vers info

1. [APIs: do_brake.py]: 精简程序，解决 OOM 问题
2. [APIs: do_current.py]: 精简程序，解决 OOM 问题
3. [APIs: factory_test.py]: 精简程序，解决 OOM 问题
4. [APIsL openapi.py]
   - 心跳修改为 1 s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳
   - 新增 diagnosis.save 命令，但是执行时，有问题，待解决

.gitignore

@@ -8,4 +8,5 @@ aio/__pycache__/
 aio/code/automatic_test/__pycache__/
 aio/code/data_process/__pycache__/
 aio/assets/templates/c_msg.log
-aio/code/durable_action/__pycache__/
+aio/code/durable_action/__pycache__/
+aio/assets/templates/durable/

aio/README.md

@@ -8,6 +8,7 @@
 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
+7. 耐久工程曲线指标采集（仅适用于六轴）
 
 
 ---
@@ -132,16 +133,18 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 
 > **需要注意的点**
 
-1. 【重要】使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击，确保所有程序正常运行之后，导出工程，再进行自动化测试
+1. 修改该文件点位信息
-2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为
+2. 修改“编程”→“工具列表”中的工具信息，制动只允许使用tool33/tool66/tool100/inertia这四个工具，不可重命名
-3. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停，但不完全保证100%，大概有95%左右的准确度
+3. 除了调试行，其他行请勿修改，包括增加空行等，尤其是有特别注释的地方
-4. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行
+4. stop0_related半静态任务，需要注意DO0_0的命名，不同控制柜，可能不一样
-5. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察
+5. 需要导入 autotest.xml 寄存器文件，以及新建modbus总线设备，命名为autotest，其他默认即可
-6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停
+6. 其他无需修改，如有其他需求，可联系fanmingfu@rokae.com沟通
-7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页
+7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页，其中DO0_0视硬件情况，可能为其他名称
-8. 注意观察二轴100%臂展时，是否可以获取到正确的数据
+8. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停
-9. 将autotest.xml导入到寄存器，并新建一个modbus，命名为autotest
+9. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察
-10. 针对五轴机型，六轴数据可以填写1-5轴任意一轴的点位信息
+10. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行
+11. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停
+12. 工程文件可以手动重命名，按照机型存档，或者导出用于自动化测试
 
 #### 6) 电机电流自动化测试
 
@@ -152,7 +155,16 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
 
 > **需要注意的点**
 
-基本同第五点
+基本同第五点，针对五轴以及以下的机型，缺失轴数据可以填写其他有效轴任意一轴的点位信息
+
+
+#### 7) 耐久工程曲线指标采集
+
+可实现固定周期指定曲线指标的采集，用于长时间观察指标的变化情况，输入文件：
+- configs.xlsx，执行之前需要手动修改好configs.xlsx中的参数，以及间隔时间
+- target.zip，需要确认工程点位和动作无问题后，保存导出
+
+> 重新运行时，必须突出软件，重新运行
 
 #### 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：
@@ -511,3 +523,39 @@ v0.2.0.0(2024/07/17)
    - HmiRequest模块：日志取消记录move.monitor相关
    - HmiRequest模块：增加了durable_lock变量，控制文件读写互斥
 
+v0.2.0.1(2024/07/19)
+1. [main: aio.py]
+   - 修改了x轴显示，使之为时间刻度
+   - 修改pre_warning函数，增加了durable test的初始化
+2. [main: factory_test.py]
+   - 增加了数据计算错误的判断逻辑
+   - 增加了历史数据保存的逻辑
+   - 增加了文件读写互斥的逻辑
+   - 修改功能为输出有效电流和最大电流，并将数据结构简化
+
+v0.2.0.2(2024/07/26)
+1. [main: current.py]
+   - 修正堵转电流无法正确写入结果文件的问题
+2. [main: do_brake.py]
+   - 初始速度采集等待时间设置为可通过configs.xlsx配置文件调整的
+   - 初次速度采集停止逻辑修改为tasks.stop指令（未验证）
+   - 急停信号触发前，pending时间设置为固定值10s
+   - 实现正负方向速度采集逻辑
+   - 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件
+   - 增加超差后写诊断的逻辑，并可以通过configs.xlsx配置文件调整
+   - 程序输出中增加时间戳，方便调试定位日志时间
+3. [main: do_current.py]
+   - 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件
+4. 为工程文件添加更详细的注释
+5. 补充了do_current/do_brake的流程图
+6. [main: openapi.py]
+   - 将modbus motor_on/off的实现方法改为高电平脉冲触发
+7. configs.xlsx配置表新增write_diagnosis/get_init_speed两个参数
+
+v0.2.0.3(2024/07/27)
+1. [APIs: do_brake.py]: 精简程序，解决 OOM 问题
+2. [APIs: do_current.py]: 精简程序，解决 OOM 问题
+3. [APIs: factory_test.py]: 精简程序，解决 OOM 问题
+4. [APIsL openapi.py]
+   - 心跳修改为 1 s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳
+   - 新增 diagnosis.save 命令，但是执行时，有问题，待解决

aio/assets/file_version_info.txt

@@ -6,8 +6,8 @@ VSVersionInfo(
   ffi=FixedFileInfo(
     # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
     # Set not needed items to zero 0.
-    filevers=(0, 2, 0, 0),
+    filevers=(0, 2, 0, 3),
-    prodvers=(0, 2, 0, 0),
+    prodvers=(0, 2, 0, 3),
     # Contains a bitmask that specifies the valid bits 'flags'r
     mask=0x3f,
     # Contains a bitmask that specifies the Boolean attributes of the file.
@@ -31,12 +31,12 @@ VSVersionInfo(
         '040904b0',
         [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
         StringStruct('FileDescription', 'All in one automatic toolbox'),
-        StringStruct('FileVersion', '0.2.0.0 (2024-07-17)'),
+        StringStruct('FileVersion', '0.2.0.3 (2024-07-27)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.2.0.0 (2024-07-17)')])
+        StringStruct('ProductVersion', '0.2.0.3 (2024-07-27)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/templates/json/diagnosis.open.json

@@ -5,8 +5,8 @@
   "data": {
 	  "open": false,
 	  "display_open": false,
-	  "overrun": true,
+	  "overrun": false,
-	  "turn_area": true,
+	  "turn_area": false,
 	  "delay_motion": false
   }
 }

aio/assets/vers

@@ -1 +1 @@
-0.2.0.0 @ 07/17/2024
+0.2.0.3 @ 07/27/2024

aio/code/aio.py

@@ -13,13 +13,13 @@ from automatic_test import *
 from durable_action import *
 import openapi
 import matplotlib.pyplot as plt
-import matplotlib
+from matplotlib import use
-import pandas as pd
+from pandas import DataFrame, read_excel
 
