+                    widgits_dp[widgit]['entry'].configure(state='disabled')
+                elif widgit in ['vel', 'trq', 'trqh', 'estop']:
+                    widgits_dp[widgit]['label'].configure(text=f'{widgit.upper()}', text_color="black")
+                    widgits_dp[widgit]['optionmenu'].configure(state='normal')
+                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgits_dp[widgit]['optionmenu'].configure(state='disabled')
+
+            self.menu_sub_dp.grid_forget()
+        elif tab_name == 'Automatic Test':
+            for widgit in widgits_at:
+                if widgit in ['path', 'av1', 'av2', 'av3', 'av4', 'av5', 'av6', 'rc1', 'rc2', 'rc3', 'rc4', 'rc5', 'rc6', 'rr1', 'rr2', 'rr3', 'rr4', 'rr5', 'rr6']:
+                    widgits_at[widgit]['label'].configure(text=f'{widgit.upper()}', text_color='black')
+                    widgits_at[widgit]['entry'].delete(0, tkinter.END)
+                    widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                    widgits_at[widgit]['entry'].configure(state='disabled')
+                elif widgit in ['loadsel']:
+                    widgits_at[widgit]['optionmenu'].configure(state='normal')
+                    widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                    widgits_at[widgit]['optionmenu'].configure(state='disabled')
+            self.seg_button.set("功能切换")
+
+    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:
+                    if widgit in ['path']:
+                        widgits_dp[widgit]['label'].configure(text_color='red')
+                        widgits_dp[widgit]['entry'].configure(state='normal')
+                    elif widgit in ['vel', 'trq', 'estop']:
+                        widgits_dp[widgit]['label'].configure(text_color="red")
+                        widgits_dp[widgit]['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.set("--select--")
+                self.menu_sub_dp.configure(text_color='yellow')
+
+            elif func_name == 'iso' or func_name == 'wavelogger':
+                for widgit in widgits_dp:
+                    if widgit in ['path']:
+                        widgits_dp[widgit]['label'].configure(text_color='red')
+                        widgits_dp[widgit]['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:
+                    if widgit in ['path',]:
+                        widgits_at[widgit]['label'].configure(text_color='red')
+                        widgits_at[widgit]['entry'].delete(0, tkinter.END)
+                        widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                        widgits_at[widgit]['entry'].configure(state='normal')
+                    elif widgit in ['loadsel', ]:
+                        widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                        widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
+            elif func_name == 'current':
+                for widgit in widgits_at:
+                    if widgit in ['path',]:
+                        widgits_at[widgit]['label'].configure(text_color='red')
+                        widgits_at[widgit]['entry'].delete(0, tkinter.END)
+                        widgits_at[widgit]['entry'].configure(placeholder_text=widgits_at[widgit]['text'], state='normal')
+                        widgits_at[widgit]['entry'].configure(state='normal')
+                    elif widgit in ['loadsel', ]:
+                        widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
+                        widgits_at[widgit]['optionmenu'].configure(text_color='black', state='disabled')
+            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:
+                if widgit in ['path']:
+                    widgits_dp[widgit]['label'].configure(text_color='red')
+                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
+                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
+                    widgits_dp[widgit]['entry'].configure(state='normal')
+                elif widgit in ['dur']:
+                    widgits_dp[widgit]['label'].configure(text_color='black')
+                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
+                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
+                    widgits_dp[widgit]['entry'].configure(state='disabled')
+                elif widgit in ['vel', 'trqh', 'estop']:
+                    widgits_dp[widgit]['label'].configure(text_color='black')
+                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgits_dp[widgit]['optionmenu'].configure(state='disabled')
+                elif widgit in ['trq']:
+                    widgits_dp[widgit]['label'].configure(text_color='red')
+                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgits_dp[widgit]['optionmenu'].configure(state='normal')
+        elif func_name == 'cycle':
+            for widgit in widgits_dp:
+                if widgit in ['path', 'dur']:
+                    color = 'blue' if widgit == 'dur' else 'red'
+                    widgits_dp[widgit]['label'].configure(text_color=color)
+                    widgits_dp[widgit]['entry'].delete(0, tkinter.END)
+                    widgits_dp[widgit]['entry'].configure(placeholder_text=widgits_dp[widgit]['text'], state='normal')
+                    widgits_dp[widgit]['entry'].configure(state='normal')
+                elif widgit in ['vel', 'trq', 'trqh']:
+                    color = 'blue' if widgit == 'trqh' else 'red'
+                    widgits_dp[widgit]['label'].configure(text_color=color)
+                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgits_dp[widgit]['optionmenu'].configure(state='normal')
+                elif widgit in ['estop']:
+                    widgits_dp[widgit]['label'].configure(text_color="black")
+                    widgits_dp[widgit]['optionmenu'].set('1')
+                    widgits_dp[widgit]['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()
+
+        if tab_name == tab_name_cur:
+            if wait != 0:
+                self.textbox.insert(index='end', text=text, tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
+            elif exitcode != 0:
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
+                raise Exception(f"Error code: {exitcode}")
+            else:
+                self.textbox.insert(index='end', text=text + '\n', tags=color)
+                self.textbox.update()
+                self.textbox.see('end')
+
+    def is_float(self, flag, *args):
+        for item in args:
+            try:
+                if flag == 'optional':
+                    item = 0 if item == '' else item
+                    _ = float(item)
+                elif flag == 'required':
+                    _ = float(item)
+            except Exception as Err:
+                tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
+                self.write2textbox(f"错误信息：{Err}\n参数数据缺失，或者数据类型错误，更正后重新运行...\n", 0, 3, 'red')
+        return True
+
+    def check_param(self):
+        tab_name = self.tabview.get()
+        if tab_name == 'Data Process':
+            func_name = self.menu_main_dp.get()
+            if func_name == 'brake':
+                path = widgits_dp['path']['entry'].get().strip()
+                vel = widgits_dp['vel']['optionmenu'].get()
+                trq = widgits_dp['trq']['optionmenu'].get()
+                estop = widgits_dp['estop']['optionmenu'].get()
+
+                c1 = exists(path)
+                c2 = True if len({vel, trq, estop}) == 3 else False
+                if c1 and c2:
+                    return 1, path, int(vel), int(trq), int(estop)
+                else:
+                    return 0, 0
+            # =======================================================
+            elif func_name == 'current':
+                path = widgits_dp['path']['entry'].get().strip()
+                dur = widgits_dp['dur']['entry'].get().strip()
+                vel = widgits_dp['vel']['optionmenu'].get()
+                trq = widgits_dp['trq']['optionmenu'].get()
+                trqh = widgits_dp['trqh']['optionmenu'].get()
+                sub = self.menu_sub_dp.get()
+
+                c1 = exists(path)
+                c2 = sub in ['max', 'avg', 'cycle']
+                c3 = c4 = True
+                if sub == 'cycle':
+                    c3 = True if len({vel, trq}) == 2 else False
+                    c4 = self.is_float('optional', dur)
+                elif sub == 'max' or sub == 'avg':
+                    pass
+
+                if c1 and c2 and c3 and c4:
+                    dur = 0 if dur == '' else dur
+                    return 2, path, sub, float(dur), int(vel), int(trq), int(trqh)
+                else:
+                    return 0, 0
+            # =======================================================
+            elif func_name == 'iso':
+                path = widgits_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()
+                if exists(path):
+                    return 4, path
+                else:
+                    return 0, 0
+            # =======================================================
+            else:
+                return 0, 0
+        elif tab_name == 'Automatic Test':
+            func_name = self.menu_main_at.get()
+            if func_name == 'brake':
+                path = widgits_at['path']['entry'].get().strip()
+                loadsel = widgits_at['loadsel']['optionmenu'].get()
+                c1 = exists(path)
+                c2 = loadsel in ['tool100', 'tool66', 'tool33']
+                if c1 and c2:
+                    return 5, path, loadsel
+                else:
+                    return 0, 0
+            elif func_name == 'current':
+                path = widgits_at['path']['entry'].get().strip()
+                if exists(path):
+                    return 6, path
+                else:
+                    return 0, 0
+            else:
+                return 0, 0
+
+    def func_start_callback(self):
+        self.textbox.delete(index1='1.0', index2='end')
+
+        flag, *args = self.check_param()
+        func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main}
+        if flag == 1:
+            func_dict[flag](path=args[0], vel=args[1], trq=args[2],  estop=args[3], w2t=self.write2textbox)
+        elif flag == 2:
+            func_dict[flag](path=args[0], sub=args[1], dur=args[2], vel=args[3], trq=args[4], trqh=args[5], w2t=self.write2textbox)
+        elif flag == 3:
+            func_dict[flag](path=args[0], w2t=self.write2textbox)
+        elif flag == 4:
+            func_dict[flag](path=args[0], w2t=self.write2textbox)
+        elif flag == 5:
+            func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox)
+        else:
+            tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
+
+    def func_check_callback(self):
+        self.textbox.delete(index1='1.0', index2='end')
+
+        flag, *args = self.check_param()
+        if flag:
+            tkinter.messagebox.showinfo(title="参数正确", message="所有参数形式上填写无误，可以开始运行！")
+        else:
+            tkinter.messagebox.showerror(title="参数错误", message="需要检查对应参数是否填写正确！", )
+
+    def func_log_callback(self):
+        content = self.textbox.get(index1='1.0', index2='end')
+        if len(content) > 1:
+            try:
+                now = strftime('%Y%m%d%H%M%S', localtime(time()))
+                log_name = f"{now}_aio.log"
+                with open(f'{log_name}', 'w', encoding='utf-8') as objlog:
+                    objlog.write(content)
+                tkinter.messagebox.showinfo(title="保存成功", message=f'{log_name}已被保存存至↓↓↓\n{getcwd()}')
+
+            except Exception as Err:
+                self.write2textbox(Err)
+                tkinter.messagebox.showerror(title="保存失败", message="未能保存本次日志，或未能完整保存，请准备好相关数据，联系fanmingfu@rokae.com查看详细信息！", )
+        else:
+            tkinter.messagebox.showwarning(title="未能保存", message="日志数据为空，不可保存！")
