转向从机型配置文件获取参数

assets/files/protocols/controller.get_params.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "controller.get_params"
+}

code/aio.py

@@ -15,6 +15,7 @@ from datetime import datetime
 import os
 from common import clibs, openapi
 from data_process import current, brake, iso, wavelogger
+from automatic_test import do_current
 import threading
 import re
 
@@ -118,6 +119,7 @@ class App:
         self.label_tips = ctk.CTkLabel(self.frame_status, textvariable=var_tips, compound="left", bg_color="#C9C9C9", font=self.f_status, anchor="e")
         self.__auth_and_vercheck()
         if local_vers == self.server_vers:
+        # if True:
             image = ctk.CTkImage(Image.open(f"{clibs.PREFIX}/media/updated.png"), size=(16, 16))
             var_tips.set(" 当前是最新版本，继续保持！  ")
             self.label_tips.configure(text_color="#0D8A3D", image=image)
@@ -207,6 +209,12 @@ class App:
             clibs.running = False
             raise Exception(desc)
 
+    @staticmethod
+    def __is_running(operation):
+        if clibs.running:
+            messagebox.showerror(title="处理中", message=f"有程序正在运行，需等待结束后，在执行{operation}操作！")
+            return
+
     def __program_start(self):
         def get_data_dp():
             data = {
@@ -230,10 +238,11 @@ class App:
             return data
 
         def init_op():
+            self.__is_running("开始")
             self.text_output.delete("1.0", ctk.END)
             self.tabview_bottom.set("输出")
+            clibs.tl_prg = self.__toplevel_progress
             if clibs.db_state != "readwrite":
-                self.text_output.delete("1.0", ctk.END)
                 clibs.cursor.close()
                 clibs.conn.close()
                 clibs.conn = self.conn
@@ -241,8 +250,6 @@ class App:
                 clibs.db_state = "readwrite"
                 self.btn_load.configure(fg_color="#979DA2")
                 self.__get_realtime_log()
-            clibs.tl_prg = self.__toplevel_progress
-            # TBD: something signifies status of program and terminate some thread ect.
 
         def exec_function():
             init_op()
@@ -250,15 +257,22 @@ class App:
                 if not clibs.running:
                     clibs.running = True
                     clibs.data_dp = get_data_dp()
+                    try:
                         eval(clibs.data_dp["_main"] + ".main()")
+                    finally:
                         clibs.running = False
                 else:
                     messagebox.showinfo(title="进行中...", message="当前有程序正在运行！")
             elif self.tabview_top.get() == "自动测试":
+                if not clibs.running:
                     clibs.running = True
                     clibs.data_at = get_data_at()
-                eval(clibs.data_at["_main"] + ".main()")
+                    try:
+                        eval("do_" + clibs.data_at["_main"] + ".main()")
+                    finally:
                         clibs.running = False
+                else:
+                    messagebox.showinfo(title="进行中...", message="当前有程序正在运行！")
 
         exec_function()
 
@@ -270,6 +284,8 @@ class App:
             self.entry_path_atv.set("数据文件夹路径")
             self.entry_path_atv.set("数据文件夹路径")
 
+        self.__is_running("重置")
+
         if clibs.db_state == "readwrite":
             res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及日志记录，且不可恢复，请确认！", default=messagebox.NO, icon=messagebox.WARNING)
             if res:
@@ -278,13 +294,14 @@ class App:
                     clibs.lock.acquire(True)
                     clibs.cursor.execute("delete from logs")
                     clibs.cursor.execute("delete from sqlite_sequence")  # 主键归零
+                except Exception:
+                    self.__w2t("主键归零操作失败", "red")
                 finally:
                     clibs.lock.release()
 
                 self.treeview_logs.delete(*self.treeview_logs.get_children())
                 self.label_pages_logs.set("-.-.-.-.-.-")
                 reset_methods()
-                # TBD: something signifies status of program and terminate some thread ect.
         elif clibs.db_state == "readonly":
             res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及恢复本次的日志记录，请确认！", default=messagebox.NO, icon=messagebox.INFO)
             if res:
@@ -296,12 +313,11 @@ class App:
                 clibs.db_state = "readwrite"
                 self.__get_realtime_log()
                 reset_methods()
-                # TBD: something signifies status of program and terminate some thread ect.
 
     @clibs.db_lock
     def __get_realtime_log(self):
-        clibs.cursor.execute("select id from logs")
-        len_records = len(clibs.cursor.fetchall())
+        clibs.cursor.execute("select count(id) from logs")
+        len_records = clibs.cursor.fetchone()[0]
         pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
         self.label_pages_logs.set(f"{pages_all} / {pages_all}")
 
@@ -333,14 +349,14 @@ class App:
                     self.treeview_logs.delete(*self.treeview_logs.get_children())
                     for record in records:
                         self.treeview_logs.insert("", "end", values=record, tags=record[2])
-                        # self.treeview_logs.yview_moveto(1)
+                        self.treeview_logs.yview_moveto(0)
 
-                    clibs.cursor.execute("select * from logs order by id desc")
-                    records = clibs.cursor.fetchall()
-                    pages_all = len(records) // 100 if len(records) % 100 == 0 else len(records) // 100 + 1
+                    clibs.cursor.execute("select count(id) from logs")
+                    len_records = clibs.cursor.fetchone()[0]
+                    pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
                     current_page = int(end) // 100 if int(end) % 100 == 0 else int(end) // 100 + 1
                     self.label_pages_logs.set(f"{current_page} / {pages_all}")
-            except Exception as ERR:
+            except Exception:
                 ...
         else:
             pages_all = self.label_pages_logs.get().split("/")[1].strip()
@@ -354,6 +370,7 @@ class App:
                 if index_end <= 100:
                     for record in clibs.f_records[:index_end]:
                         self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                        self.treeview_logs.yview_moveto(0)
                 else:
                     for record in clibs.f_records[index_end-100:index_end]:
                         self.treeview_logs.insert("", "end", values=record, tags=record[2])
@@ -365,10 +382,9 @@ class App:
         @clibs.db_lock
         def get_next_page():
             if self.btn_find.cget("fg_color") == "#979DA2":
-                # noinspection PyBroadException
                 try:
-                    clibs.cursor.execute("select id from logs")
-                    len_records = len(clibs.cursor.fetchall())
+                    clibs.cursor.execute("select count(id) from logs")
+                    len_records = clibs.cursor.fetchone()[0]
 
                     row = self.treeview_logs.get_children()
                     last_id = self.treeview_logs.item(row[-1], "values")[0]
@@ -380,18 +396,18 @@ class App:
                         self.treeview_logs.delete(*self.treeview_logs.get_children())
                         for record in records:
                             self.treeview_logs.insert("", "end", values=record, tags=record[2])
-                            # self.treeview_logs.yview_moveto(1)
+                            self.treeview_logs.yview_moveto(0)
 
-                        pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
-                        current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
-                        self.label_pages_logs.set(f"{current_page} / {pages_all}")
-                except Exception as Err:
-                    print(f"get_next_page-if: {Err}")
+                        _pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
+                        _current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
+                        self.label_pages_logs.set(f"{_current_page} / {_pages_all}")
+                except Exception:
+                    ...
             else:
                 len_records = len(clibs.f_records)
-                pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
-                current_page = int(self.label_pages_logs.get().split("/")[0].strip())
-                if current_page < pages_all:
+                _pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
+                _current_page = int(self.label_pages_logs.get().split("/")[0].strip())
+                if _current_page < _pages_all:
                     row = self.treeview_logs.get_children()
                     last_one = list(self.treeview_logs.item(row[-1], "values"))
                     last_one[0] = int(last_one[0])
@@ -400,12 +416,14 @@ class App:
                     if index_start+100 <= len_records:
                         for record in clibs.f_records[index_start:index_start+100]:
                             self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                            self.treeview_logs.yview_moveto(0)
                     else:
                         for record in clibs.f_records[index_start:]:
                             self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                            self.treeview_logs.yview_moveto(0)
 