-matplotlib.use('Agg')
+use('Agg')
 heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat'
 durable_data_current_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current.xlsx'
-durable_data_velocity_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_velocity.xlsx'
+durable_data_current_max_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current_max.xlsx'
 customtkinter.set_appearance_mode("System")  # Modes: "System" (standard), "Dark", "Light"
 customtkinter.set_default_color_theme("blue")  # Themes: "blue" (standard), "green", "dark-blue"
 customtkinter.set_widget_scaling(1.1)  # widget dimensions and text size
@@ -27,22 +27,22 @@ customtkinter.set_window_scaling(1.1)  # window geometry dimensions
 setdefaulttimeout(3)
 # global vars
 durable_data_current = {
-    'time': list(range(1, 26)),
+    'time': list(range(1, 19)),
-    'axis1': [0 for _ in range(25)],
+    'axis1': [0 for _ in range(18)],
-    'axis2': [0 for _ in range(25)],
+    'axis2': [0 for _ in range(18)],
-    'axis3': [0 for _ in range(25)],
+    'axis3': [0 for _ in range(18)],
-    'axis4': [0 for _ in range(25)],
+    'axis4': [0 for _ in range(18)],
-    'axis5': [0 for _ in range(25)],
+    'axis5': [0 for _ in range(18)],
-    'axis6': [0 for _ in range(25)],
+    'axis6': [0 for _ in range(18)],
 }
-durable_data_velocity = {
+durable_data_current_max = {
-    'time': list(range(1, 26)),
+    'time': list(range(1, 19)),
-    'axis1': [0 for _ in range(25)],
+    'axis1': [0 for _ in range(18)],
-    'axis2': [0 for _ in range(25)],
+    'axis2': [0 for _ in range(18)],
-    'axis3': [0 for _ in range(25)],
+    'axis3': [0 for _ in range(18)],
-    'axis4': [0 for _ in range(25)],
+    'axis4': [0 for _ in range(18)],
-    'axis5': [0 for _ in range(25)],
+    'axis5': [0 for _ in range(18)],
-    'axis6': [0 for _ in range(25)],
+    'axis6': [0 for _ in range(18)],
 }
 btns_func = {
     'start': {'btn': '', 'row': 1, 'text': '开始运行'},
@@ -64,7 +64,7 @@ widgits_at = {
 }
 widgits_da = {
     'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
-    'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '曲线选择'},
+    'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '指标选择'},
 }
 
 
@@ -105,7 +105,7 @@ class App(customtkinter.CTk):
         btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
         btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
         # create version info
-        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.0\nDate: 07/17/2024", font=self.my_font, text_color="#4F4F4F")
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.3\nDate: 07/27/2024", font=self.my_font, text_color="#4F4F4F")
         self.frame_func.rowconfigure(6, weight=1)
         self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
         # =====================================================================
@@ -185,7 +185,7 @@ class App(customtkinter.CTk):
                 widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font)
                 widgits_da[widgit]['entry'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we')
             elif widgit in ['curvesel']:
-                widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), button_color='#708090', fg_color='#778899', values=["device_servo_trq_feedback", "hw_joint_vel_feedback"], font=self.my_font)
+                widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=['device_servo_trq_feedback', '[max] device_servo_trq_feedback'], font=self.my_font)
                 widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we')
                 widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
         # For durable_action tab END =====================================================================
@@ -202,14 +202,15 @@ class App(customtkinter.CTk):
             if cur_vers.strip() != new_vers.strip():
                 msg = f"""当前版本：{cur_vers}\n更新版本：{new_vers}\n\n请及时前往钉盘更新~~~"""
                 tkinter.messagebox.showwarning(title="版本更新", message=msg)
+                self.destroy()
         except:
             tkinter.messagebox.showwarning(title="版本更新", message="连接服务器失败，无法确认当前是否是最新版本......")
     # functions below ↓ ----------------------------------------------------------------------------------------
 
     def create_canvas(self, figure):
-        self.canvas = FigureCanvasTkAgg(figure, self)
+        self.canvas = FigureCanvasTkAgg(figure, self.tabview.tab('Durable Action'))
         self.canvas.draw()
-        self.canvas.get_tk_widget().configure(height=640)
+        self.canvas.get_tk_widget().configure(height=600)
         self.canvas.get_tk_widget().grid(row=3, column=1, rowspan=3, columnspan=13, padx=20, pady=10, sticky="nsew")
 
     def create_plot(self):
@@ -224,14 +225,14 @@ class App(customtkinter.CTk):
             if not self.hr.durable_lock:
                 self.hr.durable_lock = 1
                 if curvesel == 'device_servo_trq_feedback':
-                    df = pd.read_excel(durable_data_current_xlsx)
+                    df = read_excel(durable_data_current_xlsx)
                     _title = 'device_servo_trq_feedback'
-                elif curvesel == 'hw_joint_vel_feedback':
+                elif curvesel == '[max] device_servo_trq_feedback':
-                    _title = 'hw_joint_vel_feedback'
+                    _title = '[max] device_servo_trq_feedback'
-                    df = pd.read_excel(durable_data_velocity_xlsx)
+                    df = read_excel(durable_data_current_max_xlsx)
                 else:
                     _title = 'device_servo_trq_feedback'
-                    df = pd.read_excel(durable_data_current_xlsx)
+                    df = read_excel(durable_data_current_xlsx)
                 self.hr.durable_lock = 0
                 break
             else:
@@ -242,14 +243,20 @@ class App(customtkinter.CTk):
             self.df_copy = df.copy()
             self.old_curve = widgits_da['curvesel']['optionmenu'].get()
             figure = plt.figure(frameon=True, facecolor='#E9E9E9')
-            plt.subplots_adjust(left=0.04, right=0.98, bottom=0.05, top=0.95)
+            plt.subplots_adjust(left=0.04, right=0.98, bottom=0.1, top=0.95)
+
+            _ = df['time'].to_list()
+            _xticks = [str(_i) for _i in _]
             ax = figure.add_subplot(1, 1, 1)
+            ax.set_xticks(range(len(_xticks)))
+            ax.set_xticklabels(_xticks)
+
             df.plot(grid=True, x='time', y='axis1', ax=ax)
             df.plot(grid=True, x='time', y='axis2', ax=ax)
             df.plot(grid=True, x='time', y='axis3', ax=ax)
             df.plot(grid=True, x='time', y='axis4', ax=ax)
             df.plot(grid=True, x='time', y='axis5', ax=ax)
-            df.plot(grid=True, x='time', y='axis6', ax=ax, title=_title, legend='upper left')
+            df.plot(grid=True, x='time', y='axis6', ax=ax, title=_title, legend='upper left', rot=30)
 
             self.create_canvas(figure)
 