+
+    def func_end_callback(self):
+        if tkinter.messagebox.askyesno(title="关闭程序", message="相关数据可能未保存，正在运行程序时有概率会损坏数据文件，确定要终止程序运行吗？"):
+            self.destroy()
+
+
+if __name__ == "__main__":
+    aio = App()
+    aio.net_detect = Thread(target=aio.detect_network)
+    aio.net_detect.daemon = True
+    aio.net_detect.start()
+    aio.mainloop()
--- a/aio/code/automatic_test/init.py
+++ b/aio/code/automatic_test/init.py
@ -0,0 +1 @@
+__all__ = ['openapi', 'btn_functions', 'do_brake', 'do_current']
--- a/aio/code/automatic_test/btn_functions.py
+++ b/aio/code/automatic_test/btn_functions.py
@ -0,0 +1,88 @@
+import json
+from sys import argv
+
+
+def validate_resp(_id, response, w2t):
+    match _id:
+        case 'DATA ERR':
+            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
+        case 'DATA READ ERR':
+            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
+        case 'NOT SUPPORT':
+            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
+    if not response:
+        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
+
+
+def execution(cmd, hr, w2t, **kwargs):
+    _id = hr.excution(cmd, **kwargs)
+    _msg = hr.get_from_id(_id)
+    if not _msg:
+        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+    else:
+        _response = json.loads(_msg)
+        validate_resp(_id, _response, w2t)
+        return _response
+
+
+def get_state(hr, w2t):
+    # 获取机器状态
+    _response = execution('state.get_state', hr, w2t)
+    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')
+
+    # 获取设备伺服信息
+    _response = execution('device.get_params', hr, w2t)
+    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')
+
+    # 设置示教器模式
+    _response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
+
+
+def warning_info(hr, w2t):
+    for msg in hr.c_msg:
+        if 'alarm' in msg.lower():
+            w2t(msg, tab_name='Automatic Test')
+    for msg in hr.c_msg_xs:
+        if 'alarm' in msg.lower():
+            w2t(msg, tab_name='Automatic Test')
+
+
+def main(hr, func, w2t):
+    if hr is None:
+        w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test')
+    # func: get_state/
+    match func:
+        case 'get_state':
+            get_state(hr, w2t)
+        case 'warning_info':
+            warning_info(hr, w2t)
+
+
+if __name__ == '__main__':
+    main(*argv[1:])
+
+
+# 一、设置/检测机器人状态：
+#   1. 上电
+#   2. 软限位打开
+#   3. 示教器断开
+#   4. 操作模式/机器人类型
+#   5. 控制器状态/工作任务控件/机器人动态
+
+# 二、加载RL程序开始运行
+#   1. 怎么触发急停
+#   2. 怎么恢复急停
+#   3. 怎么采集曲线
+#   4.
+
+# 三、运行过程中，收集数据，并处理出结果
+
+# 四
+
--- a/aio/code/automatic_test/do_brake.py
+++ b/aio/code/automatic_test/do_brake.py
@ -0,0 +1,175 @@
+from time import sleep
+from sys import argv
+from os import scandir
+from os.path import exists
+from paramiko import SSHClient, AutoAddPolicy
+from json import loads
+
+
+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')
+    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) != 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')
+
+    config_file = reach33 = reach66 = reach100 = prj_file = None
+    for data_file in data_files:
+        filename = data_file.split('\\')[-1]
+        if filename == 'configs.xlsx':
+            config_file = data_file
+        elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
+            reach33 = data_file
+        elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
+            reach66 = data_file
+        elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
+            reach100 = data_file
+        elif filename.endswith('.zip'):
+            prj_file = data_file
+        else:
+            w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+            w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
+
+    if config_file and reach33 and reach66 and reach100 and prj_file:
+        w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
+        return config_file, reach33, reach66, reach100, prj_file
+    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')
+
+
+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()
+    # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
+    # ssh.exec_command('rm /tmp/target.zip')
+    sftp.put(prj_file, '/tmp/target.zip')
+    cmd = 'cd /tmp; '
+    cmd += 'rm -rf target/; '
+    cmd += 'mkdir target; '
+    cmd += 'unzip -d target/ -q target.zip; '
+    cmd += 'rm target.zip; '
+    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/; 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 modify_prj():
+    pass
+
+
+def validate_resp(_id, response, w2t):
+    match _id:
+        case 'DATA ERR':
+            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
+        case 'DATA READ ERR':
+            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
+        case 'NOT SUPPORT':
+            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
+    if not response:
+        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
+
+
+def execution(cmd, hr, w2t, **kwargs):
+    _id = hr.excution(cmd, **kwargs)
+    _msg = hr.get_from_id(_id)
+    if not _msg:
+        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+    else:
+        _response = loads(_msg)
+        validate_resp(_id, _response, w2t)
+        return _response
+
+
+def run_rl(hr, w2t):
+    # prj_path = 'target/_build/target.prj'
+    # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
+    # print(f"reload prj: {_response}")
+    # # _response = execution('overview.get_cur_prj', hr, w2t)
+    # # print(f"get cur prj name: {_response}")
+    # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
+    # print(f"set pp2main of prj: {_response}")
+    #
+    # _response = execution('state.switch_auto', hr, w2t)
+    # _response = execution('state.switch_motor_on', hr, w2t)
+    #
+    # _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
+    # print(f"run prj: {_response}")
+    # sleep(10)
+    #
+    # _response = execution('state.switch_motor_off', hr, w2t)
+    # _response = execution('state.switch_manual', hr, w2t)
+
+    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    print(f"打开诊断: {_response}")
+    # _response = execution('diagnosis.get_params', hr, w2t)
+    # print(f"显示诊断状态: {_response}")
+    display_pdo_params = [
+        {"name": "device_servo_trq_feedback", "channel": 0}
+    ]
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    print(f"执行采样: {_response}")
+    sleep(5)
+
+    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+    print(f"关闭诊断: {_response}")
+    # sleep(1)
+    for _msg in hr.c_msg:
+        if 'diagnosis.result' in _msg:
+            print(_msg)
+            # _msg = json.loads(_msg)
+            # if 'channel' in _msg and 'name' in _msg:
+            #     if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
+            #         print(f"diagnosis.result: {_msg}")
+            #         count += 1
+            #         if count * 50 > 5 * 1000:
+            #             break
+
+
+    else:
+        sleep(1)
+
+
+def main(path, hr, loadsel, w2t):
+    data_dirs, data_files = traversal_files(path, w2t)
+    config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
+    # prj_to_xcore(prj_file)
+    run_rl(hr, w2t)
+
+
+if __name__ == '__main__':
+    main(*argv[1:])
--- a/aio/code/automatic_test/do_current.py
+++ b/aio/code/automatic_test/do_current.py
@ -0,0 +1,175 @@
+from time import sleep
+from sys import argv
+from os import scandir
+from os.path import exists
+from paramiko import SSHClient, AutoAddPolicy
+from json import loads
+
+
+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')
+    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) != 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')
+
+    config_file = reach33 = reach66 = reach100 = prj_file = None
+    for data_file in data_files:
+        filename = data_file.split('\\')[-1]
+        if filename == 'configs.xlsx':
+            config_file = data_file
+        elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
+            reach33 = data_file
+        elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
+            reach66 = data_file
+        elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
+            reach100 = data_file
+        elif filename.endswith('.zip'):
+            prj_file = data_file
+        else:
+            w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+            w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
+
+    if config_file and reach33 and reach66 and reach100 and prj_file:
+        w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
+        return config_file, reach33, reach66, reach100, prj_file
+    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')
+
+
+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()
+    # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
+    # ssh.exec_command('rm /tmp/target.zip')
+    sftp.put(prj_file, '/tmp/target.zip')
+    cmd = 'cd /tmp; '
+    cmd += 'rm -rf target/; '
+    cmd += 'mkdir target; '
+    cmd += 'unzip -d target/ -q target.zip; '
+    cmd += 'rm target.zip; '
+    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/; 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 modify_prj():
+    pass
+
+
+def validate_resp(_id, response, w2t):
+    match _id:
+        case 'DATA ERR':
+            w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
+        case 'DATA READ ERR':
+            w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
+        case 'NOT SUPPORT':
+            w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
+    if not response:
+        w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
+
+
+def execution(cmd, hr, w2t, **kwargs):
+    _id = hr.excution(cmd, **kwargs)
+    _msg = hr.get_from_id(_id)
+    if not _msg:
+        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+    else:
+        _response = loads(_msg)
+        validate_resp(_id, _response, w2t)
+        return _response
+
+
+def run_rl(hr, w2t):
+    # prj_path = 'target/_build/target.prj'
+    # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
+    # print(f"reload prj: {_response}")
+    # # _response = execution('overview.get_cur_prj', hr, w2t)
+    # # print(f"get cur prj name: {_response}")
+    # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
+    # print(f"set pp2main of prj: {_response}")
+    #
+    # _response = execution('state.switch_auto', hr, w2t)
+    # _response = execution('state.switch_motor_on', hr, w2t)
+    #
+    # _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
+    # print(f"run prj: {_response}")
+    # sleep(10)
+    #
+    # _response = execution('state.switch_motor_off', hr, w2t)
+    # _response = execution('state.switch_manual', hr, w2t)
+
+    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    print(f"打开诊断: {_response}")
+    # _response = execution('diagnosis.get_params', hr, w2t)
+    # print(f"显示诊断状态: {_response}")
+    display_pdo_params = [
+        {"name": "device_servo_trq_feedback", "channel": 0}
+    ]
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    print(f"执行采样: {_response}")
+    sleep(5)
+
+    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+    print(f"关闭诊断: {_response}")
+    # sleep(1)
+    for _msg in hr.c_msg:
+        if 'diagnosis.result' in _msg:
+            print(_msg)
+            # _msg = json.loads(_msg)
+            # if 'channel' in _msg and 'name' in _msg:
+            #     if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
+            #         print(f"diagnosis.result: {_msg}")
+            #         count += 1
+            #         if count * 50 > 5 * 1000:
+            #             break
+
+
+    else:
+        sleep(1)
+
+
+def main(path, hr, loadsel, w2t):
+    data_dirs, data_files = traversal_files(path, w2t)
+    config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
+    # prj_to_xcore(prj_file)
+    run_rl(hr, w2t)
+
+