-                    next_page = current_page + 1
-                    self.label_pages_logs.set(f"{next_page} / {pages_all}")
+                    _next_page = _current_page + 1
+                    self.label_pages_logs.set(f"{_next_page} / {_pages_all}")
 
         current_page = int(self.label_pages_logs.get().split("/")[0].strip())
         pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
@@ -417,19 +435,24 @@ class App:
         get_next_page()
 
     def __load_log_db(self):
+        self.__is_running("加载")
         db_file = filedialog.askopenfilename(title="加载数据库文件", defaultextension=".db", initialdir=f"{clibs.PREFIX}/logs")
         if not db_file:
             return
         self.conn = clibs.conn
         self.cursor = clibs.cursor
         try:
-            clibs.conn = sqlite3.connect(f"file:{db_file}?mode=ro", uri=True, isolation_level=None, check_same_thread=False, cached_statements=256)
+            clibs.conn = sqlite3.connect(f"file:{db_file}?mode=ro", uri=True, isolation_level=None, check_same_thread=False, cached_statements=2048)
             clibs.cursor = clibs.conn.cursor()
+            clibs.cursor.execute("PRAGMA synchronous=normal")
+            clibs.cursor.execute("PRAGMA temp_store=memory")
+            clibs.cursor.execute("PRAGMA mmap_size=30000000000")
+            clibs.cursor.execute("PRAGMA cache_size=200000")
             clibs.db_state = "readonly"
             self.__get_realtime_log()
             self.btn_load.configure(fg_color="#000080")
         except Exception as Err:
-            clibs.insert_logdb("ERROR", "aio", f"加载数据库失败，需确认 {db_file} 是否是有效数据库文件！")
+            clibs.insert_logdb("ERROR", "aio", f"load_log_db: 加载数据库失败，需确认 {db_file} 是否是有效数据库文件！\n{Err}")
             messagebox.showerror(title="加载数据库失败", message=f"需确认 {db_file} 是否是有效数据库文件！")
 
     def __main_switch_dp(self, event):
@@ -459,7 +482,7 @@ class App:
         url_vers = "http://10.2.23.150:10008/version"
         try:
             self.server_vers = request.urlopen(url_vers, timeout=2).read().decode("utf-8").strip()
-        except Exception as Err:
+        except Exception:
             messagebox.showwarning(title="退出", message="无法连接至服务器.....")
             clibs.cursor.close()
             clibs.conn.close()
@@ -543,7 +566,7 @@ class App:
             index_start = all_text.find(selected)
             index_end = index_start + len(selected)
             widget.delete(index_start, index_end)
-        except Exception as Err:
+        except Exception:
             ...
 
     @staticmethod
@@ -556,7 +579,7 @@ class App:
             index_start = all_text.find(selected)
             index_end = index_start + len(selected)
             widget.delete(index_start, index_end)
-        except Exception as Err:
+        except Exception:
             ...
 
     @staticmethod
@@ -565,7 +588,7 @@ class App:
             widget.clipboard_clear()
             copy_text = widget.selection_get()
             widget.clipboard_append(copy_text)
-        except Exception as Err:
+        except Exception:
             ...
 
     @staticmethod
@@ -601,7 +624,6 @@ class App:
             widget_toplevel.destroy()
 
         def double_click(event):
-            # noinspection PyBroadException
             try:
                 e = event.widget
                 iid = e.identify("item", event.x, event.y)
@@ -616,7 +638,7 @@ class App:
                 toplevel.bind("<Escape>", esc_quit_log_tl)
                 toplevel.transient(self.root)
                 toplevel.focus()
-                _text = f"TS: {_ts}  |  Log level: {_level}  |  Module: {_module}"
+                _text = f"{_level} log in {_module} @ {_ts}"
                 label_info = ctk.CTkLabel(toplevel, text=_text, width=10, fg_color="#5F9EA0", corner_radius=5, font=self.f_treeview)
                 text_content = ctk.CTkTextbox(toplevel, width=10, font=self.f_toplevel)
                 text_content.insert(ctk.END, repr(_content))
@@ -638,19 +660,19 @@ class App:
                 if number > 0:
                     start = number * 100 - 99
                     end = number * 100
-                    clibs.cursor.execute("select id from logs")
-                    len_records = len(clibs.cursor.fetchall())
+                    clibs.cursor.execute("select count(id) from logs")
+                    len_records = clibs.cursor.fetchone()[0]
                     if start <= len_records:
                         clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
                         records = clibs.cursor.fetchall()
                         self.treeview_logs.delete(*self.treeview_logs.get_children())
                         for record in records:
                             self.treeview_logs.insert("", "end", values=record, tags=record[2])
-                            self.treeview_logs.yview_moveto(1)
+                            self.treeview_logs.yview_moveto(0)
 
                         pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
                         self.label_pages_logs.set(f"{number} / {pages_all}")
-            except Exception as Err:
+            except Exception:
                 ...
 
         def close_toplevel(tl):
@@ -861,22 +883,25 @@ class App:
                 if self.btn_conn.cget("fg_color") == "#979DA2":
                     self.btn_conn.configure(state="disabled")
                     clibs.ip_addr = self.entry_ip_atv.get().strip()
-                    ip_pattern = re.compile(r'(([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])\.){3}([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])')
+                    ip_pattern = re.compile(r"(([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])\.){3}([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])")
                     if not ip_pattern.fullmatch(clibs.ip_addr):
                         messagebox.showerror(title="非法地址", message=f"{clibs.ip_addr} 不是一个有效的 IP 地址")
                         clibs.insert_logdb("ERROR", "aio", f"connection: {clibs.ip_addr} 不是一个有效的 IP 地址")
                         return
                     try:
-                        # clibs.c_md = openapi.ModbusRequest(clibs.ip_addr, clibs.modbus_port)
+                        clibs.c_md = openapi.ModbusRequest(clibs.ip_addr, clibs.modbus_port)
                         clibs.c_hr = openapi.HmiRequest(clibs.ip_addr, clibs.socket_port, clibs.xService_port)
+                        clibs.c_pd = openapi.PreDos(clibs.ip_addr, clibs.ssh_port, clibs.username, clibs.password)
                         self.btn_conn.configure(state="normal", fg_color="#2E8B57")
-                    except Exception as Err:
+                    except Exception:
                         self.btn_conn.configure(state="normal", fg_color="#979DA2")
                 elif self.btn_conn.cget("fg_color") == "#2E8B57":
                     self.btn_conn.configure(state="disabled")
                     try:
-                        # clibs.c_md.close()
+                        clibs.c_md.close()
                         clibs.c_hr.close()
+                    except Exception:
+                        ...
                     finally:
                         self.btn_conn.configure(state="normal", fg_color="#979DA2")
             t = threading.Thread(target=conn_or_disconn)
@@ -989,10 +1014,11 @@ class App:
         self.om_sensor_dp.configure(state="disabled")
         # ========================================================================
         clibs.w2t = self.__w2t
-        # clibs.insert_logdb("INFO", "aio", "AIO starts running......")
+        clibs.insert_logdb("INFO", "aio", "AIO starts running......")
 
     def show(self):
         if self.server_vers:
+        # if True:
             t = threading.Thread(target=self.__detect_network)
             t.daemon = True
             t.start()

code/automatic_test/btn_functions.py

@@ -0,0 +1,67 @@
+from sys import argv
+from commons import clibs
+
+tab_name = clibs.tab_names['at']
+logger = clibs.log_prod
+
+
+def trigger_estop(md, w2t):
+    md.trigger_estop()
+    w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
+
+
+def reset_estop(md, w2t):
+    md.reset_estop()
+    w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
+
+
+def get_state(hr, w2t):
+    # 获取机器状态
+    _response = clibs.execution('state.get_state', hr, w2t, tab_name)
+    stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
+    for component, state in _response['data'].items():
+        w2t(f"{stat_desc[component]}: {state}", tab_name=tab_name)
+
+    # 获取设备伺服信息
+    _response = clibs.execution('device.get_params', hr, w2t, tab_name)
+    dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'}
+    dev_vers = {}
+    for device in _response['data']['devices']:
+        dev_vers[device['type']] = device['version']
+    for i in sorted(dev_desc.keys()):
+        w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name=tab_name)
+
+    # 设置示教器模式
+    _response = clibs.execution('state.set_tp_mode', hr, w2t, tab_name, tp_mode='without')
+
+
+def warning_info(hr, w2t):
+    for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
+        log_name = clibs.log_data_hmi + postfix
+        try:
+            with open(log_name, 'r', encoding='utf-8') as f_log:
+                for line in f_log:
+                    if 'alarm' in line:
+                        w2t(line.strip(), tab_name=tab_name)
+        except FileNotFoundError:
+            pass
+
+
+def main(hr, md, func, w2t):
+    if hr is None:
+        w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name)
+    # func: get_state/
+    match func:
+        case 'trigger_estop':
+            trigger_estop(md, w2t)
+        case 'reset_estop':
+            reset_estop(md, w2t)
+        case 'get_state':
+            get_state(hr, w2t)
+        case 'warning_info':
+            warning_info(hr, w2t)
+
+
+if __name__ == '__main__':
+    main(*argv[1:])
+