@@ -281,10 +288,10 @@ class App(customtkinter.CTk):
         # self.tabview.configure(state='normal')
 
     def detect_network(self):
-        df = pd.DataFrame(durable_data_current)
+        df = DataFrame(durable_data_current)
         df.to_excel(durable_data_current_xlsx, index=False)
-        df = pd.DataFrame(durable_data_velocity)
+        df = DataFrame(durable_data_current_max)
-        df.to_excel(durable_data_velocity_xlsx, index=False)
+        df.to_excel(durable_data_current_max_xlsx, index=False)
 
         with open(heartbeat, "w", encoding='utf-8') as f_hb:
             f_hb.write('0')
@@ -309,7 +316,6 @@ class App(customtkinter.CTk):
 
     def tabview_click(self):
         self.initialization()
-
         tab_name = self.tabview.get()
         if tab_name == 'Data Process':
             self.flg = 0
@@ -323,10 +329,6 @@ class App(customtkinter.CTk):
 
     def initialization(self):
         tab_name = self.tabview.get()
-        try:
-            self.canvas.get_tk_widget().grid_forget()
-        except:
-            pass
         self.textbox.delete(index1='1.0', index2='end')
         if tab_name == 'Data Process':
             for widgit in widgits_dp:
@@ -583,7 +585,7 @@ class App(customtkinter.CTk):
             path = widgits_da['path']['entry'].get().strip()
             curvesel = widgits_da['curvesel']['optionmenu'].get()
             c1 = exists(path)
-            c2 = curvesel in ['device_servo_trq_feedback', 'hw_joint_vel_feedback']
+            c2 = curvesel in ['device_servo_trq_feedback', '[max] device_servo_trq_feedback']
             if c1 and c2:
                 return 7, path, curvesel
             else:
@@ -618,6 +620,12 @@ class App(customtkinter.CTk):
             tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
 
     def pre_warning(self):
+        if self.tabview.get() == 'Durable Action':
+            df = DataFrame(durable_data_current)
+            df.to_excel(durable_data_current_xlsx, index=False)
+            df = DataFrame(durable_data_current_max)
+            df.to_excel(durable_data_current_max_xlsx, index=False)
+
         if tkinter.messagebox.askyesno(title="开始运行", message="确认机器已按照测试规范更新固件，并提按照测试机型前修改好工程？"):
             pass
         else:

aio/code/automatic_test/do_brake.py

@@ -1,5 +1,4 @@
-from random import randint
+from time import sleep, time, strftime, localtime
-from time import sleep, time
 from sys import argv
 from os import scandir, mkdir
 from os.path import exists
@@ -9,12 +8,13 @@ from openpyxl import load_workbook
 import pandas
 
 RADIAN = 57.3  # 180 / 3.1415926
+tab_name = 'Automatic Test'
 
 
 def traversal_files(path, w2t):
     if not exists(path):
         msg = f'数据文件夹{path}不存在，请确认后重试......'
-        w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
+        w2t(msg, 0, 1, 'red', tab_name)
     else:
         dirs = []
         files = []
@@ -29,8 +29,8 @@ def traversal_files(path, w2t):
 
 def check_files(path, loadsel, data_dirs, data_files, w2t):
     if len(data_dirs) != 0 or len(data_files) != 5:
-        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+        w2t('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)
-        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name)
 
     config_file = reach33 = reach66 = reach100 = prj_file = None
     for data_file in data_files:
@@ -46,8 +46,8 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
         elif filename.endswith('.zip'):
             prj_file = data_file
         else:
-            w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+            w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name)
-            w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, '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)
 
     if config_file and reach33 and reach66 and reach100 and prj_file:
         result_dirs = []
@@ -65,11 +65,11 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
                     if _reach == 'reach100':
                         mkdir(f"{path}\\j3\\{dir_name}")
 
-        w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
+        w2t("数据目录合规性检查结束，未发现问题......", 0, 0, 'blue', tab_name)
         return config_file, reach33, reach66, reach100, prj_file, result_dirs
     else:
-        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
+        w2t('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)
-        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name)
 
 
 def prj_to_xcore(prj_file):
@@ -90,9 +90,8 @@ def prj_to_xcore(prj_file):
     print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
     print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
     cmd = 'cd /home/luoshi/bin/controller/; '
-    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
+    cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
     stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
     stdin.write('luoshi2019' + '\n')
     stdin.flush()
@@ -105,11 +104,11 @@ def execution(cmd, hr, w2t, **kwargs):
     _id = hr.execution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
     if not _msg:
-        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name)
     else:
         _response = loads(_msg)
         if not _response:
-            w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
+            w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name)
         return _response
 
 
@@ -119,15 +118,19 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
     _d2d_stop = {'device_safety_estop': []}
     for data in curve_data:
         dict_results = data['data']
-        # dict_results.reverse()
         for item in dict_results:
-            item['value'].reverse()
+            try:
+                item['value'].reverse()
+            except KeyError:
+                continue
             if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
                 _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
             elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback':
                 _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
             elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop':
                 _d2d_stop['device_safety_estop'].extend(item['value'])
+        if len(_d2d_trq['device_servo_trq_feedback']) / 1000 > 10:
+            break
 
     df1 = pandas.DataFrame.from_dict(_d2d_vel)
     df2 = pandas.DataFrame.from_dict(_d2d_trq)
@@ -137,9 +140,8 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
     df.to_csv(_filename, sep='\t', index=False)
 
 
-def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
+def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
     _count = 0
-    speed_max = 0
     display_pdo_params = [
         {"name": "hw_joint_vel_feedback", "channel": 0},
         {"name": "hw_joint_vel_feedback", "channel": 1},
@@ -157,107 +159,125 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
     ]
     wb = load_workbook(config_file, read_only=True)
     ws = wb['Target']
+    write_diagnosis = float(ws.cell(row=3, column=10).value)
+    get_init_speed = float(ws.cell(row=4, column=10).value)
     if ws.cell(row=1, column=1).value == 'positive':
-        md.write_pon(True)
+        md.write_pon(1)
     elif ws.cell(row=1, column=1).value == 'negative':
-        md.write_pon(False)
+        md.write_pon(0)
     else:
-        w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
+        w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name)
 