+if __name__ == '__main__':
+    main(*argv[1:])
--- a/aio/code/automatic_test/openapi.py
+++ b/aio/code/automatic_test/openapi.py
@ -0,0 +1,297 @@
+from json import load, dumps
+from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
+from threading import Thread
+import selectors
+from time import time, sleep
+from os.path import dirname
+
+MAX_FRAME_SIZE = 1024
+setdefaulttimeout(2)
+current_path = dirname(__file__)
+
+
+class HmiRequest(object):
+    def __init__(self, w2t):
+        super().__init__()
+        self.w2t = w2t
+        self.c = None
+        self.c_xs = None
+        self.c_msg = []
+        self.c_msg_xs = []
+        self.flag = 0
+        self.response = ''
+        self.leftover = 0
+        self.flag_xs = 0
+        self.response_xs = ''
+        self.t_bool = True
+        self.tab_name = 'Automatic Test'
+
+        self.sock_conn()
+        self.t_heartbeat = Thread(target=self.heartbeat)
+        self.t_heartbeat.daemon = True
+        self.t_heartbeat.start()
+        self.t_unpackage = Thread(target=self.unpackage, args=(self.c, ))
+        self.t_unpackage.daemon = True
+        self.t_unpackage.start()
+        self.t_unpackage_xs = Thread(target=self.unpackage_xs, args=(self.c_xs, ))
+        self.t_unpackage_xs.daemon = True
+        self.t_unpackage_xs.start()
+
+    def sock_conn(self):
+        # while True:
+        with open(f"{current_path}/../../assets/templates/heartbeat", "r", encoding='utf-8') as f_hb:
+            c_state = f_hb.read().strip()
+        if c_state == '0':
+            try:
+                self.c = socket(AF_INET, SOCK_STREAM)
+                self.c.connect(('192.168.0.160', 5050))
+                # self.c.connect(('192.168.84.129', 5050))
+                self.c.setblocking(False)
+                self.c_xs = socket(AF_INET, SOCK_STREAM)
+                self.c_xs.connect(('192.168.0.160', 6666))
+                # self.c_xs.connect(('192.168.84.129', 6666))
+                self.c_xs.setblocking(False)
+
+                self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
+                with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+                    f_hb.write('1')
+
+            except Exception as Err:
+                self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
+                with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+                    f_hb.write('0')
+
+    def header_check(self, index, data):
+        try:
+            _frame_size = int.from_bytes(data[index:index+2], byteorder='big')
+            _pkg_size = int.from_bytes(data[index+2:index+6], byteorder='big')
+            _protocol = int.from_bytes(data[index+6:index+7], byteorder='big')
+            _reserved = int.from_bytes(data[index+7:index+8], byteorder='big')
+
+            if _reserved == 0 and _protocol == 2:
+                return index+8, _frame_size, _pkg_size
+            else:
+                print("数据有误，需要确认")
+                return 'DATA ERR'
+        except Exception as Err:
+            print(f"Err = {Err}")
+            print("无法读取数据，需要确认")
+            return 'DATA READ ERR'
+
+    def heartbeat(self):
+        while self.t_bool:
+            _id = self.excution('controller.heart')
+            _flag = '0' if self.get_from_id(_id) is None else '1'
+            print(f"hb = {_flag}", end=' ')
+            with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
+                f_hb.write(_flag)
+                if _flag == '0':
+                    self.w2t(f"心跳丢失，连接失败，重新连接中...", 0, 0, 'red', tab_name=self.tab_name)
+            sleep(2)
+            print(len(self.c_msg), end=' ')
+            # with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
+            #     for msg in self.c_msg:
+            #         f.write(msg + '\n')
+
+    def msg_storage(self, response, flag=0):
+        messages = self.c_msg if flag == 0 else self.c_msg_xs
+        if len(messages) < 20000:
+            messages.insert(0, response)
+        else:
+            messages.insert(0, response)
+            while len(messages) > 20000:
+                messages.pop()
+
+    def get_response(self, data):
+        _index = 0
+        while _index < len(data):
+            if self.flag == 0:
+                _index, _frame_size, _pkg_size = self.header_check(_index, data)
+                if _pkg_size <= len(data) - _index:
+                    # 说明剩余部分的数据正好就是完整的包数据
+                    self.response = data[_index:_index+_pkg_size].decode()
+                    self.msg_storage(flag=0, response=self.response)
+                    _index += _pkg_size
+                    self.flag = 0
+                    self.response = ''
+                    self.leftover = 0
+                elif _pkg_size > len(data) - _index:
+                    # 说有有分包的情况发生了，需要flag=1的处理
+                    self.flag = 1
+                    self.response = data[_index:].decode()
+                    self.leftover = _frame_size - 6 - (len(data) - _index)  # 其实就是常量 2，其中 6 就是六个字节的包头
+                    break
+
+            elif self.flag == 1:
+                # 处理完之后，将flag重置为0
+                _index = self.leftover
+                self.response += data[:_index].decode()
+                _index += 2
+
+                _frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big')
+                if _frame_size == 0:
+                    self.msg_storage(flag=0, response=self.response)
+                    self.flag = 0
+                    self.response = ''
+                    self.leftover = 0
+                    break
+
+                if _frame_size == MAX_FRAME_SIZE:
+                    self.leftover = MAX_FRAME_SIZE - (len(data) - _index)
+                    self.response += data[_index:].decode()
+                    break
+                else:
+                    if _index+_frame_size <= MAX_FRAME_SIZE:
+                        self.response += data[_index:_index+_frame_size].decode()
+                        self.msg_storage(flag=0, response=self.response)
+                        self.flag = 0
+                        self.response = ''
+                        self.leftover = 0
+                        break
+                    else:
+                        self.response += data[_index:].decode()
+                        self.leftover = _index + _frame_size - MAX_FRAME_SIZE
+                        break
+
+    def get_response_xs(self, data):
+        if self.flag_xs == 0:
+            if data[-1].decode() == '\r':
+                _responses = data.decode().split('\r')
+                for _response in _responses:
+                    self.msg_storage(flag=1, response=_response)
+
+            else:
+                _responses = data.decode().split('\r')
+                for _response in _responses[:-1]:
+                    if not _response:
+                        break
+                    self.msg_storage(flag=1, response=_response)
+
+                self.response_xs = _responses[-1]
+                self.flag_xs = 1
+        else:
+            if data[-1].decode() == '\r':
+                _responses = (self.response_xs.encode() + data).decode().split('\r')
+                for _response in _responses:
+                    self.msg_storage(flag=1, response=_response)
+
+                self.response_xs = ''
+                self.flag_xs = 0
+            else:
+                _responses = (self.response_xs.encode() + data).decode().split('\r')
+                for _response in _responses[:-1]:
+                    if not _response:
+                        break
+                    self.msg_storage(flag=1, response=_response)
+
+                self.response_xs = _responses[-1]
+                self.flag_xs = 1
+
+    def get_from_id(self, msg_id, flag=0):
+        messages = self.c_msg if flag == 0 else self.c_msg_xs
+        for i in range(3):
+            for msg in messages:
+                if msg_id is None:
+                    self.w2t("未能成功获取到 message id...", 0, 10, 'red', tab_name=self.tab_name)
+                if msg_id in msg:
+                    return msg
+            sleep(1)
+        else:
+            return None
+
+    def package(self, cmd):
+        _frame_head = (len(cmd)+6).to_bytes(length=2, byteorder='big')
+        _pkg_head = len(cmd).to_bytes(length=4, byteorder='big')
+        _protocol = int(2).to_bytes(length=1, byteorder='big')
+        _reserved = int(0).to_bytes(length=1, byteorder='big')
+        return _frame_head + _pkg_head + _protocol + _reserved + cmd.encode()
+
+    def package_xs(self, cmd):
+        return f"{dumps(cmd, separators=(',', ':'))}\r".encode()
+
+    def unpackage(self, sock):
+        def to_read(conn):
+            data = conn.recv(MAX_FRAME_SIZE)
+            if data:
+                # print(data)
+                self.get_response(data)
+            else:
+                print('closing', sock)
+                sel.unregister(conn)
+                conn.close()
+
+        sel = selectors.DefaultSelector()
+        sel.register(sock, selectors.EVENT_READ, to_read)
+
+        while self.t_bool:
+            events = sel.select()
+            for key, mask in events:
+                callback = key.data
+                callback(key.fileobj)
+
+    def unpackage_xs(self, sock):
+        def to_read(conn):
+            data = conn.recv(1024)  # Should be ready
+            if data:
+                # print(data)
+                self.get_response_xs(data)
+            else:
+                print('closing', sock)
+                sel.unregister(conn)
+                conn.close()
+
+        sel = selectors.DefaultSelector()
+        sel.register(sock, selectors.EVENT_READ, to_read)
+
+        while self.t_bool:
+            events = sel.select()
+            for key, mask in events:
+                callback = key.data
+                callback(key.fileobj)
+
+    def gen_id(self, command):
+        _now = time()
+        _id = f"{command}-{_now}"
+        return _id
+
+    def excution(self, command, flg=0, **kwargs):
+        if flg == 0:  # for old protocols
+            req = None
+            try:
+                with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8', mode='r') as f_json:
+                    req = load(f_json)
+            except:
+                print(f"暂不支持 {command} 功能，或确认该功能存在...")
+                return 'NOT SUPPORT'
+
+            match command:
+                case 'state.set_tp_mode':
+                    req['data']['tp_mode'] = kwargs['tp_mode']
+                case 'overview.set_autoload':
+                    req['data']['autoload_prj_path'] = kwargs['autoload_prj_path']
+                case 'overview.reload':
+                    req['data']['prj_path'] = kwargs['prj_path']
+                    req['data']['tasks'] = kwargs['tasks']
+                case 'rl_task.pp_to_main' | 'rl_task.run' | 'rl_task.stop':
+                    req['data']['tasks'] = kwargs['tasks']
+                case 'diagnosis.set_params':
+                    req['data']['display_pdo_params'] = kwargs['display_pdo_params']
+                case 'diagnosis.open':
+                    req['data']['open'] = kwargs['open']
+                    req['data']['display_open'] = kwargs['display_open']
+                case _:
+                    pass
+
+            req['id'] = self.gen_id(command)
+            print(f"req = {req}")
+            cmd = dumps(req, separators=(',', ':'))
+            try:
+                self.c.send(self.package(cmd))
+                sleep(2)
+            except Exception as Err:
+                self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
+
+            return req['id']
+
+        else:  # for xService
+            pass
--- a/aio/code/data_process/init.py
+++ b/aio/code/data_process/init.py
@ -0,0 +1 @@
+__all__ = ['brake', 'current', 'iso', 'wavelogger']
--- a/aio/code/data_process/brake.py
+++ b/aio/code/data_process/brake.py
@ -27,78 +27,46 @@ class GetThreadResult(Thread):
            return None