code/automatic_test/do_brake.py

@@ -0,0 +1,298 @@
+from time import sleep, time, strftime, localtime
+from sys import argv
+from os import mkdir
+from paramiko import SSHClient, AutoAddPolicy
+from json import loads
+from openpyxl import load_workbook
+from pandas import DataFrame, concat
+from commons import clibs
+
+tab_name = clibs.tab_names['at']
+logger = clibs.log_prod
+
+
+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)
+        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:
+        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)
+            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 = []
+        mkdir(f"{path}\\j1")
+        mkdir(f"{path}\\j2")
+        mkdir(f"{path}\\j3")
+
+        for _reach in ['reach33', 'reach66', 'reach100']:
+            for _load in [f'load{loadsel.removeprefix("tool")}']:
+                for _speed in ['speed33', 'speed66', 'speed100']:
+                    dir_name = '_'.join([_reach, _load, _speed])
+                    result_dirs.append(dir_name)
+                    mkdir(f"{path}\\j1\\{dir_name}")
+                    mkdir(f"{path}\\j2\\{dir_name}")
+                    if _reach == 'reach100':
+                        mkdir(f"{path}\\j3\\{dir_name}")
+
+        w2t("数据目录合规性检查结束，未发现问题......", 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)
+        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name)
+
+
+def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
+    _d2d_vel = {'hw_joint_vel_feedback': []}
+    _d2d_trq = {'device_servo_trq_feedback': []}
+    _d2d_stop = {'device_safety_estop': []}
+    for data in curve_data[-240:]:  # 保留最后12s的数据
+        dict_results = data['data']
+        for item in dict_results:
+            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'])
+
+    df1 = DataFrame.from_dict(_d2d_vel)
+    df2 = DataFrame.from_dict(_d2d_trq)
+    df3 = DataFrame.from_dict(_d2d_stop)
+    df = concat([df1, df2, df3], axis=1)
+    _filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data"
+    df.to_csv(_filename, sep='\t', index=False)
+
+
+def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
+    _count = 0
+    _total = 63
+    display_pdo_params = [
+        {"name": "hw_joint_vel_feedback", "channel": 0},
+        {"name": "hw_joint_vel_feedback", "channel": 1},
+        {"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},
+    ]
+    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)
+    single_brake = str(ws.cell(row=5, column=10).value)
+    logger.info(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}")
+
+    if ws.cell(row=1, column=1).value == 'positive':
+        md.write_pon(1)
+    elif ws.cell(row=1, column=1).value == 'negative':
+        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', tab_name)
+
+    clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
+    clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
+    for condition in result_dirs:
+        _reach = condition.split('_')[0].removeprefix('reach')
+        _load = condition.split('_')[1].removeprefix('load')
+        _speed = condition.split('_')[2].removeprefix('speed')
+
+        # for single condition test
+        _single_axis = 0
+        if single_brake != '0':
+            _total = 3
+            _single_axis = int(single_brake.split('-')[0])
+            if _reach != single_brake.split('-')[1] or _load != single_brake.split('-')[2] or _speed != single_brake.split('-')[3]:
+                continue
+
+        for axis in range(1, 4):
+            # for single condition test
+            if _single_axis != 0 and _single_axis != axis:
+                continue
+
+            md.write_axis(axis)
+            speed_max = 0
+            if axis == 3 and _reach != '100':
+                continue
+
+            w2t(f"-"*90, 0, 0, 'purple', tab_name)
+
+            for count in range(1, 4):
+                _count += 1
+                this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
+                prj_path = 'target/_build/target.prj'
+                w2t(f"[{this_time} | {_count}/{_total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
+
+                # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
+                md.trigger_estop()
+                md.reset_estop()
+                md.clear_alarm()
+                md.write_act(0)
+                sleep(write_diagnosis)  # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置
+
+                while count == 1:
+                    # 2. 修改要执行的场景
+                    ssh = SSHClient()
+                    ssh.set_missing_host_key_policy(AutoAddPolicy())
+                    ssh.connect(hostname=clibs.ip_addr, port=22, username='luoshi', password='luoshi2019')
+                    if ws.cell(row=1, column=1).value == 'positive':
+                        _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
+                    elif ws.cell(row=1, column=1).value == 'negative':
+                        _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
+                    else:
+                        w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name)
+                    _rl_speed = f"VelSet {_speed}"
+                    _rl_tool = f"tool p_tool = tool{loadsel.removeprefix('tool')}"
+                    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; '
+                    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')
+                    stdout.read().decode()  # 需要read一下才能正常执行
+                    stderr.read().decode()
+
+                    # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
+                    clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                    clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
+                    clibs.execution('state.switch_auto', hr, w2t, tab_name)
+                    clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
+                    clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
+                    clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
+                    _t_start = time()
+                    while True:
+                        if md.read_ready_to_go() == 1:
+                            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. 找出最大速度，传递给RL程序，最后清除相关记录
+                    sleep(get_init_speed+5)  # 冗余5s，指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置
+                    clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['brake'])
+                    # 找出最大速度
+                    _c_msg = hr.c_msg.copy()
+                    _number = 0
+                    for _msg in _c_msg:
+                        if _number > get_init_speed*20:  # 最开始回零点的时候，二轴速度可以达到最大值，实际摆动时，某一方向可能达不到
+                            break
+                        if 'diagnosis.result' in _msg:
+                            _number += 1
+                            dict_results = loads(_msg)['data']
+                            for item in dict_results:
+                                if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
+                                    _ = clibs.RADIAN * sum(item['value']) / len(item['value'])
+                                    if ws.cell(row=1, column=1).value == 'positive':
+                                        speed_max = max(_, speed_max)
+                                    elif ws.cell(row=1, column=1).value == 'negative':
+                                        speed_max = min(_, speed_max)
+                    logger.info(f"speed max = {speed_max}")
+                    speed_max = abs(speed_max)
+                    speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
+                    if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
+                        w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', tab_name)
+
+                    md.write_speed_max(speed_max)
+
+                    hr.c_msg_xs.clear()
+                    if len(hr.c_msg) > 270:
+                        del hr.c_msg[270:]
+
+                    if speed_max < 10:
+                        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()  # 其实没必要
+                md.clear_alarm()
+
+                # clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
+                clibs.execution('state.switch_auto', hr, w2t, tab_name)
+                clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
+                clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
+                for i in range(3):
+                    if md.read_ready_to_go() == 1:
+                        md.write_act(1)
+                        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', tab_name)
+
+                sleep(10)  # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
+                md.write_probe(1)
+                _t_start = time()
+                while True:
+                    if md.read_brake_done() == 1:
+                        sleep(4)  # 保证速度归零
+                        md.write_probe(0)
+                        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，比如正负方向速度是否一致...", 0, 0, 'red', tab_name)
+                            md.write_probe(0)
+                            break
+                        else:
+                            sleep(1)
+
+                # 6. 保留数据并处理输出
+                curve_data = []
+                _c_msg = hr.c_msg.copy()
+                for _msg in _c_msg:
+                    if 'diagnosis.result' in _msg:
+                        curve_data.insert(0, loads(_msg))
+                else:
+                    hr.c_msg_xs.clear()
+                    if len(hr.c_msg) > 270:
+                        del hr.c_msg[270:]
+                    gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
+    else:
+        w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', tab_name)
+
+
+def main(path, hr, md, loadsel, w2t):
+    _s_time = time()
+    data_dirs, data_files = clibs.traversal_files(path, w2t)
+    config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
+    clibs.prj_to_xcore(prj_file)
+    run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t)
+    _e_time = time()
+    time_total = _e_time - _s_time
+    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__':
+    main(*argv[1:])