+    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
     for condition in result_dirs:
         _reach = condition.split('_')[0].removeprefix('reach')
         _load = condition.split('_')[1].removeprefix('load')
         _speed = condition.split('_')[2].removeprefix('speed')
-
+        # if _speed != '100' or _reach != '100':
+        #     continue
         for axis in range(1, 4):
             md.write_axis(axis)
             speed_max = 0
             if axis == 3 and _reach != '100':
                 continue
+
+            w2t(f"-"*90, 0, 0, 'purple', tab_name)
+
             for count in range(1, 4):
                 _count += 1
-                w2t(f"[{_count}/63-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test')
+                this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
+                prj_path = 'target/_build/target.prj'
+                w2t(f"[{this_time} | {_count}/63] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
 
                 # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
                 md.trigger_estop()
                 md.reset_estop()
-                md.write_act(False)
+                md.clear_alarm()
-                _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                md.write_act(0)
-                sleep(1)  # 让曲线彻底关闭
+                sleep(write_diagnosis)  # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置
-                _response = execution('state.switch_manual', hr, w2t)
-                _response = execution('state.switch_motor_off', hr, w2t)
 
-                # 2. 修改未要执行的场景
+                while count == 1:
-                ssh = SSHClient()
+                    # 2. 修改未要执行的场景
-                ssh.set_missing_host_key_policy(AutoAddPolicy())
+                    ssh = SSHClient()
-                ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+                    ssh.set_missing_host_key_policy(AutoAddPolicy())
-                if ws.cell(row=1, column=1).value == 'positive':
+                    ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
-                    _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
+                    if ws.cell(row=1, column=1).value == 'positive':
-                elif ws.cell(row=1, column=1).value == 'negative':
+                        _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
-                    _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
+                    elif ws.cell(row=1, column=1).value == 'negative':
-                else:
+                        _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
-                    w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
-                _rl_speed = f"VelSet {_speed}"
-                cmd = 'cd /home/luoshi/bin/controller/; '
-                cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
-                cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; '
-                cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
-                cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod'
-                stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
-                stdin.write('luoshi2019' + '\n')
-                stdin.flush()
-                print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
-                print(stderr.read().decode())  # 顺便也执行以下stderr
-
-                # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
-                prj_path = 'target/_build/target.prj'
-                _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
-                _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
-                _response = execution('state.switch_auto', hr, w2t)
-                _response = execution('state.switch_motor_on', hr, w2t)
-                _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
-                _t_start = time()
-                while True:
-                    if md.read_ready_to_go() == 1:
-                        md.write_act(True)
-                        break
                     else:
-                        if (time() - _t_start) // 20 > 1:
+                        w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name)
-                            w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                    _rl_speed = f"VelSet {_speed}"
-                        else:
+                    _rl_tool = f"tool p_tool = tool{loadsel.removeprefix('tool')}"
-                            sleep(1)
+                    cmd = 'cd /home/luoshi/bin/controller/; '
-                # 4. 第一次打开诊断曲线，并执行采集8s，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
+                    cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
-                if count == 1:
+                    cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; '
-                    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+                    cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
-                    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+                    cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod; '
-                    sleep(10)  # 前10秒获取实际最大速度
+                    cmd += 'sudo sed -i "/tool p_tool/d" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/VelSet/i {_rl_tool}" projects/target/_build/brake/main.mod; '
+                    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+                    stdin.write('luoshi2019' + '\n')
+                    stdin.flush()
+                    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
 
-                    md.trigger_estop()
+                    # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
-                    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                    _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                    _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
+                    _response = execution('state.switch_auto', hr, w2t)
+                    _response = execution('state.switch_motor_on', hr, w2t)
+                    _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
+                    _t_start = time()
+                    while True:
+                        if md.read_ready_to_go() == 1:
+                            md.write_act(True)
+                            break
+                        else:
+                            if (time() - _t_start) // 20 > 1:
+                                w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
+                            else:
+                                sleep(1)
+                # 4. 打开诊断曲线，并执行采集，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
+                    sleep(get_init_speed)  # 获取实际最大速度，可通过configs.xlsx配置
+                    _response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
+                    # sleep(1)
                     # 找出最大速度
-                    for _msg in hr.c_msg:
+                    _c_msg = hr.c_msg.copy()
+                    for _msg in _c_msg:
                         if 'diagnosis.result' in _msg:
                             dict_results = loads(_msg)['data']
                             for item in dict_results:
                                 if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
-                                    _ = abs(RADIAN*sum(item['value'])/len(item['value']))
+                                    _ = RADIAN * sum(item['value']) / len(item['value'])
-                                    speed_max = max(_, speed_max)
+                                    if ws.cell(row=1, column=1).value == 'positive':
+                                        speed_max = max(_, speed_max)
+                                    elif ws.cell(row=1, column=1).value == 'negative':
+                                        speed_max = min(_, speed_max)
+                    print(f"speed max = {speed_max}")
+                    speed_max = abs(speed_max)
                     speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
                     if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
-                        w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', 'Automatic Test')
+                        w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', tab_name)
 
                     md.write_speed_max(speed_max)
-                    sleep(1)
 
-                    for _msg in hr.c_msg:
+                    hr.c_msg_xs.clear()
-                        if 'diagnosis.result' in _msg:
+                    if len(hr.c_msg) > 240:
-                            _index = hr.c_msg.index(_msg)
+                        del hr.c_msg[240:]
-                            del hr.c_msg[_index:]
+
-                            hr.c_msg_xs.clear()
+                    if speed_max < 10:
-                            break
+                        md.clear_alarm()
+                        w2t("未获取到正确的速度，即将重新获取...", 0, 0, 'red', tab_name)
+                        continue
+                    else:
+                        break
 
                 # 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停
-                md.reset_estop()
+                md.reset_estop()  # 其实没必要
+                md.clear_alarm()
+
                 _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
                 _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
                 _response = execution('state.switch_auto', hr, w2t)
@@ -265,50 +285,42 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                 _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
                 for i in range(3):
                     if md.read_ready_to_go() == 1:
-                        md.write_act(True)
+                        md.write_act(1)
                         break
                     else:
                         sleep(1)
                 else:
-                    w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                    w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
 