-def data_process(result_file, raw_data_dirs, av, rr, axis, vel, trq, w2t, estop):
-    # 功能：完成一个结果文件的数据处理
-    # 参数：结果文件，数据目录，以及预读取的参数
-    # 返回值：-
-    file_name = result_file.split('\\')[-1]
-    w2t(f"正在打开文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
+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)

-    global stop
-    stop = 0
-    t_excel = GetThreadResult(load_workbook, args=(result_file, ))
-    t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
-    t_excel.start()
-    t_wait.start()
-    t_excel.join()
-    wb_result = t_excel.get_result()
-    stop = 1
-    sleep(1.1)
-    w2t('')
-
-    prefix = result_file.split('\\')[-1].split('_')[0]
-    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)
-            # 数据文件串行处理模式---------------------------------
-            # count = 1
-            # for data_file in data_files:
-            #     now_doing_msg(data_file, 'start', w2t)
-            #     single_file_process(data_file, wb_result, count, av, rr, axis, vel, trq, w2t, estop)
-            #     count += 1
-            #     now_doing_msg(data_file, 'done', w2t)
-            # ---------------------------------------------------
-            # 数据文件并行处理模式---------------------------------
-            threads = [Thread(target=single_file_process, args=(data_files[0], wb_result, 1, av, rr, axis, vel, trq, w2t, estop)),
-                       Thread(target=single_file_process, args=(data_files[1], wb_result, 2, av, rr, axis, vel, trq, w2t, estop)),
-                       Thread(target=single_file_process, args=(data_files[2], wb_result, 3, av, rr, axis, vel, trq, w2t, estop))]
-            [t.start() for t in threads]
-            [t.join() for t in threads]
-            # ---------------------------------------------------
-            now_doing_msg(raw_data_dir, 'done', w2t)
-
-    now_doing_msg(result_file, 'done', w2t)
-    w2t(f"正在保存文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
-    stop = 0
-    t_excel = Thread(target=wb_result.save, args=(result_file, ))
-    t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
-    t_excel.start()
-    t_wait.start()
-    t_excel.join()
-    stop = 1
-    sleep(1.1)
-    w2t('\n')
+        return dirs, files