code/automatic_test/do_current.py

@@ -0,0 +1,405 @@
+import json
+from os import mkdir
+import time
+from time import sleep, time
+from sys import argv
+from paramiko import SSHClient, AutoAddPolicy
+from json import loads
+from pandas import DataFrame, concat
+from common import clibs
+
+display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback"] for chl in range(6)]
+
+
+def initialization(path, sub, data_dirs, data_files, hr, w2t):
+    def check_files():
+        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两个文件，确认后重新运行！\n", "red")
+            w2t("1. T_电机电流.xlsx\n2. xxxx.zip\n", "red", "ConfigFileError")
+
+        prj_file, count = None, 0
+        for data_file in data_files:
+            filename = data_file.split("/")[-1]
+            if filename == "T_电机电流.xlsx":
+                count += 1
+            elif filename.endswith(".zip"):
+                count += 1
+                prj_file = data_file
+            else:
+                w2t(f"{data_file} 不合规：初始路径下只能存在如下两个文件，确认后重新运行！\n", "red")
+                w2t("1. T_电机电流.xlsx\n2. xxxx.zip\n", "red", "ConfigFileError")
+
+        if count != 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两个文件，确认后重新运行！\n", "red")
+            w2t("1. T_电机电流.xlsx\n2. xxxx.zip\n", "red", "ConfigFileError")
+        w2t("数据目录合规性检查结束，未发现问题......\n")
+        if sub == "tool100" or sub == "inertia":
+            mkdir(f"{path}/single")
+            mkdir(f"{path}/s_1")
+            mkdir(f"{path}/s_2")
+            mkdir(f"{path}/s_3")
+        elif sub == "inertia":
+            mkdir(f"{path}/inertia")
+        else:
+            w2t("负载选择错误，电机电流测试只能选择 tool100/inertia 规格！\n", "red", "LoadSelectError")
+
+        return prj_file
+
+    def get_configs():
+        robot_type = None
+        msg_id, state = hr.execution("controller.get_params")
+        records = hr.get_from_id(msg_id, state)
+        for record in records:
+            if "请求发送成功" not in record[0]:
+                robot_type = eval(record[0])["data"]["robot_type"]
+        server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg"
+        local_file = path + f"/{robot_type}.cfg"
+        clibs.c_pd.pull_file_from_server(server_file, local_file)
+        return local_file
+
+    prj_file = check_files()
+    config_file = get_configs()
+
+    return config_file, prj_file
+
+
+def data_proc_regular(path, filename, channel, scenario_time):
+    if channel in list(range(6)):
+        with open(filename, 'r', encoding='utf-8') as f_obj:
+            lines = f_obj.readlines()
+            _d2d_vel = {'hw_joint_vel_feedback': []}
+            _d2d_trq = {'device_servo_trq_feedback': []}
+            _d2d_sensor = {'hw_sensor_trq_feedback': []}
+            for line in lines[-500:]:  # 保留最后25s的数据
+                data = eval(line.strip())['data']
+                for item in data:
+                    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':
+                        _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
+
+            df1 = DataFrame.from_dict(_d2d_vel)
+            df2 = DataFrame.from_dict(_d2d_trq)
+            df3 = DataFrame.from_dict(_d2d_sensor)
+            df = concat([df1, df2, df3], axis=1)
+            _filename = f'{path}\\single\\j{channel+1}_single_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+    elif channel in list(range(6, 9)):
+        with open(filename, 'r', encoding='utf-8') as f_obj:
+            lines = f_obj.readlines()
+            _d2d_vel_0 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_0 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_0 = {'hw_sensor_trq_feedback': []}
+            _d2d_vel_1 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_1 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_1 = {'hw_sensor_trq_feedback': []}
+            _d2d_vel_2 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_2 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_2 = {'hw_sensor_trq_feedback': []}
+            _d2d_vel_3 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_3 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_3 = {'hw_sensor_trq_feedback': []}
+            _d2d_vel_4 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_4 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_4 = {'hw_sensor_trq_feedback': []}
+            _d2d_vel_5 = {'hw_joint_vel_feedback': []}
+            _d2d_trq_5 = {'device_servo_trq_feedback': []}
+            _d2d_sensor_5 = {'hw_sensor_trq_feedback': []}
+            for line in lines:
+                data = eval(line.strip())['data']
+                for item in data:
+                    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':
+                        _d2d_trq_0['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 0 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_0['hw_sensor_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_1['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_1['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_1['hw_sensor_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_2['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_2['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_2['hw_sensor_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_3['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_3['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_3['hw_sensor_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_4['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_4['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_4['hw_sensor_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel_5['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor_5['hw_sensor_trq_feedback'].extend(item['value'])
+
+            df_01 = DataFrame.from_dict(_d2d_vel_0)
+            df_02 = DataFrame.from_dict(_d2d_trq_0)
+            df_03 = DataFrame.from_dict(_d2d_sensor_0)
+            df = concat([df_01, df_02, df_03], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = DataFrame.from_dict(_d2d_vel_1)
+            df_02 = DataFrame.from_dict(_d2d_trq_1)
+            df_03 = DataFrame.from_dict(_d2d_sensor_1)
+            df = concat([df_01, df_02, df_03], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = DataFrame.from_dict(_d2d_vel_2)
+            df_02 = DataFrame.from_dict(_d2d_trq_2)
+            df_03 = DataFrame.from_dict(_d2d_sensor_2)
+            df = concat([df_01, df_02, df_03], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = DataFrame.from_dict(_d2d_vel_3)
+            df_02 = DataFrame.from_dict(_d2d_trq_3)
+            df_03 = DataFrame.from_dict(_d2d_sensor_3)
+            df = concat([df_01, df_02, df_03], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = DataFrame.from_dict(_d2d_vel_4)
+            df_02 = DataFrame.from_dict(_d2d_trq_4)
+            df_03 = DataFrame.from_dict(_d2d_sensor_4)
+            df = concat([df_01, df_02, df_03], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+            df_01 = DataFrame.from_dict(_d2d_vel_5)
+            df_02 = DataFrame.from_dict(_d2d_trq_5)
+            df_03 = DataFrame.from_dict(_d2d_sensor_5)
+            df = concat([df_01, df_02, df_03], axis=1)
+            _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+    elif channel in list(range(9, 15)):
+        with open(filename, 'r', encoding='utf-8') as f_obj:
+            lines = f_obj.readlines()
+            _d2d_vel = {'hw_joint_vel_feedback': []}
+            _d2d_trq = {'device_servo_trq_feedback': []}
+            _d2d_sensor = {'hw_sensor_trq_feedback': []}
+            for line in lines[-300:]:  # 保留最后15s的数据
+                data = eval(line.strip())['data']
+                for item in data:
+                    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':
+                        _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                        _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
+
+            df1 = DataFrame.from_dict(_d2d_vel)
+            df2 = DataFrame.from_dict(_d2d_trq)
+            df3 = DataFrame.from_dict(_d2d_sensor)
+            df = concat([df1, df2, df3], axis=1)
+            _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
+            df.to_csv(_filename, sep='\t', index=False)
+
+
+def data_proc_inertia(path, filename, channel):
+    with open(filename, 'r', encoding='utf-8') as f_obj:
+        lines = f_obj.readlines()
+        _d2d_vel = {'hw_joint_vel_feedback': []}
+        _d2d_trq = {'device_servo_trq_feedback': []}
+        _d2d_sensor = {'hw_sensor_trq_feedback': []}
+        for line in lines:
+            data = eval(line.strip())['data']
+            for item in data:
+                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':
+                    _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
+                elif item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_sensor_trq_feedback':
+                    _d2d_trq['hw_sensor_trq_feedback'].extend(item['value'])
+
+        df1 = DataFrame.from_dict(_d2d_vel)
+        df2 = DataFrame.from_dict(_d2d_trq)
+        df3 = DataFrame.from_dict(_d2d_sensor)
+        df = concat([df1, df2, df3], axis=1)
+        _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
+        df.to_csv(_filename, sep='\t', index=False)
+
+
+def gen_result_file(path, loadsel, disc, number, scenario_time):
+    filename = path + f'\\data.txt'
+    with open(filename, 'w', encoding='utf-8') as f_obj:
+        for line in disc[number][1]:
+            f_obj.write(str(line)+'\n')
+
+    if loadsel == 'tool100':
+        data_proc_regular(path, filename, number, scenario_time)
+    elif loadsel == 'inertia':
+        data_proc_inertia(path, filename, number)
+
+
+def run_rl(path, hr, md, sub, w2t):
+    c_regular = [
+        "scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j3_p, j3_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)",
+        "scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)",
+    ]
+    c_inertia = [
+        "scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)",
+        "scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)",
+        "scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)",
+    ]
+    disc_regular = {
+        0: ['一轴', []], 1: ['二轴', []], 2: ['三轴', []], 3: ['四轴', []], 4: ['五轴', []], 5: ['六轴', []],
+        6: ['场景一', []], 7: ['场景二', []], 8: ['场景三', []], 9: ['一轴保持', []], 10: ['二轴保持', []],
+        11: ['三轴保持', []], 12: ['四轴保持', []], 13: ['五轴保持', []], 14: ['六轴保持', []]
+    }
+    disc_inertia = {0: ['四轴惯量', []], 1: ['五轴惯量', []], 2: ['六轴惯量', []]}
+    if sub == 'tool100':
+        conditions = c_regular
+        disc = disc_regular
+    elif sub == 'inertia':
+        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
+    hr.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
+    hr.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
+    # clibs.execution('diagnosis.save', hr, w2t, tab_name, save=True)  # 这条命令有问题
+    md.trigger_estop()
+    md.reset_estop()
+
+    for condition in conditions:
+        number = conditions.index(condition)
+        w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', tab_name)
+
+        # 1. 将act重置为False，并修改未要执行的场景
+        md.write_act(False)
+        ssh = SSHClient()
+        ssh.set_missing_host_key_policy(AutoAddPolicy())
+        ssh.connect(clibs.ip_addr, 22, username='luoshi', password='luoshi2019')
+        cmd = 'cd /home/luoshi/bin/controller/; '
+        cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; '
+        cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod'
+        stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+        stdin.write('luoshi2019' + '\n')
+        stdout.read().decode()  # 需要read一下才能正常执行
+        stderr.read().decode()
+
+        # 2. reload工程后，pp2main，并且自动模式和上电
+        prj_path = 'target/_build/target.prj'
+        clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
+        clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
+        clibs.execution('state.switch_auto', hr, w2t, tab_name)
+        clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
+
+        # 3. 开始运行程序，单轴运行35s
+        clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
+        clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
+        _t_start = time()
+        while True:
+            if md.read_ready_to_go() == 1:
+                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
+        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
+        scenario_time = 0
+        if number < 6:
+            sleep(35)
+        elif number > 8:
+            sleep(15)
+        else:
+            _t_start = time()
+            while True:
+                scenario_time = md.read_scenario_time()
+                if float(scenario_time) > 1:
+                    w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
+                    break
+                else:
+                    if (time()-_t_start)//60 > 3:
+                        w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
+                    else:
+                        sleep(5)
+            sleep(1)  # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
+            scenario_time = md.read_scenario_time()
+            sleep(float(scenario_time)*0.2)  # 再运行周期的20%即可
+
+        # 5.停止程序运行，保留数据并处理输出
+        clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['current'])
+        _c_msg = hr.c_msg.copy()
+        for _msg in _c_msg:
+            if 'diagnosis.result' in _msg:
+                disc[number][1].insert(0, loads(_msg))
+        else:
+            hr.c_msg_xs.clear()
+            if len(hr.c_msg) > 270:
+                del hr.c_msg[270:]
+            gen_result_file(path, loadsel, disc, number, scenario_time)
+    else:
+        if loadsel == 'tool100':
+            w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。", 0, 0, 'green', tab_name)
+        elif loadsel == 'inertia':
+            w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。", 0, 0, 'green', tab_name)
+
+
+def main():
+    path = clibs.data_at["_path"]
+    sub = clibs.data_at["_sub"]
+    w2t = clibs.w2t
+    hr = clibs.c_hr
+    md = clibs.c_md
+    insert_logdb = clibs.insert_logdb
+
+    data_dirs, data_files = clibs.traversal_files(path, w2t)
+    config_file, prj_file = initialization(path, sub, data_dirs, data_files, hr, w2t)
+    clibs.c_pd.push_prj_to_server(prj_file)
+    clibs.c_hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
+    # run_rl(path, hr, md, sub, w2t)
+
+
+if __name__ == '__main__':
+    main()