-                _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+                sleep(10)  # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
-                _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+                md.write_probe(1)
-                sleep(randint(3, 6))
-                md.write_probe(True)
                 _t_start = time()
                 while True:
                     if md.read_brake_done() == 1:
-                        sleep(1)  # 保证所有数据均已返回
+                        sleep(1)  # 保证速度归零
-                        md.write_probe(False)
+                        md.write_probe(0)
-                        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-                        sleep(1)  # 保证所有数据均已返回
                         break
                     else:
                         if (time() - _t_start) > 30:
-                            w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题...", 0, 0, 'red', 'Automatic Test')
+                            w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题，比如正负方向速度是否一致...", 0, 0, 'red', tab_name)
-                            md.write_probe(False)
+                            md.write_probe(0)
-                            _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-                            sleep(1)  # 保证所有数据均已返回
                             break
                         else:
                             sleep(1)
 
                 # 6. 保留数据并处理输出
                 curve_data = []
-                for _msg in hr.c_msg:
+                _c_msg = hr.c_msg.copy()
+                for _msg in _c_msg:
                     if 'diagnosis.result' in _msg:
                         curve_data.insert(0, loads(_msg))
                 else:
-                    for _msg in hr.c_msg:
+                    hr.c_msg_xs.clear()
-                        if 'diagnosis.result' in _msg:
+                    if len(hr.c_msg) > 240:
-                            _index = hr.c_msg.index(_msg)
+                        del hr.c_msg[240:]
-                            del hr.c_msg[_index:]
-                            hr.c_msg_xs.clear()
-                            break
                     gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
     else:
-        w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', 'Automatic Test')
+        w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', tab_name)
 
 
 def main(path, hr, md, loadsel, w2t):
@@ -316,10 +328,10 @@ def main(path, hr, md, loadsel, w2t):
     data_dirs, data_files = traversal_files(path, w2t)
     config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
     prj_to_xcore(prj_file)
-    run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
+    run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t)
     _e_time = time()
     time_total = _e_time - _s_time
-    w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', 'Automatic Test')
+    w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', tab_name)
 
 
 if __name__ == '__main__':

aio/code/automatic_test/do_current.py

@@ -7,6 +7,20 @@ from paramiko import SSHClient, AutoAddPolicy
 from json import loads
 import pandas
 
+display_pdo_params = [
+    {"name": "hw_joint_vel_feedback", "channel": 0},
+    {"name": "hw_joint_vel_feedback", "channel": 1},
+    {"name": "hw_joint_vel_feedback", "channel": 2},
+    {"name": "hw_joint_vel_feedback", "channel": 3},
+    {"name": "hw_joint_vel_feedback", "channel": 4},
+    {"name": "hw_joint_vel_feedback", "channel": 5},
+    {"name": "device_servo_trq_feedback", "channel": 0},
+    {"name": "device_servo_trq_feedback", "channel": 1},
+    {"name": "device_servo_trq_feedback", "channel": 2},
+    {"name": "device_servo_trq_feedback", "channel": 3},
+    {"name": "device_servo_trq_feedback", "channel": 4},
+    {"name": "device_servo_trq_feedback", "channel": 5},
+]
 
 def traversal_files(path, w2t):
     if not exists(path):
@@ -75,9 +89,8 @@ def prj_to_xcore(prj_file):
     print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
     print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
     cmd = 'cd /home/luoshi/bin/controller/; '
-    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
+    cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
     stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
     stdin.write('luoshi2019' + '\n')
     stdin.flush()
@@ -107,7 +120,10 @@ def data_proc_regular(path, filename, channel, scenario_time):
             for line in lines:
                 data = eval(line.strip())['data']
                 for item in data:
-                    item['value'].reverse()
+                    try:
+                        item['value'].reverse()
+                    except KeyError:
+                        continue
                     if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
@@ -136,7 +152,10 @@ def data_proc_regular(path, filename, channel, scenario_time):
             for line in lines:
                 data = eval(line.strip())['data']
                 for item in data:
-                    item['value'].reverse()
+                    try:
+                        item['value'].reverse()
+                    except KeyError:
+                        continue
                     if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
@@ -205,7 +224,10 @@ def data_proc_regular(path, filename, channel, scenario_time):
             for line in lines:
                 data = eval(line.strip())['data']
                 for item in data:
-                    item['value'].reverse()
+                    try:
+                        item['value'].reverse()
+                    except KeyError:
+                        continue
                     if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback':
                         _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                     elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
@@ -226,7 +248,10 @@ def data_proc_inertia(path, filename, channel):
         for line in lines:
             data = eval(line.strip())['data']
             for item in data:
-                item['value'].reverse()
+                try:
+                    item['value'].reverse()
+                except KeyError:
+                    continue
                 if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback':
                     _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
                 elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
@@ -287,20 +312,19 @@ def run_rl(path, hr, md, loadsel, w2t):
         conditions = c_inertia
         disc = disc_inertia
 
+    # preparation 触发软急停，并解除，目的是让可能正在运行着的机器停下来
+    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+    # _response = execution('diagnosis.save', hr, w2t, save=True)  # 这条命令有问题
+    md.trigger_estop()
+    md.reset_estop()
+
     for condition in conditions:
         number = conditions.index(condition)
         w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test')
 
-        # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
+        # 1. 将act重置为False，并修改未要执行的场景
-        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-        md.trigger_estop()
-        md.reset_estop()
         md.write_act(False)
-        sleep(1)  # 让曲线彻底关闭
-        _response = execution('state.switch_manual', hr, w2t)
-        _response = execution('state.switch_motor_off', hr, w2t)
-
-        # 2. 修改未要执行的场景
         ssh = SSHClient()
         ssh.set_missing_host_key_policy(AutoAddPolicy())
         ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
@@ -313,15 +337,14 @@ def run_rl(path, hr, md, loadsel, w2t):
         print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
         print(stderr.read().decode())  # 顺便也执行以下stderr
 
-        # 3. reload工程后，pp2main，并且自动模式和上电
+        # 2. reload工程后，pp2main，并且自动模式和上电
         prj_path = 'target/_build/target.prj'
         _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
-        _response = execution('overview.get_cur_prj', hr, w2t)
         _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
         _response = execution('state.switch_auto', hr, w2t)
         _response = execution('state.switch_motor_on', hr, w2t)
 
-        # 4. 开始运行程序，单轴运行15s
+        # 3. 开始运行程序，单轴运行35s
         _response = execution('rl_task.run', hr, w2t, tasks=['current'])
         _t_start = time()
         while True:
@@ -334,25 +357,8 @@ def run_rl(path, hr, md, loadsel, w2t):
                 else:
                     sleep(1)
 