-def check_files(raw_data_dirs, result_files, w2t):
+def check_files(path, raw_data_dirs, result_files, w2t):
    # 功能：检查数据文件以及结果文件的合规性
    # 参数：数据文件夹，结果文件
    # 返回值：-
-    if len(result_files) != 3:
-        msg = "结果文件数目错误，结果文件有且只有三个，请确认！"
+    if len(result_files) != 4:
        for result_file in result_files:
            w2t(result_file)
-        w2t(msg, 0, 2, 'red')
+        w2t("需要有四个文件，包括三个结果文件，以及一个配置文件，请确认！", 0, 2, 'red')
+
+    for result_file in result_files:
+        if result_file.endswith('configs.xlsx'):
+            result_files.remove(result_file)
+            break
+    else:
+        w2t("未找到配置文件，请确认！", 0, 8, 'red')

    prefix = []
    for result_file in result_files:
        prefix.append(result_file.split('\\')[-1].split('_')[0])
    if not sorted(prefix) == sorted(['reach33', 'reach66', 'reach100']):
-        wd = result_files[0].split('\\')
-        del wd[-1]
-        wd = '\\'.join(wd)
-        msg = f"""请关闭所有相关数据文件，并检查工作目录 {wd} 下，有且只允许有类似如下三个文件：
+        msg = f"""请关闭所有相关数据文件，并检查工作目录 {path} 下，有且只允许有类似如下三个文件：
              1. reach33_XXX制动性能测试.xlsx
              2. reach66_XXX制动性能测试.xlsx
              3. reach100_XX制动性能测试.xlsx"""
@ -127,6 +95,20 @@ def check_files(raw_data_dirs, result_files, w2t):
    w2t("数据目录合规性检查结束，未发现问题......")