code/common/clibs.py

@@ -21,15 +21,16 @@ def traversal_files(_path, _w2t):
         return dirs, files
 
 
-def init_logdb(_conn, _cursor):
-    _conn = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=4096)
-    _cursor = _conn.cursor()
-    _cursor.execute("PRAGMA journal_mode=wal")
-    _cursor.execute("PRAGMA wal_checkpoint=TRUNCATE")
-    _cursor.execute("PRAGMA synchronous=normal")
-    _cursor.execute("PRAGMA temp_store=memory")
-    _cursor.execute("PRAGMA  mmap_size=30000000000")
-    _cursor.execute(
+def init_logdb(conn, cursor):
+    conn = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=2048)
+    cursor = conn.cursor()
+    cursor.execute("PRAGMA journal_mode=wal")
+    cursor.execute("PRAGMA wal_checkpoint=TRUNCATE")
+    cursor.execute("PRAGMA synchronous=normal")
+    cursor.execute("PRAGMA temp_store=memory")
+    cursor.execute("PRAGMA mmap_size=30000000000")
+    cursor.execute("PRAGMA cache_size=200000")
+    cursor.execute(
         """
         create table if not exists logs(
             id integer primary key autoincrement,
@@ -40,7 +41,7 @@ def init_logdb(_conn, _cursor):
         )
         """
     )
-    return _conn, _cursor
+    return conn, cursor
 
 
 def db_lock(func):
@@ -61,7 +62,7 @@ def insert_logdb(_level, _module, _content):
         global conn, cursor, lock
         if "move.monitor" in _content:
             return
-        data = [_level, _module, repr(_content)]
+        data = [_level, _module, _content]
         cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
 
 
@@ -89,7 +90,6 @@ class GetThreadResult(threading.Thread):
 
     def get_result(self):
         threading.Thread.join(self)  # 等待线程执行完毕
-        # noinspection PyBroadException
         try:
             return self.result
         except Exception:
@@ -99,35 +99,18 @@ class GetThreadResult(threading.Thread):
 # PREFIX = 'assets'  # for pyinstaller packaging
 PREFIX = '../assets'  # for source code testing and debug
 log_path = f"{PREFIX}/logs"
-conn = None
-cursor = None
 levels = ["DEBUG", "INFO", "WARNING", "ERROR"]
 db_state = "readwrite"
-data_dp = {}
-data_at = {}
-w2t = None
-running = False
-stop = True
-tl_prg = None
-f_records = None
+data_dp, data_at = {}, {}
+conn, cursor, w2t, tl_prg, f_records, stop, running = None, None, None, None, None, True, False
 
 ip_addr = "192.168.0.160"
-ssh_port = 22
-socket_port = 5050
-xService_port = 6666
-external_port = 8080
-modbus_port = 502
-upgrade_port = 4567
-username = "luoshi"
-password = "luoshi2019"  # for real robot
-# password = "forpqart"  # for robot vm
+ssh_port, socket_port, xService_port, external_port, modbus_port, upgrade_port = 22, 5050, 6666, 8080, 502, 4567
+username, password = "luoshi", "luoshi2019"
 interval = 0.5  # interval after actions being triggered, such as modbus/socket/external communication operations
 RADIAN = 57.3  # 180 / 3.1415926
 MAX_FRAME_SIZE = 1024
-c_md = None
-c_hr = None
-c_ec = None
-c_pd = None
+c_md, c_hr, c_ec, c_pd = None, None, None, None
 lock = threading.Lock()
 
 conn, cursor = init_logdb(conn, cursor)

code/common/openapi.py

@@ -11,7 +11,6 @@ import time
 from common import clibs
 
 from os import listdir
-from threading import Thread
 # from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
 # from pymodbus.constants import Endian
 import os.path
@@ -290,7 +289,7 @@ class ModbusRequest(object):
 
 
 class HmiRequest(object):
-    socket.setdefaulttimeout(clibs.interval * 10)
+    socket.setdefaulttimeout(clibs.interval * 6)
 
     def __init__(self, ip, port, port_xs):
         self.__ip = ip
@@ -312,38 +311,15 @@ class HmiRequest(object):
         self.__is_debug = True
 
         self.__socket_conn()
-        self.__t_heartbeat = Thread(target=self.__heartbeat)
+        self.__t_heartbeat = threading.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 = threading.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 = threading.Thread(target=self.__unpackage_xs, args=(self.__c_xs,))
         self.__t_unpackage_xs.daemon = True
         self.__t_unpackage_xs.start()
-        # self.__t_heartbeat = None
-        # self.__t_unpackage = None
-        # self.__t_unpackage_xs = None
-        # self.__t_is_alive = Thread(target=self.__is_alive)
-        # self.__t_is_alive.daemon = True
-        # self.__t_is_alive.start()
-        # time.sleep(3)
-
-    def __is_alive(self):
-        while not self.__close_hmi:
-            if not self.__is_connected:
-                self.__socket_conn()
-                if self.__is_connected:
-                    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()
-            time.sleep(3)
 