-        # 5. 打开诊断曲线，并执行采集
+        # 4. 打开诊断曲线，并执行采集
         sleep(10)  # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定
-        _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
-        display_pdo_params = [
-            {"name": "hw_joint_vel_feedback", "channel": 0},
-            {"name": "hw_joint_vel_feedback", "channel": 1},
-            {"name": "hw_joint_vel_feedback", "channel": 2},
-            {"name": "hw_joint_vel_feedback", "channel": 3},
-            {"name": "hw_joint_vel_feedback", "channel": 4},
-            {"name": "hw_joint_vel_feedback", "channel": 5},
-            {"name": "device_servo_trq_feedback", "channel": 0},
-            {"name": "device_servo_trq_feedback", "channel": 1},
-            {"name": "device_servo_trq_feedback", "channel": 2},
-            {"name": "device_servo_trq_feedback", "channel": 3},
-            {"name": "device_servo_trq_feedback", "channel": 4},
-            {"name": "device_servo_trq_feedback", "channel": 5},
-            {"name": "device_safety_estop", "channel": 0},
-        ]
-        _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
         scenario_time = 0
         if number < 6:
             sleep(35)
@@ -374,24 +380,16 @@ def run_rl(path, hr, md, loadsel, w2t):
             scenario_time = md.read_scenario_time()
             sleep(float(scenario_time)*0.2)  # 再运行周期的20%即可
 
-        # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
+        # 5.停止程序运行，保留数据并处理输出
-        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
         _response = execution('rl_task.stop', hr, w2t, tasks=['current'])
-        _response = execution('state.switch_motor_off', hr, w2t)
+        _c_msg = hr.c_msg.copy()
-        _response = execution('state.switch_manual', hr, w2t)
+        for _msg in _c_msg:
-        sleep(1)  # 保证所有数据均已返回
-        # 7. 保留数据并处理输出
-        for _msg in hr.c_msg:
             if 'diagnosis.result' in _msg:
                 disc[number][1].insert(0, loads(_msg))
         else:
-            _index = 210
-            for _msg in hr.c_msg:
-                if 'diagnosis.result' in _msg:
-                    _index = hr.c_msg.index(_msg)
-                    break
-            del hr.c_msg[_index:]
             hr.c_msg_xs.clear()
+            if len(hr.c_msg) > 240:
+                del hr.c_msg[240:]
             gen_result_file(path, loadsel, disc, number, scenario_time)
     else:
         if loadsel == 'tool100':

aio/code/data_process/current.py

@@ -189,7 +189,7 @@ def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
         for axis, cur_value in avg.items():
             try:
                 shtname = f"J{axis}"
-                wb[shtname]["J4"].value = float(cur_value)
+                wb[shtname]["J4"].value = float(cur_value[0])
             except:
                 pass
 

aio/code/durable_action/factory_test.py

@@ -3,21 +3,24 @@ from os.path import exists, dirname
 from os import scandir
 from paramiko import SSHClient, AutoAddPolicy
 from json import loads
-from time import sleep, time
+from time import sleep, time, strftime, localtime
-import pandas as pd
+from pandas import DataFrame
 from openpyxl import load_workbook
 from math import sqrt
+from numpy import power
+from csv import writer
 
 tab_name = 'Durable Action'
+count = 0
 durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx'
-durable_data_velocity_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_velocity.xlsx'
+durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx'
 display_pdo_params = [
-    {"name": "hw_joint_vel_feedback", "channel": 0},
+    # {"name": "hw_joint_vel_feedback", "channel": 0},
-    {"name": "hw_joint_vel_feedback", "channel": 1},
+    # {"name": "hw_joint_vel_feedback", "channel": 1},
-    {"name": "hw_joint_vel_feedback", "channel": 2},
+    # {"name": "hw_joint_vel_feedback", "channel": 2},
-    {"name": "hw_joint_vel_feedback", "channel": 3},
+    # {"name": "hw_joint_vel_feedback", "channel": 3},
-    {"name": "hw_joint_vel_feedback", "channel": 4},
+    # {"name": "hw_joint_vel_feedback", "channel": 4},
-    {"name": "hw_joint_vel_feedback", "channel": 5},
+    # {"name": "hw_joint_vel_feedback", "channel": 5},
     {"name": "device_servo_trq_feedback", "channel": 0},
     {"name": "device_servo_trq_feedback", "channel": 1},
     {"name": "device_servo_trq_feedback", "channel": 2},
@@ -25,25 +28,10 @@ display_pdo_params = [
     {"name": "device_servo_trq_feedback", "channel": 4},
     {"name": "device_servo_trq_feedback", "channel": 5},
 ]
-durable_data_current = {
+title = [
-    'time': list(range(1, 26)),
+    'time', 'trq-1', 'trq-2', 'trq-3', 'trq-4', 'trq-5', 'trq-6', 'trq-max-1', 'trq-max-2', 'trq-max-3', 'trq-max-4',
-    'axis1': [0 for _ in range(25)],
+    'trq-max-5', 'trq-max-6'
-    'axis2': [0 for _ in range(25)],
+]
-    'axis3': [0 for _ in range(25)],
-    'axis4': [0 for _ in range(25)],
-    'axis5': [0 for _ in range(25)],
-    'axis6': [0 for _ in range(25)],
-}
-durable_data_velocity = {
-    'time': list(range(1, 26)),
-    'axis1': [0 for _ in range(25)],
-    'axis2': [0 for _ in range(25)],
-    'axis3': [0 for _ in range(25)],
-    'axis4': [0 for _ in range(25)],
-    'axis5': [0 for _ in range(25)],
-    'axis6': [0 for _ in range(25)],
-}
-data_all = [durable_data_current, durable_data_velocity]
 
 
 def traversal_files(path, w2t):
@@ -64,13 +52,12 @@ def traversal_files(path, w2t):
 
 def check_files(data_dirs, data_files, w2t):
     if len(data_dirs) != 0 or len(data_files) != 2:
-        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2.configs.xlsx', 0,
+        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, 10, 'red', tab_name)
-            10, 'red', tab_name)
 
     _files = [data_files[0].split('\\')[-1], data_files[1].split('\\')[-1]]
     _files.sort()
     if _files != ['configs.xlsx', 'target.zip']:
-        w2t('初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2.configs.xlsx', 0, 10, 'red', tab_name)
+        w2t('初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, 10, 'red', tab_name)
 
     data_files.sort()
     return data_files
@@ -94,9 +81,8 @@ def prj_to_xcore(prj_file):
     print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
     print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
     cmd = 'cd /home/luoshi/bin/controller/; '
-    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
+    cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
     stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
     stdin.write('luoshi2019' + '\n')
     stdin.flush()
@@ -117,21 +103,18 @@ def execution(cmd, hr, w2t, **kwargs):
         return _response
 