+def get_configs(configfile, w2t):
+    axis = configfile.split('\\')[-2][-1]
+    if axis not in ['1', '2', '3']:
+        w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", 0, 9, 'red')
+    else:
+        axis = int(axis)
+
+    _wb = load_workbook(configfile, read_only=True)
+    _ws = _wb['Target']
+    rr = float(_ws.cell(row=2, column=axis+1).value)
+    av = float(_ws.cell(row=3, column=axis+1).value)
+
+    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
@ -153,20 +135,6 @@ def w2t_local(msg, wait, w2t):
            break


-def single_file_process(data_file, wb_result, count, av, rr, axis, vel, trq, w2t, estop):
-    # 功能：完成单个数据文件的处理
-    # 参数：如上
-    # 返回值：-
-    df = read_csv(data_file, sep='\t')
-
-    conditions = sorted(data_file.split('\\')[-2].split('_'))  # ['loadxx', 'reachxx', 'speedxx']
-    result_sheet_name = find_result_sheet_name(conditions, count)
-    ws_result = wb_result[result_sheet_name]
-
-    row_start, row_end = find_row_start(data_file, df, conditions, av, rr, axis, vel, w2t, estop)
-    copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop)
-
-
 def copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop):
    # 功能：将数据文件中有效数据拷贝至结果文件对应的 sheet
    # 参数：如上
@ -193,27 +161,14 @@ def copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop):
            ws_result.cell(row=_row, column=3).value = None


-def find_result_sheet_name(conditions, count):
-    # 功能：获取结果文件准确的sheet页名称
-    # 参数：臂展和速度的列表
-    # 返回值：结果文件对应的sheet name
-    # 33%负载_33%速度_1 - ['loadxx', 'reachxx', 'speedxx']
-    load = conditions[0].removeprefix('load')
-    speed = conditions[2].removeprefix('speed')
-    result_sheet_name = f"{load}%负载_{speed}%速度_{count}"
-
-    return result_sheet_name
-
-
-def find_row_start(data_file, df, conditions, av, rr, axis, vel, w2t, estop):
+def find_row_start(data_file, df, conditions, av, rr, vel, estop, w2t):
    # 功能：查找数据文件中有效数据的行号，也即最后一个速度下降的点位
    # 参数：如上
    # 返回值：速度下降点位，最后的数据点位
    ratio = float(conditions[2].removeprefix('speed'))/100
-    speed_max = av * rr * ratio * 60 / 360
+    av_max = av * ratio
    row_max = df.index[-1]
-    # threshold = 30 if axis == 2 and conditions[0].removeprefix('load') == '100' else 10
-    threshold = 50
+    threshold = 0.95

    for _row in range(row_max, -1, -1):
        if df.iloc[_row, estop-1] != 0:
@ -230,34 +185,97 @@ def find_row_start(data_file, df, conditions, av, rr, axis, vel, w2t, estop):
    else:
        w2t(f"数据文件 {data_file} 最后的速度未降为零 ", 0, 10, 'red')

-    speed_estop = abs((df.iloc[row_start-10:row_start+10, vel-1].abs().mean() * 180) / 3.1415926 * rr * 60 / 360)
-    if abs(speed_estop-speed_max) > threshold:
+    av_estop = abs((df.iloc[row_start-10:row_start+10, vel-1].abs().mean() * 180) / 3.1415926)
+    if abs(av_estop/av_max) < threshold:
        filename = data_file.split('\\')[-1]
-        w2t(f"[speed_estop: {speed_estop:.2f} | shouldbe: {speed_max:.2f}] 数据文件 {filename} 触发 ESTOP 时未采集到指定百分比的最大速度，需要检查", 0, 0, '#8A2BE2')
+        w2t(f"[av_estop: {av_estop:.2f} | shouldbe: {av_max:.2f}] 数据文件 {filename} 触发 ESTOP 时未采集到指定百分比的最大速度，需要检查", 0, 0, '#8A2BE2')

    return row_start, row_end


-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)
+def find_result_sheet_name(conditions, count):
+    # 功能：获取结果文件准确的sheet页名称
+    # 参数：臂展和速度的列表
+    # 返回值：结果文件对应的sheet name
+    # 33%负载_33%速度_1 - ['loadxx', 'reachxx', 'speedxx']
+    load = conditions[0].removeprefix('load')
+    speed = conditions[2].removeprefix('speed')
+    result_sheet_name = f"{load}%负载_{speed}%速度_{count}"

-        return dirs, files
+    return result_sheet_name


-def main(path, av, rr, axis, vel, trq, estop, w2t):
+def single_file_process(data_file, wb_result, count, av, rr, vel, trq, estop, w2t):
+    # 功能：完成单个数据文件的处理
+    # 参数：如上
+    # 返回值：-
+    df = read_csv(data_file, sep='\t')
+
+    conditions = sorted(data_file.split('\\')[-2].split('_'))  # ['loadxx', 'reachxx', 'speedxx']
+    result_sheet_name = find_result_sheet_name(conditions, count)
+    ws_result = wb_result[result_sheet_name]
+
+    row_start, row_end = find_row_start(data_file, df, conditions, av, rr, vel, estop, w2t)
+    copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop)
+
+
+def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
+    # 功能：完成一个结果文件的数据处理
+    # 参数：结果文件，数据目录，以及预读取的参数
+    # 返回值：-
+    file_name = result_file.split('\\')[-1]
+    w2t(f"正在打开文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
+
+    global stop
+    stop = 0
+    t_excel = GetThreadResult(load_workbook, args=(result_file, ))
+    t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
+    t_excel.start()
+    t_wait.start()
+    t_excel.join()
+    wb_result = t_excel.get_result()
+    stop = 1
+    sleep(1.1)
+    w2t('')
+
+    prefix = result_file.split('\\')[-1].split('_')[0]
+    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)
+            # 数据文件串行处理模式---------------------------------
+            # count = 1
+            # for data_file in data_files:
+            #     now_doing_msg(data_file, 'start', w2t)
+            #     single_file_process(data_file, wb_result, count, av, rr, vel, trq, estop, w2t)
+            #     count += 1
+            #     now_doing_msg(data_file, 'done', w2t)
+            # ---------------------------------------------------
+            # 数据文件并行处理模式---------------------------------
+            threads = [
+                Thread(target=single_file_process, args=(data_files[0], wb_result, 1, av, rr, vel, trq, estop, w2t)),
+                Thread(target=single_file_process, args=(data_files[1], wb_result, 2, av, rr, vel, trq, estop, w2t)),
+                Thread(target=single_file_process, args=(data_files[2], wb_result, 3, av, rr, vel, trq, estop, w2t))
+            ]
+            [t.start() for t in threads]
+            [t.join() for t in threads]
+            # ---------------------------------------------------
+            now_doing_msg(raw_data_dir, 'done', w2t)
+
+    now_doing_msg(result_file, 'done', w2t)
+    w2t(f"正在保存文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
+    stop = 0
+    t_excel = Thread(target=wb_result.save, args=(result_file, ))
+    t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
+    t_excel.start()
+    t_wait.start()
+    t_excel.join()
+    stop = 1
+    sleep(1.1)
+    w2t('\n')
+
+
+def main(path, vel, trq, estop, w2t):
    # 功能：执行处理所有数据文件
    # 参数：initialization函数的返回值
    # 返回值：-
@ -266,7 +284,8 @@ def main(path, av, rr, axis, vel, trq, estop, w2t):

    try:
        # threads = []
-        check_files(raw_data_dirs, result_files, w2t)
+        check_files(path, raw_data_dirs, result_files, w2t)
+        av, rr = get_configs(path + '\\configs.xlsx', w2t)

        prefix = []
        for raw_data_dir in raw_data_dirs:
@ -277,8 +296,8 @@ def main(path, av, rr, axis, vel, trq, estop, w2t):
                continue
            else:
                now_doing_msg(result_file, 'start', w2t)
-                data_process(result_file, raw_data_dirs, av, rr, axis, vel, trq, w2t, estop)
-            # threads.append(Thread(target=data_process, args=(result_file, raw_data_dirs, AV, RR, RC, AXIS)))
+                data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t)
+            # threads.append(Thread(target=data_process, args=(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t)))
        # [t.start() for t in threads]
        # [t.join() for t in threads]
    except Exception as Err:
@ -295,4 +314,4 @@ def main(path, av, rr, axis, vel, trq, estop, w2t):

 if __name__ == "__main__":
    stop = 0
-    main(path=argv[1], av=argv[2], rr=argv[3], axis=argv[4], vel=argv[5], trq=argv[6], estop=argv[7], w2t=argv[8])
+    main(*argv[1:])
--- a/aio/code/data_process/current.py
+++ b/aio/code/data_process/current.py
@ -6,7 +6,7 @@ from pandas import read_csv, concat, set_option
 from re import match
 from threading import Thread
 from time import sleep
-from csv import reader
+from csv import reader, writer


 class GetThreadResult(Thread):
@ -63,31 +63,33 @@ def initialization(path, sub, w2t):

    for data_file in data_files:
        filename = data_file.split('\\')[-1]
-        if sub != 'cycle':
+        if data_file.endswith('configs.xlsx'):
+            count += 1
+        elif sub == 'cycle' and data_file.endswith('.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"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。"
                w2t(msg, 0, 6, 'red')
-        else:
-            if filename.endswith('.xlsx'):
-                count += 1
-            elif not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)):
-                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。"
-                w2t(msg, 0, 7, 'red')