     @property
     def status(self):
@@ -351,7 +327,6 @@ class HmiRequest(object):
 
     def close(self):
         try:
-            # self.__close_hmi = True
             self.__is_connected = False
             time.sleep(clibs.interval*2)
             self.__c.close()
@@ -458,7 +433,7 @@ class HmiRequest(object):
                         self.__index += pkg_value
                         # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
                         #     f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
-                        clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                        clibs.insert_logdb("DEBUG", "openapi", str(json.loads(self.__response.decode())))
                         self.__response = b""
                         self.__leftovers = 0
                         self.__is_first_frame = True
@@ -506,7 +481,7 @@ class HmiRequest(object):
                         if self.__valid_data_length == 0:
                             # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
                             #     f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
-                            clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                            clibs.insert_logdb("DEBUG", "openapi", str(json.loads(self.__response.decode())))
                             self.__response = b""
                             self.__is_first_frame = True
                             continue  # 此时应该重新 get_headers
@@ -538,7 +513,7 @@ class HmiRequest(object):
                         self.__leftovers = 0
                         # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
                         #     f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
-                        clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                        clibs.insert_logdb("DEBUG", "openapi", str(json.loads(self.__response.decode())))
                         self.__response = b""
                         self.__is_first_frame = True
                     elif len(data) < self.__leftovers:
@@ -596,7 +571,7 @@ class HmiRequest(object):
                         if self.__valid_data_length == 0:
                             # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
                             #     f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
-                            clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                            clibs.insert_logdb("DEBUG", "openapi", str(json.loads(self.__response.decode())))
                             self.__response = b""
                             self.__is_first_frame = True
                             continue
@@ -626,7 +601,7 @@ class HmiRequest(object):
                             if self.__valid_data_length == 0:
                                 # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
                                 #     f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
-                                clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                                clibs.insert_logdb("DEBUG", "openapi", str(json.loads(self.__response.decode())))
                                 self.__response = b""
                                 self.__is_first_frame = True
                                 continue
@@ -701,20 +676,20 @@ class HmiRequest(object):
             self.__response_xs = response
 
     def get_from_id(self, msg_id, state):
-        f_text = f"%{msg_id}%"
+        f_text, res = f"%{msg_id}%", 0
         if state is None:
             self.close()
-            clibs.w2t(f"请求 {msg_id} 发送失败......", "red", "ReqSendFailed")
+            clibs.w2t(f"请求 {msg_id} 发送失败......\n", "red", "ReqSendFailed")
         for _ in range(3):
             time.sleep(clibs.interval * 2)
             try:
                 clibs.lock.acquire(True)
                 clibs.cursor.execute(f"select content from logs where content like '{f_text}'")
-                res = len(clibs.cursor.fetchall())
+                records = clibs.cursor.fetchall()
             finally:
                 clibs.lock.release()
-            if res >= 2:
-                break
+            if len(records) == 2:
+                return records
         else:
             clibs.insert_logdb("ERROR", "openapi", f"hr: 无法找到请求 {msg_id} 的响应")
             self.close()
@@ -739,7 +714,8 @@ class HmiRequest(object):
             with open(f"{clibs.PREFIX}/files/protocols/{command}.json", encoding="utf-8", mode="r") as f_json:
                 req = json.load(f_json)
         except Exception as Err:
-            clibs.insert_logdb("ERROR", "openapi", f"hr: 暂不支持 {command} 功能，或确认该功能存在... {Err}")
+            clibs.insert_logdb("ERROR", "openapi", f"hr-execution: 暂不支持 {command} 功能，或确认该功能存在... {Err}")
+            clibs.w2t(f"hr-execution: 暂不支持 {command} 功能，或确认该功能存在... {Err}", "red")
 
         if p_flag == 0:  # for old protocols
             match command:
@@ -1863,7 +1839,7 @@ class ExternalCommunication(object):
         self.exec_desc = " :--: 返回 true 表示执行成功，false 失败"
 
     def socket_client(self):
-        self.__c = socket(AF_INET, SOCK_STREAM)
+        self.__c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
         try:
             self.__c.connect((clibs.ip_addr, clibs.external_port))
             clibs.insert_logdb("INFO", "openapi", f"ec: 外部通信连接成功...")
@@ -2127,31 +2103,35 @@ class ExternalCommunication(object):
 
 
 class PreDos(object):
-    def __init__(self):
+    def __init__(self, ip, port, username, password):
         self.__ssh = None
         self.__sftp = None
+        self.ip = ip
+        self.port = port
+        self.username = username
+        self.password = password
 
     def __ssh2server(self):
         try:
             self.__ssh = SSHClient()
             self.__ssh.set_missing_host_key_policy(AutoAddPolicy())
-            self.__ssh.connect(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password)
+            self.__ssh.connect(hostname=self.ip, port=self.port, username=self.username, password=self.password)
             self.__sftp = self.__ssh.open_sftp()
         except Exception as Err:
-            msg = f"predos: SSH 无法连接到 {clibs.ip_addr}:{clibs.ssh_port}，需检查网络连通性或者登录信息是否正确 {Err}"
+            msg = f"predos: SSH 无法连接到 {self.ip}:{self.port}，需检查网络连通性或者登录信息是否正确 {Err}"
             clibs.insert_logdb("ERROR", "openapi", msg)
-            clibs.w2t(msg, "red", f"SSHError: cannot connected to {clibs.ip_addr}:{clibs.ssh_port}")
+            clibs.w2t(msg, "red", f"SSHError: cannot connected to {self.ip}:{self.port}")
 
     def push_prj_to_server(self, prj_file):
         # prj_file：本地工程完整路径
         self.__ssh2server()
-        prj_name = prj_file.split("\\")[-1].split("/")[-1].split(".")[0]
+        prj_name = prj_file.split("/")[-1].split(".")[0]
         self.__sftp.put(prj_file, f"/tmp/{prj_name}.zip")
         cmd = f"cd /tmp; mkdir {prj_name}; unzip -d {prj_name} -q {prj_name}.zip; rm -rf /tmp/{prj_name}.zip; "
         cmd += f"sudo rm -rf /home/luoshi/bin/controller/projects/{prj_name}; "
         cmd += f"sudo mv /tmp/{prj_name}/ /home/luoshi/bin/controller/projects/"
         stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
-        stdin.write(clibs.password + "\n")
+        stdin.write(self.password + "\n")
         stdout.read().decode()  # 需要read一下才能正常执行
         stderr.read().decode()
         self.__ssh.close()
@@ -2163,14 +2143,14 @@ class PreDos(object):
         cmd = f"cd /tmp/; sudo rm -rf {prj_name}*; sudo cp -rf /home/luoshi/bin/controller/projects/{prj_name} .; "
         cmd += f"sudo zip -q -r {prj_name}.zip {prj_name}/; sudo rm -rf {prj_name}"
         stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
-        stdin.write(clibs.password + "\n")
+        stdin.write(self.password + "\n")
         print(stdout.read().decode())  # 需要read一下才能正常执行
         print(stderr.read().decode())
 
         self.__sftp.get(f"/tmp/{prj_name}.zip", local_prj_path)
         cmd = f"sudo rm -rf /tmp/{prj_name}.zip"
         stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
-        stdin.write(clibs.password + "\n")
+        stdin.write(self.password + "\n")
         print(stdout.read().decode())  # 需要read一下才能正常执行
         print(stderr.read().decode())
 
@@ -2184,7 +2164,7 @@ class PreDos(object):
         self.__sftp.put(local_file, f"/tmp/{filename}")
         cmd = f"sudo mv /tmp/{filename} {server_file}"
         stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
-        stdin.write(clibs.password + "\n")
+        stdin.write(self.password + "\n")
         stdout.read().decode()  # 需要read一下才能正常执行
         stderr.read().decode()
         self.__ssh.close()
@@ -2195,21 +2175,21 @@ class PreDos(object):
         self.__ssh2server()
         cmd = f"sudo cp {server_file} /tmp/"
         stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
-        stdin.write(clibs.password + "\n")
+        stdin.write(self.password + "\n")
         stdout.read().decode()  # 需要read一下才能正常执行
         stderr.read().decode()
         filename = server_file.split("/")[-1]
         self.__sftp.get(f"/tmp/{filename}", f"{local_file}")
         cmd = f"sudo rm -rf /tmp/{filename}"
         stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
-        stdin.write(clibs.password + "\n")
+        stdin.write(self.password + "\n")
         stdout.read().decode()  # 需要read一下才能正常执行
         stderr.read().decode()
         self.__ssh.close()
 
 
 def robot_init():
-    hr = HmiRequest()
+    hr = clibs.c_hr
     pd = PreDos()
     # 推送配置文件
     clibs.insert_logdb("INFO", "openapi", "init: 推送配置文件 fieldbus_device.json/registers.json/registers.xml 到控制器，并配置 IO 设备，设备号为 7...")
@@ -2254,7 +2234,7 @@ def robot_init():
     hr.reload_fieldbus()
     hr.set_fieldbus_device_params("autotest", True)
 
-    md = ModbusRequest()
+    md = clibs.c_md
     # 触发急停并恢复
     md.r_soft_estop(0)
     md.r_soft_estop(1)
@@ -2323,12 +2303,12 @@ def fw_updater(local_file_path):
     fw_size = os.path.getsize(local_file_path)
     if fw_size > 10000000:
         # get previous version of xCore
-        hr = HmiRequest()
+        hr = clibs.c_hr
         version_previous = hr.get_robot_params["version"]
         hr.close()
 
     # var def
-    remote_file_path = './upgrade/lircos.zip'
+    remote_file_path = "./upgrade/lircos.zip"
     fw_content = bytearray()
     package_data = bytearray()
     package_data_with_head = bytearray()
@@ -2336,7 +2316,7 @@ def fw_updater(local_file_path):
     # socket connect
     clibs.insert_logdb("INFO", "openapi", f"update firmware: 正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...")
     try:
-        tcp_socket = socket(AF_INET, SOCK_STREAM)
+        tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
         tcp_socket.connect((clibs.ip_addr, clibs.upgrade_port))
         tcp_socket.setblocking(True)
     except Exception as Err:
@@ -2345,13 +2325,13 @@ def fw_updater(local_file_path):
 