 
-def run_rl(path, config_file, hr, md, w2t):
+def run_rl(path, config_file, data_all, hr, md, w2t):
     # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
-    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
+    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
     md.trigger_estop()
     md.reset_estop()
     md.write_act(False)
     sleep(1)  # 让曲线彻底关闭
-    _response = execution('state.switch_manual', hr, w2t)
-    _response = execution('state.switch_motor_off', hr, w2t)
 
     # 2. reload工程后，pp2main，并且自动模式和上电
     prj_path = 'target/_build/target.prj'
     _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
-    _response = execution('overview.get_cur_prj', hr, w2t)
     _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
     _response = execution('state.switch_auto', hr, w2t)
     _response = execution('state.switch_motor_on', hr, w2t)
@@ -150,13 +133,12 @@ def run_rl(path, config_file, hr, md, w2t):
                 sleep(1)
 
     # 4. 获取初始数据，周期时间，首次的各轴平均电流值，打开诊断曲线，并执行采集
-    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+    sleep(20)  # 初始化 scenario time 为 0
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
     _t_start = time()
     while True:
         scenario_time = md.read_scenario_time()
         if float(scenario_time) > 1:
-            w2t(f"场景的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
+            w2t(f"场景的周期时间：{scenario_time}s", 0, 0, 'green', tab_name)
             break
         else:
             if (time() - _t_start) // 60 > 3:
@@ -165,114 +147,154 @@ def run_rl(path, config_file, hr, md, w2t):
                 sleep(5)
     sleep(1)  # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
     scenario_time = float(md.read_scenario_time())
-    sleep(scenario_time * 0.2)  # 再运行周期的20%即可
+    sleep(scenario_time*0.2)
-
-    # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
-    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
-    _response = execution('rl_task.stop', hr, w2t, tasks=['current'])
-    sleep(1)  # 保证所有数据均已返回
-    # 7. 保留数据并处理输出
-    get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
-
-    # 8. 继续运行
-    _response = execution('rl_task.run', hr, w2t, tasks=['current'])
-    while True:
-        # 每3分钟，更新一次数据，打开曲线，获取周期内电流，关闭曲线
-        sleep(180)
-        _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
-        _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-        sleep(scenario_time + 10)
-        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-        _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
-        # 7. 保留数据并处理输出
-        get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
-
-
-def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
-    _data_list = []
-    for _msg in hr.c_msg:
-        if 'diagnosis.result' in _msg:
-            _data_list.insert(0, loads(_msg))
-    else:
-        _index = 210
-        for _msg in hr.c_msg:
-            if 'diagnosis.result' in _msg:
-                _index = hr.c_msg.index(_msg)
-                break
-        del hr.c_msg[_index:]
-        hr.c_msg_xs.clear()
-
-    # with open('log.txt', 'w', encoding='utf-8') as f_obj:
-    #     for _ in _data_list:
-    #         f_obj.write(f"{_}\n")
 
+    # 6. 准备初始数据，关闭诊断曲线，保留数据并处理输出
+    with open(f'{path}\\results.csv', mode='a+', newline='') as f_csv:
+        csv_writer = writer(f_csv)
+        csv_writer.writerow(title)
     _wb = load_workbook(config_file, read_only=True)
     _ws = _wb['Target']
+    wait_time = float(_ws.cell(row=2, column=10).value)
     rcs = []
     for i in range(6):
         rcs.append(float(_ws.cell(row=6, column=i + 2).value))
 
-    _d2d_trq = {
+    get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t)
-        'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [],
+
-        'device_servo_trq_feedback_3': [], 'device_servo_trq_feedback_4': [], 'device_servo_trq_feedback_5': [],
+    # 7. 继续运行
-    }
+    while True:
-    _d2d_vel = {
+        # 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线
-        'hw_joint_vel_feedback_0': [], 'hw_joint_vel_feedback_1': [], 'hw_joint_vel_feedback_2': [],
+        sleep(wait_time+scenario_time+7)
-        'hw_joint_vel_feedback_3': [], 'hw_joint_vel_feedback_4': [], 'hw_joint_vel_feedback_5': [],
+        # 保留数据并处理输出
-    }
+        get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t)
+
+
+def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
+    _data_list = []
+    _c_msg = hr.c_msg.copy()
+    for _msg in _c_msg:
+        if 'diagnosis.result' in _msg:
+            _data_list.insert(0, loads(_msg))
+    else:
+        hr.c_msg_xs.clear()
+        if len(hr.c_msg) > 240:
+            del hr.c_msg[240:]
+
+    # with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj:
+    #     for _ in _data_list:
+    #         f_obj.write(f"{_}\n")
+
+    _d2d_trq = {0: [], 1: [], 2: [], 3: [], 4: [], 5: []}
+
     for line in _data_list:
         for item in line['data']:
             for i in range(6):
                 item['value'].reverse()
                 if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback':
-                    _d2d_trq[f'device_servo_trq_feedback_{i}'].extend(item['value'])
+                    _d2d_trq[i].extend(item['value'])
-                elif item.get('channel', None) == i and item.get('name', None) == 'hw_joint_vel_feedback':
-                    _d2d_vel[f'hw_joint_vel_feedback_{i}'].extend(item['value'])
 
-        if len(_d2d_trq['device_servo_trq_feedback_0']) / 1000 > scenario_time + 1:
+        if len(_d2d_trq[0]) / 1000 > scenario_time + 1:
-            _df = pd.DataFrame(_d2d_trq)
+            this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
+            next_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()+wait_time+10+scenario_time)).split()[-1]
+            _df = DataFrame(_d2d_trq)
+            _flg = 0
+            _res = []
             for i in range(6):
-                _ = sqrt(_df[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}']))
+                def overmax_data(df, index, number, flag):
+                    if number > 100:
+                        md.trigger_estop()
+                        hr.durable_quit = 1
+                        df.to_excel(f'{path}\\{this_time}.xlsx')
+                        w2t(f"[{this_time}] {flag}-axis-{index} 数据过大错误，需要检查确定。", 0, 10, 'red', tab_name)
+
+                try:
+                    _ = sqrt(_df[i].apply(lambda x: power((rcs[i]*x/1000), 2)).sum()/len(_df[i]))
+                except:
+                    md.trigger_estop()
+                    _df.to_excel(path+"\\err_data.xlsx")
+                    w2t(f"{i}calculate error", 0, 11, 'red', tab_name)
+
+                if not _flg:
+                    del data[0]['time'][0]
+                    data[0]['time'].append(this_time.split()[-1])
+                    del data[1]['time'][0]
+                    data[1]['time'].append(this_time.split()[-1])
+                    _res.append(this_time)
+                    _flg = 1
+
                 del data[0][f"axis{i + 1}"][0]
+                overmax_data(_df, i, _, 'trq')
                 data[0][f"axis{i + 1}"].append(_)
-            _df = pd.DataFrame(data[0])
+                _res.append(_)
-            while True:
-                if not hr.durable_lock:
-                    hr.durable_lock = 1
-                    _df.to_excel(durable_data_current_xlsx, index=False)
-                    hr.durable_lock = 0
-                    break
-                else:
-                    sleep(1)
 