-    if sub == 'cycle' and count != 1:
-        w2t("未找到电机电流数据处理excel表格，确认后重新运行！", 0, 5, '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')

    return data_files


 def current_max(data_files, rcs, trqh, w2t):
-    current = {1: 0, 2: 0, 3: 0, 4: 0, 5: 0, 6: 0, 7: 0}
+    current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
    for data_file in data_files:
        if data_file.endswith('.data'):
            df = read_csv(data_file, sep='\t')
        elif data_file.endswith('.csv'):
            df = read_csv(data_file, sep=',', encoding='gbk', header=8)
+        else:
+            continue

+        cols = len(df.columns)
        axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
        rca = rcs[axis-1]

@ -96,21 +98,37 @@ def current_max(data_files, rcs, trqh, w2t):

        scale = 1 if data_file.endswith('.csv') else 1000
        _ = abs(c_max/scale*rca)
-        current[axis] = _
+        current[axis].append(_)
        w2t(f"{data_file}: {_:.4f}")

-    w2t("【MAX】数据处理完毕......")
+        with open(data_file, 'a+') as f_data:
+            sep = '\t' if data_file.endswith('.data') else ','
+            csv_writer = writer(f_data, delimiter=sep)
+            csv_writer.writerow([''] * (cols-1) + [_])
+
+    for axis, cur in current.items():
+        if not cur:
+            continue
+        else:
+            w2t(f"{axis}轴数据：", 1, 0, 'purple')
+            for value in cur:
+                w2t(f"{value:.4f} ", 1, 0, 'purple')
+            w2t('')
+    w2t("\n【MAX】数据处理完毕......")
    return current


 def current_avg(data_files, rcs, trqh, w2t):
-    current = {1: 0, 2: 0, 3: 0, 4: 0, 5: 0, 6: 0, 7: 0}
+    current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
    for data_file in data_files:
        if data_file.endswith('.data'):
            df = read_csv(data_file, sep='\t')
        elif data_file.endswith('.csv'):
            df = read_csv(data_file, sep=',', encoding='gbk', header=8)
+        else:
+            continue

+        cols = len(df.columns)
        axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
        rca = rcs[axis-1]

@ -119,25 +137,38 @@ def current_avg(data_files, rcs, trqh, w2t):
        c_avg = df[col].mean()

        scale = 1 if data_file.endswith('.csv') else 1000
-        _ = (abs(c_avg)+c_std)/scale*rca
-        current[axis] = _
+        _ = (abs(c_avg)+c_std*3)/scale*rca
+        current[axis].append(_)
        w2t(f"{data_file}: {_:.4f}")

-    w2t("【AVG】数据处理完毕......")
+        with open(data_file, 'a+') as f_data:
+            sep = '\t' if data_file.endswith('.data') else ','
+            csv_writer = writer(f_data, delimiter=sep)
+            csv_writer.writerow([''] * (cols-1) + [_])
+
+    for axis, cur in current.items():
+        if not cur:
+            continue
+        else:
+            w2t(f"{axis}轴数据：", 1, 0, 'purple')
+            for value in cur:
+                w2t(f"{value:.4f} ", 1, 0, 'purple')
+            w2t('')
+    w2t("\n【AVG】数据处理完毕......")
    return current


-def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpm, w2t):
+def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
    result = None
    hold = []
    single = []
    for data_file in data_files:
        filename = data_file.split('\\')[-1]
-        if data_file.endswith('.xlsx'):
+        if data_file.endswith('.xlsx') and not data_file.endswith('configs.xlsx'):
            result = data_file
        elif match('j[1-7]_hold_.*\\.data', filename) or match('j[1-7]_hold_.*\\.csv', filename):
            hold.append(data_file)
-        else:
+        elif match('j[1-7]_.*\\.data', filename) or match('j[1-7]_.*\\.csv', filename):
            single.append(data_file)

    w2t(f"正在打开文件 {result}，需要 10s 左右", 1, 0, 'orange')
@ -163,9 +194,9 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpm, w2t):
                pass

    if dur == 0:
-        p_single(wb, single, vel, trq, rpm, w2t)
+        p_single(wb, single, vel, trq, rpms, w2t)
    else:
-        p_scenario(wb, single, vel, trq, rpm, dur, w2t)
+        p_scenario(wb, single, vel, trq, rpms, dur, w2t)

    w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange')
    stop = 0
@ -206,20 +237,22 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')


-def p_single(wb, single, vel, trq, rpm, w2t):
+def p_single(wb, single, vel, trq, rpms, 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
    for data_file in single:
-        rpm = 1 if rpm == 0 else rpm
-        scale = 1000 if data_file.endswith('.csv') else 1
        axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
        shtname = f"J{axis}"
+        rpm = rpms[axis-1] if data_file.endswith('.csv') else 1
+        scale = 1000 if data_file.endswith('.csv') else 1
        ws = wb[shtname]
-
+        addition = 1
        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)
+            addition = 180 / 3.1415926 * 60 / 360 * rr
        elif data_file.endswith('.csv'):
            df = read_csv(data_file, sep=',', encoding='gbk', header=8)
            csv_reader = reader(open(data_file))
@ -233,7 +266,7 @@ def p_single(wb, single, vel, trq, rpm, w2t):
            ws["H11"] = cycle

        col_names = list(df.columns)
-        df_1 = df[col_names[vel-1]].multiply(rpm)
+        df_1 = df[col_names[vel-1]].multiply(rpm*addition)
        df_2 = df[col_names[trq-1]].multiply(scale)
        df = concat([df_1, df_2], axis=1)

@ -275,7 +308,7 @@ def p_single(wb, single, vel, trq, rpm, w2t):
            data.append(df.iloc[row, 1])

        i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=70000, max_col=3):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
            for cell in row:
                try:
                    _ = f"{data[i]:.2f}"
@ -285,18 +318,20 @@ def p_single(wb, single, vel, trq, rpm, w2t):
                    cell.value = None


-def p_scenario(wb, single, vel, trq, rpm, dur, w2t):
+def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
    for data_file in single:
        cycle = 0.001
-        rpm = 1 if rpm == 0 else rpm
-        scale = 1000 if data_file.endswith('.csv') else 1
        axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
        shtname = f"J{axis}"
+        rpm = rpms[axis-1] if data_file.endswith('.csv') else 1
+        scale = 1000 if data_file.endswith('.csv') else 1
        ws = wb[shtname]
-
+        addition = 1
        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)
+            addition = 180 / 3.1415926 * 60 / 360 * rr
        elif data_file.endswith('.csv'):
            df = read_csv(data_file, sep=',', encoding='gbk', header=8)
            csv_reader = reader(open(data_file))
@ -310,7 +345,7 @@ def p_scenario(wb, single, vel, trq, rpm, dur, w2t):
        ws["H11"] = cycle

        col_names = list(df.columns)
-        df_1 = df[col_names[vel-1]].multiply(rpm)
+        df_1 = df[col_names[vel-1]].multiply(rpm*addition)
        df_2 = df[col_names[trq-1]].multiply(scale)
        df = concat([df_1, df_2], axis=1)

@ -325,7 +360,7 @@ def p_scenario(wb, single, vel, trq, rpm, dur, w2t):
            data.append(df.iloc[row, 1])

        i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=70000, max_col=3):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
            for cell in row:
                try:
                    _ = f"{data[i]:.2f}"
@ -335,17 +370,34 @@ def p_scenario(wb, single, vel, trq, rpm, dur, w2t):
                    cell.value = None


-# =======================================
+def get_configs(configfile, w2t):
+    _wb = load_workbook(configfile, read_only=True)
+    _ws = _wb['Target']
+    rcs = []
+    rpms = []
+    for i in range(2, 9):
+        try:
+            rpms.append(float(_ws.cell(row=4, column=i).value))
+        except:
+            rpms.append(0.0)
+
+        try:
+            rcs.append(float(_ws.cell(row=6, column=i).value))
+        except:
+            rcs.append(0.0)
+
+    return rpms, rcs