     # get firmware content of binary format
     clibs.insert_logdb("INFO", "openapi", f"update firmware: 正在读取 {local_file_path} 文件内容...")
-    with open(local_file_path, 'rb') as f_fw:
+    with open(local_file_path, "rb") as f_fw:
         fw_content += f_fw.read()
 
     # construct package data: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634148
     clibs.insert_logdb("INFO", "openapi", "update firmware: 正在构造数据包，以及包头...")
     # 1 protocol id
-    protocol_id = c_ushort(htons(0))  # 2 bytes
+    protocol_id = c_ushort(socket.htons(0))  # 2 bytes
     package_data += protocol_id
 
     # 2 write type
@@ -2369,7 +2349,7 @@ def fw_updater(local_file_path):
         i += 2
 
     # 4 remote path len
-    remote_file_path_len = c_ushort(htons(len(remote_file_path)))
+    remote_file_path_len = c_ushort(socket.htons(len(remote_file_path)))
     package_data += remote_file_path_len
 
     # 5 remote path
@@ -2380,7 +2360,7 @@ def fw_updater(local_file_path):
 
     # construct communication protocol: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634045
     # 1 get package data with header
-    package_size = c_uint(htonl(len(package_data)))
+    package_size = c_uint(socket.htonl(len(package_data)))
     package_type = c_ubyte(1)  # 0-无协议 1-文件 2-json
     package_reserve = c_ubyte(0)  # 预留位
 
@@ -2409,7 +2389,7 @@ def fw_updater(local_file_path):
 
     if fw_size > 10000000:
         # get current version of xCore
-        hr = HmiRequest()
+        hr = clibs.c_hr
         version_current = hr.get_robot_params["version"]
         hr.close()
 
@@ -2429,7 +2409,7 @@ class UpgradeJsonCmd(object):
         # socket connect
         clibs.insert_logdb("INFO", "clibs", f"正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...")
         try:
-            self.__c = socket(AF_INET, SOCK_STREAM)
+            self.__c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
             self.__c.connect((clibs.ip_addr, clibs.upgrade_port))
             self.__c.setblocking(True)
             self.__c.settimeout(3)
@@ -2439,16 +2419,16 @@ class UpgradeJsonCmd(object):
 
     @staticmethod
     def __do_package(cmd):
-        package_size = struct.pack('!I', len(cmd))
-        package_type = struct.pack('B', 2)
-        reserved_byte = struct.pack('B', 0)
+        package_size = struct.pack("!I", len(cmd))
+        package_type = struct.pack("B", 2)
+        reserved_byte = struct.pack("B", 0)
         return package_size + package_type + reserved_byte + cmd
 
     def __recv_result(self, cmd):
         time.sleep(2)
         try:
             res = self.__c.recv(10240).decode()
-        except timeout:
+        except Exception:
             res = "ResponseNone"
         clibs.insert_logdb("INFO", "openapi", f"upgrade: 请求命令 {cmd.decode()} 的返回信息：\n{res[8:]}")
         self.__c.close()
@@ -2457,7 +2437,7 @@ class UpgradeJsonCmd(object):
     def __exec(self, command: dict):
         try:
             self.__c.recv(10240)
-        except timeout:
+        except Exception:
             pass
         cmd = json.dumps(command, separators=(",", ":")).encode("utf-8")
         self.__c.sendall(self.__do_package(cmd))

code/data_process/current.py

@@ -1,3 +1,4 @@
+import json
 import threading
 import openpyxl
 import pandas
@@ -8,26 +9,26 @@ from common import clibs
 
 def initialization(path, w2t, insert_logdb):
     _, data_files = clibs.traversal_files(path, w2t)
-    count = 0
+    count, config_file = 0, None
     for data_file in data_files:
         filename = data_file.split("/")[-1]
-        if filename == "configs.xlsx":
+        if re.match(".*\\.cfg", filename):
+            config_file = filename
             count += 1
         elif filename == "T_电机电流.xlsx":
-            ...
+            count += 1
         else:
             if not re.match("j[1-7].*\\.data", filename):
                 msg = f"不合规 {data_file}\n"
-                msg += "所有数据文件必须以 j[1-7]_ 开头，以 .data 结尾，比如j1_abcdef.data\n配置文件需要命名为\"configs.xlsx\"，结果文件需要命名为\"T_电机电流.xlsx\"\n"
-                msg += "需要有配置文件\"configs.xlsx\"表格，以及数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行\n"
+                msg += "所有数据文件必须以 j[1-7]_ 开头，以 .data 结尾，比如j1_abcdef.data，请检查整改后重新运行\n"
                 w2t(msg, "red", "FilenameIllegal")
 
-    if count != 1:
-        msg = "需要有配置文件\"configs.xlsx\"表格，以及数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行\n"
+    if count != 2:
+        msg = "需要有一个机型配置文件\"*.cfg\"，以及一个数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行\n"
         w2t(msg, "red", "FilenameIllegal")
 
     insert_logdb("INFO", "current", f"current: 获取必要文件：{data_files}")
-    return data_files
+    return data_files, config_file
 
 
 def current_max(data_files, rcs, trq, w2t, insert_logdb):
@@ -71,7 +72,7 @@ def current_max(data_files, rcs, trq, w2t, insert_logdb):
     return current
 
 
-def current_avg(data_files, rcs, trq, w2t, insert_logdb):
+def current_avg(data_files, rcs, trqh, w2t, insert_logdb):
     insert_logdb("INFO", "current", "AVG: 正在处理平均电流值逻辑...")
     current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
     for data_file in data_files:
@@ -86,7 +87,7 @@ def current_avg(data_files, rcs, trq, w2t, insert_logdb):
         rca = rcs[axis-1]
         insert_logdb("INFO", "current", f"AVG: 最大列数为 {cols}，{axis} 轴的额定电流为 {rca}")
 
-        col = df.columns.values[trq-1]
+        col = df.columns.values[trqh-1]
         c_std = df[col].std()
         c_avg = df[col].mean()
 
@@ -113,7 +114,7 @@ def current_avg(data_files, rcs, trq, w2t, insert_logdb):
     return current
 
 
-def current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb):
+def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb):
     result, hold, single, scenario, dur_time = None, [], [], [], 0
     for data_file in data_files:
         filename = data_file.split("/")[-1]
@@ -137,6 +138,12 @@ def current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb)
     t_progress.start()
     wb = t_excel.get_result()
 
+    ws = wb["统计"]
+    for idx in range(len(params)):
+        row = idx + 2
+        for col in range(2, 8):
+            ws.cell(row=row, column=col).value = params[idx][col-2]
+
     if hold:
         avg = current_avg(hold, rcs, trqh, w2t, insert_logdb)
         for axis, cur_value in avg.items():
@@ -144,9 +151,9 @@ def current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb)
             wb[sht_name]["O4"].value = float(cur_value[0])
 
     if dur_time == 0:
-        p_single(wb, single, vel, rrs, w2t, insert_logdb)
+        p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb)
     else:
-        p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb)
+        p_scenario(wb, scenario, vel, trq, sensor, rrs, dur_time, w2t)
 
     clibs.stop = True
     w2t(f"正在保存文件 {result}，需要 10s 左右......\n")
@@ -227,12 +234,12 @@ def get_row_number(threshold, flag, df, row_s, row_e, axis, insert_logdb):
             else:
                 count_1 = 0
 
-    places = {"start": "起点", "middle": "中间点", "end": "终点"}
+    places = {"start": "起点", "middle": "中间点", "end": "终点"}  # 因为是终点数据，所以可能有异常
     insert_logdb("WARNING", "current", f"{axis} 轴获取{places[flag]}数据 {row_e} 可能有异常，需关注！")
     return row_e
 
 
-def p_single(wb, single, vel, rrs, w2t, insert_logdb):
+def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb):
     # 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
@@ -313,11 +320,11 @@ def p_single(wb, single, vel, rrs, w2t, insert_logdb):
         if abs(row_end+row_start-2*row_middle) > 1000:
             insert_logdb("WARNING", "current", f"{axis} 轴数据占空比异常！")
 