-            _df = pd.DataFrame(_d2d_vel)
+                _ = rcs[i] * _df[i].abs().max() / 1000
-            for i in range(6):
+                overmax_data(_df, i, _, 'trq-max')
-                _ = sqrt(_df[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}']))
                 del data[1][f"axis{i + 1}"][0]
                 data[1][f"axis{i + 1}"].append(_)
-            _df = pd.DataFrame(data[1])
+                _res.append(_)
+
+            _df_1 = DataFrame(data[0])
+            _df_2 = DataFrame(data[1])
+            with open(f'{path}\\results.csv', mode='a+', newline='') as f_csv:
+                def change_order(res):
+                    _time = res[0:1]
+                    _trq = []
+                    _trq_max = []
+                    for _item in res[1::2]:
+                        _trq.append(_item)
+                    for _item in res[2::2]:
+                        _trq_max.append(_item)
+                    return _time + _trq + _trq_max
+
+                csv_writer = writer(f_csv)
+                csv_writer.writerow(change_order(_res))
+
             while True:
                 if not hr.durable_lock:
                     hr.durable_lock = 1
-                    _df.to_excel(durable_data_velocity_xlsx, index=False)
+                    _df_1.to_excel(durable_data_current_xlsx, index=False)
+                    _df_2.to_excel(durable_data_current_max_xlsx, index=False)
                     hr.durable_lock = 0
                     break
                 else:
                     sleep(1)
+            global count
+            count += 1
+            w2t(f"[{this_time}] 当前次数：{count:09d}  |  预计下次数据更新时间：{next_time}", 0, 0, '#008B8B', tab_name)
             break
     else:
+        md.trigger_estop()
         with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj:
-            for _ in _d2d_trq['device_servo_trq_feedback_0']:
+            for _ in _d2d_trq[0]:
                 f_obj.write(f"{_}\n")
-        w2t("采集的数据时间长度不够，需要确认。", 0, 2, 'red', tab_name)
+        w2t("采集的数据时间长度不够，需要确认。", 0, 10, 'red', tab_name)
 
 
 def main(path, hr, md, w2t):
+    durable_data_current = {
+        'time': list(range(1, 19)),
+        'axis1': [0 for _ in range(18)],
+        'axis2': [0 for _ in range(18)],
+        'axis3': [0 for _ in range(18)],
+        'axis4': [0 for _ in range(18)],
+        'axis5': [0 for _ in range(18)],
+        'axis6': [0 for _ in range(18)],
+    }
+    durable_data_current_max = {
+        'time': list(range(1, 19)),
+        'axis1': [0 for _ in range(18)],
+        'axis2': [0 for _ in range(18)],
+        'axis3': [0 for _ in range(18)],
+        'axis4': [0 for _ in range(18)],
+        'axis5': [0 for _ in range(18)],
+        'axis6': [0 for _ in range(18)],
+    }
+    data_all = [durable_data_current, durable_data_current_max]
     data_dirs, data_files = traversal_files(path, w2t)
     config_file, prj_file = check_files(data_dirs, data_files, w2t)
     prj_to_xcore(prj_file)
-    run_rl(path, config_file, hr, md, w2t)
+    run_rl(path, config_file, data_all, hr, md, w2t)
 
 
 if __name__ == '__main__':

aio/code/openapi.py

@@ -21,18 +21,27 @@ class ModbusRequest(object):
         self.tab_name = 'openapi'
         self.host = '192.168.0.160'
         self.port = 502
+        self.interval = 0.3
         self.c = ModbusTcpClient(self.host, self.port)
         self.c.connect()
 
     def motor_off(self):
         try:
+            self.c.write_register(40002, 0)
+            sleep(self.interval)
             self.c.write_register(40002, 1)
+            sleep(self.interval)
+            self.c.write_register(40002, 0)
         except Exception as Err:
             self.w2t(f"{Err}\n无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def motor_on(self):
         try:
+            self.c.write_register(40003, 0)
+            sleep(self.interval)
             self.c.write_register(40003, 1)
+            sleep(self.interval)
+            self.c.write_register(40003, 0)
         except Exception as Err:
             self.w2t(f"{Err}\n无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
@@ -45,11 +54,11 @@ class ModbusRequest(object):
     def reset_estop(self):
         try:
             self.c.write_register(40012, 1)
-            sleep(0.2)
+            sleep(self.interval)
             self.c.write_register(40001, 0)
-            sleep(0.2)
+            sleep(self.interval)
             self.c.write_register(40001, 1)
-            sleep(0.2)
+            sleep(self.interval)
             self.c.write_register(40001, 0)
         except Exception as Err:
             self.w2t(f"{Err}\n无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
@@ -252,10 +261,12 @@ class HmiRequest(object):
                 f_hb.write(_flag)
                 if _flag == '0':
                     self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
-            sleep(2)
+                    t = time()
-            # with open(f"{current_path}/../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
+                    with open(f"{current_path}/../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
-            #     for msg in self.c_msg:
+                        for msg in self.c_msg:
-            #         f.write(str(loads(msg)) + '\n')
+                            f.write(str(t) + '-' + str(loads(msg)) + '\n')
+            sleep(1)
+
 
     def msg_storage(self, response, flag=0):
         # response是解码后的字符串
@@ -595,6 +606,8 @@ class HmiRequest(object):
                     req['data']['type'] = kwargs['type']
                     req['data']['bias'] = kwargs['bias']
                     req['data']['value'] = kwargs['value']
+                case 'diagnosis.save':
+                    req['data']['save'] = kwargs['save']
                 case _:
                     pass