-def main(path, sub, rcs, vel, trq, trqh, dur, rpm, w2t):
+def main(path, sub, dur, vel, trq, trqh, w2t):
    data_files = initialization(path, sub, w2t)
+    rpms, rcs = get_configs(path + '\\configs.xlsx', w2t)
    if sub == 'max':
        current_max(data_files, rcs, trqh, w2t)
    elif sub == 'avg':
        current_avg(data_files, rcs, trqh, w2t)
    elif sub == 'cycle':
-        current_cycle(dur, data_files, rcs, vel, trq, trqh, rpm, w2t)
+        current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t)
    else:
        pass

--- a/aio/code/data_process/iso.py
+++ b/aio/code/data_process/iso.py
--- a/aio/code/data_process/wavelogger.py
+++ b/aio/code/data_process/wavelogger.py
@ -0,0 +1,186 @@
+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
+
+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 find_point(bof, step, pos, data_file, flag, df, row, w2t):
+    # bof: backward or forward
+    # pos: used for debug
+    # flag: greater than or lower than
+    if flag == 'gt':
+        while 0 < row < df.index[-1]-100:
+            _value = df.iloc[row, 2]
+            if _value > 2:
+                if bof == 'backward':
+                    row -= step
+                elif bof == 'forward':
+                    row += step
+                continue
+            else:
+                if bof == 'backward':
+                    row_target = row - step
+                elif bof == 'forward':
+                    row_target = row + step
+                break
+        else:
+            if bof == 'backward':
+                w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", 0, 2, 'red')
+            elif bof == 'forward':
+                row_target = row + 100
+    elif flag == 'lt':
+        while 0 < row < df.index[-1]-100:
+            _value = df.iloc[row, 2]
+            if _value < 2:
+                if bof == 'backward':
+                    row -= step
+                elif bof == 'forward':
+                    row += step
+                continue
+            else:
+                if bof == 'backward':
+                    row_target = row - step
+                elif bof == 'forward':
+                    row_target = row + step
+                break
+        else:
+            if bof == 'backward':
+                w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", 0, 3, 'red')
+            elif bof == 'forward':
+                row_target = row + 100
+
+    return row_target
+
+
+def get_cycle_info(data_file, df, row, step, w2t):
+    # end -> middle: low
+    # middle -> start: high
+    # 1. 从最后读取数据，无论是大于1还是小于1，都舍弃，找到相反的值的起始点
+    # 2. 从起始点，继续往前寻找，找到与之数值相反的中间点
+    # 3. 从中间点，继续往前寻找，找到与之数值相反的结束点，至此，得到了高低数值的时间区间以及一轮的周期时间
+    if df.iloc[row, 2] < 2:
+        row = find_point('backward', step, 'a1', data_file, 'lt', df, row, w2t)
+
+    _row = find_point('backward', step, 'a2', data_file, 'gt', df, row, w2t)
+    _row = find_point('backward', step, 'a3', data_file, 'lt', df, _row, w2t)
+    row_end = find_point('backward', step, 'a4', data_file, 'gt', df, _row, w2t)
+    row_middle = find_point('backward', step, 'a5', data_file, 'lt', df, row_end, w2t)
+    row_start = find_point('backward', step, 'a6', data_file, 'gt', df, row_middle, w2t)
+
+    return row_end-row_middle, row_middle-row_start, row_end-row_start
+
+
+def initialization(path, w2t):
+    _, data_files = traversal_files(path, w2t)
+
+    for data_file in data_files:
+        if not data_file.lower().endswith('.csv'):
+            w2t(f"{data_file} 文件后缀错误，只允许 .csv 文件，需要确认！", 0, 1, 'red')
+
+    return data_files
+
+
+def preparation(data_file, wb, w2t):
+    shtname = data_file.split('\\')[-1].split('.')[0]
+    ws = wb.create_sheet(shtname)
+    csv_reader = reader(open(data_file))
+    i = 0
+    begin = 70
+    for row in csv_reader:
+        i += 1
+        if i == 1:
+            begin = int(row[1])
+            break
+    df = read_csv(data_file, sep=',', encoding='gbk', skip_blank_lines=False, header=begin - 1, on_bad_lines='warn')
+    low, high, cycle = get_cycle_info(data_file, df, df.index[-1]-110, 5, w2t)
+
+    return ws, df, low, high, cycle
+
+
+def single_file_proc(ws, data_file, df, low, high, cycle, w2t):
+    _row = _row_lt = _row_gt = count = 1
+    _step = 5
+    _data = {}
+    row_max = df.index[-1]-100
+    print(data_file)
+    while _row < row_max:
+        if count not in _data.keys():
+            _data[count] = []
+
+        _value = df.iloc[_row, 2]
+        if _value < 2:
+            _row_lt = find_point('forward', _step, 'c'+str(_row), data_file, 'lt', df, _row, w2t)
+            _start = int(_row_gt + (_row_lt - _row_gt - 50) / 2)
+            _end = _start + 50
+            value = df.iloc[_start:_end, 2].mean() + 3 * df.iloc[_start:_end, 2].std()
+            _data[count].append(value)
+        else:
+            _row_gt = find_point('forward', _step, 'c'+str(_row), data_file, 'gt', df, _row, w2t)
+            if _row_gt - _row_lt > cycle * 2:
+                count += 1
+
+        _row = max(_row_gt, _row_lt)
+
+    for i in range(2, 10):
+        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)
+    for i in sorted(_data.keys()):
+        _row = 2
+        _column = i + 1
+        for value in _data[i]:
+            ws.cell(row=_row, column=_column).value = float(value)
+            _row += 1
+
+
+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"high = {high}")
+        print(f"cycle = {cycle}")
+        single_file_proc(ws, data_file, df, low, high, cycle, w2t)
+
+    wd = data_files[0].split('\\')
+    del wd[-1]
+    wd = '\\'.join(wd)
+    filename = wd + '\\result.xlsx'
+    wb.save(filename)
+    wb.close()
+    w2t('----------------------------------------')
+    w2t('所有文件均已处理完毕')
+
+
+def main(path, w2t):
+    data_files = initialization(path, w2t)
+    execution(data_files, w2t)
+
+
+if __name__ == '__main__':
+    main(path=argv[1], w2t=argv[2])
--- a/aio/vers
+++ b/aio/vers
@ -1 +0,0 @@
-0.1.5.2 @ 06/13/2024
Author	SHA1	Message	Date
gitea	ac71522cc2	fixing merge	2024-06-29 20:46:42 +08:00
gitea	611d848b41	v0.1.7.1(2024/06/29) 1. [APIs: aio.py] - 修改detect_network函数中sleep语句放到最后，重新生成HmiRequest实例中增加sleep(4)，这个停顿时间一定是比openapi中heartbeat函数的sleep要长1s以上才能正常工作 - 修改write2textbox函数，新增默认参数tab_name，只有当该值与当前tab一致时，函数才会有输出 - 第二条改动影响到了automatic_test文件夹下所有的文件 2. [APIs: openapi.py] - 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理 - execution函数中合并了case条件 - 增加了N多指令，多为诊断曲线和rl程序相关 3. [APIs: do_brake.py] - 实现自动推送工程到xCore并自动运行 - 初步实现了Modbus发送消息和检测状态 4. [APIs: do_current.py] - 将do_brake.py的内容完全拷贝到此文件，待修改	2024-06-29 20:40:17 +08:00
gitea	802ccd8e97	v0.1.7.1(2024/06/29) 1. [APIs: aio.py] - 对于automatic test删除了输入框，使用configs.xlsx配置文件作为参数输入 - 完善initialization/param_check/func_start_callback函数中对于automatic test的处理 - 将textbox组件一直设置为normal状态，不再频繁切换disabled - 将所有的f_h文件对象修改为f_hb，并将connection_state修改为c_state - 在detect_network函数中，实例化HmiRequest，并在无限循环中检测心跳是否正常，如异常，则销毁hr，重新生成 - 取消在tabview切换时，检测心跳的逻辑，这样做无法保证实时性 2. [APIs: openapi.py] - 将sock_conn函数移出__init__，单独作为连接函数存在 - 新增全局变量self.t_bool，控制所有的线程中无限循环的启停，也就是可以人为的退出线程 - 移除close_sock函数 - heartbeat函数中新增打印所有消息的代码，调试时打开，平常关闭 - execution函数中，新增对overview.set_autoload和overview.reload的支持 - execution函数中，对send动作增加异常处理逻辑 3. [APIs: do_brake.py] - 新增文件，处理制动测试流程，建立连接，导入project，pp2main，run，采集并处理曲线数据，本地修改RL程序，推送至控制器等 - 目前完成： - 文件合规性检查 - 导入工程并设置为运行工程 4. [APIs: current.py] 修改scenario/single电机电流最大长度为150s 5. 在本文件中更新关于制动自动化测试的相关内容	2024-06-29 07:48:54 +08:00
gitea	61fa840e53	[t_change_ui: aio.py/brake.py/current.py] 整体修改了操作界面，删除了大部分的配置输入框，改用 configs.xlsx 配置文件替代，并优化了max/avg功能中写入结果数据的方式	2024-06-28 09:47:59 +08:00
gitea	79797a3bdd	20240626 9. [aio.py] 修改了版本 10. [current.py] max/avg功能结束之前会将结果数据追加写入源文件，avg算法更改为average+3×std 11. [wavelogger.py] 算法更改为 average+3×std	2024-06-26 21:38:21 +08:00
gitea	7143a19fa1	v0.1.7.0(2024/06/26)-初步可用 1. [aio.py] 在detect_network函数中需改查询时间间隔是1s，在tabview_click中增加textbox配置normal的语句 2. [do_brake.py -> btn_functions.py] 新增执行相应函数，并在get_state函数中设置无示教器模式 3. [openapi.py] 新增sock_conn函数，并做连接时的异常处理，新增类参数w2t 4. [aio.py] 修改customtkinter库中C:\Users\Administrator\AppData\Local\Programs\Python\Python312\Lib\site-packages\customtkinter\windows\widgets\ctk_tabview.py文件，参考https://github.com/TomSchimansky/CustomTkinter/issues/2296，实现修改tabview组件的字体大小，使用原生字体，同时将segmented button字体修改为原生，为了解决segmented button在禁用和启用时，屏幕抖动的问题，并将大小修改为16 5. [aio.py] 修改了segmented_button_callback的实现逻辑，使代码更简洁 6. [aio.py] 修改了在tabview_click函数中对于实例化openapi的动作，使每次切换标签都会重新实例化，也就是每次都会重新连接，修复显示不正确的问题 7. [openapi.py] 新增了socket关闭的函数，并增加msg_id为None的处理逻辑 8. [btn_functions.py] 完善了状态获取的功能，新增告警获取以及功能切换的逻辑	2024-06-26 19:54:51 +08:00
gitea	a75775c869	v0.1.7.0(2024/06/25)-未发布 1. [aio.py] 取消了在本文件中开启openapi线程的做法，并修改如下： - 通过包的方式导入其他模块 - 使用current_path来规避文件路径问题 - 声名了 self.hr 变量，用来接收openapi的实例化 - 修改了对于segment button的错误调用 - 设定progress bar的长度是10 - 完善了segmented_button_callback函数 - 在detect_network函数中增加heartbeat初始化 - tabview_click函数中新增textbox清屏功能，以及实例化openapi，并做检测 2. [openapi.py] 取消了初始化中无限循环检测，因为阻塞了aio主界面进程！！！socket也无法多次连接！！！浪费了好多时间！！！很生气！！！！ - 通过tabview切换来实现重新连接，并保留了异常处理部分 - 将所有的 __xxxx 函数都替换成 xxxx 函数，去掉了 __ - 使用current_path来规避文件路径问题 3. [do_brake.py] 初步完成了机器状态收集的功能，还需要完善 - 使用current_path来规避文件路径问题 - 新增validate_resp函数，校验数据 - 完善了调用接口	2024-06-25 21:40:27 +08:00
gitea	6604f0ba06	20240624 11. [openapi.py] 建联部分做容错处理，并将读写文件做自适应处理 12. [aio.py] 将读写文件做自适应处理，引入openapi模块并生成实例，做心跳检测，将socket超时时间修改为3s	2024-06-24 19:22:56 +08:00
gitea	a4009eb17c	20240623 8. [openapi.py] 增加心跳检测函数，并开启线程执行；取消在该文件中生成实例 9. [aio.py] 完成detect_network，并在main函数开启线程 10. 将templates文件夹移动到assets内	2024-06-23 20:18:41 +08:00
gitea	295894a843	2024-06-12 4. [openapi.py] 使用 int.to_bytes 和 int.from_bytes 替换 binascii 模块的功能 5. [aio.py] 修改了Data Process中初始化的动作，使得初始化时的状态统一成程序刚启动时的样子 6. [aio.py] 增加了tabview的点击行为函数，每次点击tab都会初始化 7. [aio.py] 增加了Automatic Test界面元素，包括如下，并完成了功能框架的搭建 - 标签：文件/角速度/减速比 - 按钮：急停及恢复 - 输入框：文件路径/角速度/减速比 - OptionMenu：负载 - 进度条	2024-06-21 16:53:13 +08:00
gitea	ff4b0cc04c	20240621 2. [openapi.py] 修改了封包的规则，使之更加明晰，封包操作没有实现分包功能，目前看实际场景用不到 3. [openapi.py] 定义 MAX_FRAME_SIZE 常量（1024），替换socket接收以及响应数据处理相关部分 4. [openapi.py] ʹÓ int.to_bytes ºÍint.from_bytes Ì»» binascii ģ¿é¹¦Ä	2024-06-21 08:13:51 +08:00
gitea	8975d8a37c	完善了解包分帧的情况，现在测试基本无问题	2024-06-20 20:48:03 +08:00
gitea	14f269b570	中间版本，对于解封超过1024的消息有问题，暂存历史	2024-06-20 17:15:54 +08:00
gitea	2917f4ae97	[openapi.py] 初步搭建起框架，完成了新老协议的封包/解包/异步采集日志的操作（未充分测试）	2024-06-20 12:49:41 +08:00
gitea	d04d90f1a7	Merge branch 'main' of gitea.rustle.cc:gitea/rokae into APIs keep the same content with main	2024-06-19 15:21:46 +08:00
gitea	284dabee76	re-organize file storage structure, and add API related files, just framework	2024-06-19 15:20:43 +08:00
gitea	0646ae13de	Merge branch 'main' of gitea.rustle.cc:gitea/rokae into APIs	2024-06-19 07:41:52 +08:00
gitea	c3dbb2cff0	v0.1.6.3(2024/06/18) 1. [current.py] 适配电机电流中速度使用hw_joint_vel_feedback的数据，取消对device_servo_vel_feedback的支持，后续所有涉及到速度相关的数据均已前者为准，现已完成对单轴和场景的适配 > ！！WARNING：目前版本的电机电流程序还支持DriverMaster采集的数据处理，等明确后，将不再支持，也即所有的电机电流数据（工业+协作），都是用诊断曲线来采集	2024-06-18 20:42:48 +08:00
gitea	780fed29af	fix merging conflicts	2024-06-17 15:11:54 +08:00
gitea	4ba8af842c	unused	2024-06-17 15:07:28 +08:00
gitea	a0fe9b5939	fix merging	2024-06-16 14:49:46 +08:00
gitea	2f2f0d430d	fix merging	2024-06-16 14:30:12 +08:00
gitea	78a79e4aa0	v0.1.6.2(2024/06/16) 1. [current.py] 修改了max/avg相关功能中对于返回值的处理逻辑，并在输出框以行的形式打印出来	2024-06-16 14:25:41 +08:00
gitea	346379ec1a	re-commit	2024-06-16 14:09:26 +08:00
gitea	215e312480	iv0.1.6.1(2024/06/16) 1. [wavelogger.py]: bugfix single_file_proc函数中，修改_start起始点的计算逻辑 2. [wavelogger.py]: bugfix find_point函数中，当判断条件为临界值 2.0 的时候，针对forward和backward两种情况，对row_target做与判断逻辑相同的处理，目的是避免形成死循环	2024-06-16 14:07:36 +08:00
gitea	5ba3c76386	modify vers info	2024-06-15 19:32:57 +08:00
gitea	224af36bfe	change to new version because of new function added	2024-06-15 19:27:31 +08:00
gitea	95071f363b	fix merging	2024-06-15 19:17:53 +08:00
gitea	fc30fcde80	v0.1.5.4(2024/06/15) [aio.py]: 新增wavelogger处理界面 [wavelogger.py]: 新增精度数据处理模块	2024-06-15 19:14:34 +08:00
gitea	e014775972	v0.1.5.3(2024/06/14) [aio.py]: 修改w_param为84，适配14寸电脑屏幕 [brake.py]: 将判定合规逻辑修改为角速度超过指定角速度的95% [README.md]: 稍作修改，包括打包方式，功能特性等	2024-06-14 12:37:12 +08:00
gitea	15e6f1b6c0	re-arrange file-organization	2024-06-14 07:29:28 +08:00
gitea	a1b45bf941	[init] for apis	2024-06-12 14:56:50 +08:00
				`@ -0,0 +1 @@`
				`__all__ = ['automatic_test', 'data_process']`
				`@ -0,0 +1 @@`
				`__all__ = ['openapi', 'btn_functions', 'do_brake', 'do_current']`
				`@ -0,0 +1 @@`
				`__all__ = ['brake', 'current', 'iso', 'wavelogger']`