-        data = []
+        data, first_c, second_c, third_c = [], vel-1, trq-1, sensor-1
         for row in range(row_start, row_end+1):
-            data.append(df_origin.iloc[row, 0])
-            data.append(df_origin.iloc[row, 1])
-            data.append(df_origin.iloc[row, 2])
+            data.append(df_origin.iloc[row, first_c])
+            data.append(df_origin.iloc[row, second_c])
+            data.append(df_origin.iloc[row, third_c])
 
         i = 0
         for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=4):
@@ -328,14 +335,14 @@ def p_single(wb, single, vel, rrs, w2t, insert_logdb):
                     _ = f"{data[i]:.2f}"
                     cell.value = float(_)
                     i += 1
-                except Exception as Err:
+                except Exception:
                     if i % 3 == 0:
                         ws.cell((i//3)+2, 1).value = None
                     cell.value = None
                     i += 1
 
 
-def p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb):
+def p_scenario(wb, scenario, vel, trq, sensor, rrs, dur_time, w2t):
     for data_file in scenario:
         cycle = 0.001
         axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
@@ -354,11 +361,11 @@ def p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb):
         if row_end > df.index[-1]:
             w2t(f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "red", "DataOverLimit")
 
-        data = []
+        data, first_c, second_c, third_c = [], vel-1, trq-1, sensor-1
         for row in range(row_start, row_end+1):
-            data.append(df_origin.iloc[row, 0])
-            data.append(df_origin.iloc[row, 1])
-            data.append(df_origin.iloc[row, 2])
+            data.append(df_origin.iloc[row, first_c])
+            data.append(df_origin.iloc[row, second_c])
+            data.append(df_origin.iloc[row, third_c])
 
         i = 0
         for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=4):
@@ -369,34 +376,44 @@ def p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb):
                     _ = f"{data[i]:.2f}"
                     cell.value = float(_)
                     i += 1
-                except Exception as Err:
+                except Exception:
                     cell.value = None
                     if i % 3 == 0:
                         ws.cell((i//3)+2, 1).value = None
                     i += 1
 
 
-def get_configs(configfile, w2t, insert_logdb):
+def get_configs(config_file, w2t, insert_logdb):
     try:
-        wb = openpyxl.load_workbook(configfile, read_only=True)
-        ws = wb["Target"]
+        with open(config_file, mode="r", encoding="utf-8") as f_config:
+            configs = json.load(f_config)
     except Exception as Err:
-        insert_logdb("ERROR", "current", f"无法打开 {configfile}，获取配置文件参数错误 {Err}")
-        w2t(f"无法打开 {configfile}", color="red", desc="OpenFileError")
+        insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，获取配置文件参数错误 {Err}")
+        w2t(f"无法打开 {config_file}", color="red", desc="OpenFileError")
 
     # 最大角速度，额定电流，减速比，额定转速
-    rrs, avs, rcs, rpms = [], [], [], []
-    for i in range(2, 8):
-        rrs.append(abs(float(ws.cell(row=2, column=i).value)))
-        avs.append(abs(float(ws.cell(row=3, column=i).value)))
-        rpms.append(abs(float(ws.cell(row=4, column=i).value)))
-        rcs.append(abs(float(ws.cell(row=6, column=i).value)))
+    version = configs["VERSION"]
+    rcs = [abs(_) for _ in configs["MOTOR"]["RATED_TORQUE"]]  # 电机额定电流，rc for rated current
+    m_max_rcs = []  # 电机最大电流
+    m_hold_rcs = []  # 电机堵转电流
+    m_rts = []  # 电机额定转矩rt for rated torque
+    m_max_rts = []  # 电机峰值转矩
+    m_r_rpms = []  # 电机额定转速
+    m_max_rpms = []  # 电机最大转速
+    m_tcs = []  # 电机转矩常数，tc for torque constant
+    rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]]  # 减速比，rr for reduction ratio
+    r_max_sst = []  # 减速器最大启停转矩，sst for start and stop torque
+    r_max_t = []  # 减速器瞬时最大转矩
+    sc = []  # 采样周期，sc for sample cycle
+    r_rts = []  # 减速器额定转矩
+    r_r_rpms = []  # 减速器额定转速
+    r_life_cycle = []  # 减速器L10寿命
+    r_avg_t = []  # 减速器平均负载转矩允许最大值
 
-    insert_logdb("INFO", "current", f"current: 获取减速比：{rrs}")
-    insert_logdb("INFO", "current", f"current: 获取角速度：{avs}")
-    insert_logdb("INFO", "current", f"current: 获取额定电流：{rcs}")
-    insert_logdb("INFO", "current", f"current: 获取额定转速：{rpms}")
-    return rrs, avs, rcs, rpms
+    insert_logdb("INFO", "current", f"get_configs: 机型文件版本 {config_file}_{version}")
+    insert_logdb("INFO", "current", f"get_configs: 减速比 {rrs}")
+    insert_logdb("INFO", "current", f"get_configs: 额定电流 {rcs}")
+    return rcs, m_max_rcs, m_hold_rcs, m_rts, m_max_rts, m_r_rpms, m_max_rpms, m_tcs, rrs, r_max_sst, r_max_t, sc, r_rts, r_r_rpms, r_life_cycle, r_avg_t
 
 
 def main():
@@ -405,18 +422,20 @@ def main():
     vel = int(clibs.data_dp["_vel"])
     trq = int(clibs.data_dp["_trq"])
     trqh = int(clibs.data_dp["_trqh"])
+    sensor = int(clibs.data_dp["_sensor"])
     w2t = clibs.w2t
     insert_logdb = clibs.insert_logdb
     insert_logdb("INFO", "current", "current: 参数初始化成功")
 
-    data_files = initialization(path, w2t, insert_logdb)
-    rrs, avs, rcs, rpms = get_configs(path + "\\configs.xlsx", w2t, insert_logdb)
+    data_files, config_file = initialization(path, w2t, insert_logdb)
+    params = get_configs(f"{path}/{config_file}", w2t, insert_logdb)
+    rcs, rrs = params[0], params[8]
     if sub == "max":
         current_max(data_files, rcs, trq, w2t, insert_logdb)
     elif sub == "avg":
-        current_avg(data_files, rcs, trq, w2t, insert_logdb)
+        current_avg(data_files, rcs, trqh, w2t, insert_logdb)
     elif sub == "cycle":
-        current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb)
+        current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb)
 
 
 if __name__ == '__main__':

code/data_process/iso.py

@@ -1,5 +1,183 @@
-
+import pdfplumber
+import openpyxl
+import os
 from common import clibs
-def main():
-    print("iso")
 
+
+def p_iso(file, p_files, ws, tmpfile):
+    p_files.append(file)
+
+    pdf = pdfplumber.open(file)
+    with open(tmpfile, mode="w", encoding="utf-8") as fb:
+        for page in pdf.pages:
+            fb.write(page.extract_text())
+    with open(tmpfile, mode="r", encoding="utf-8") as fb:
+        lines = fb.readlines()
+        lines = [line for line in lines if not line.startswith("Page ")]
+        for line in lines:
+            if line.strip() == "Pose Accuracy and Repeatability":
+                index = lines.index(line)
+                ws.cell(row=3, column=7).value = float(lines[index+4].split()[1])
+                ws.cell(row=4, column=7).value = float(lines[index+5].split()[1])
+                ws.cell(row=5, column=7).value = float(lines[index+6].split()[1])
+                ws.cell(row=6, column=7).value = float(lines[index+7].split()[1])
+                ws.cell(row=7, column=7).value = float(lines[index+8].split()[1])
+
+                ws.cell(row=8, column=7).value = float(lines[index+4].split()[2])
+                ws.cell(row=9, column=7).value = float(lines[index+5].split()[2])
+                ws.cell(row=10, column=7).value = float(lines[index+6].split()[2])
+                ws.cell(row=11, column=7).value = float(lines[index+7].split()[2])
+                ws.cell(row=12, column=7).value = float(lines[index+8].split()[2])
+            elif line.strip() == "Pose Accuracy Variation":
+                index = lines.index(line)
+                ws.cell(row=13, column=7).value = float(lines[index+4].split()[1])
+                ws.cell(row=14, column=7).value = float(lines[index+5].split()[1])
+                ws.cell(row=15, column=7).value = float(lines[index+6].split()[1])
+            elif line.strip() == "Distance Accuracy":
+                index = lines.index(line)
+                ws.cell(row=16, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=17, column=7).value = float(lines[index + 4].split()[2])
+            elif line.strip() == "Stabilisation Time and Overshoot":
+                index = lines.index(line)
+                ws.cell(row=18, column=7).value = float(lines[index + 7].split()[3])
+                ws.cell(row=19, column=7).value = float(lines[index + 7].split()[2])
+            elif line.strip() == "Velocity Accuracy and Repeatability":
+                index = lines.index(line)
+                ws.cell(row=20, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=21, column=7).value = float(lines[index + 4].split()[2])
+                ws.cell(row=22, column=7).value = float(lines[index + 4].split()[3])
+            elif line.strip()[:31] == "Path Accuracy and Repeatability":
+                index = lines.index(line)
+                ws.cell(row=29, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=30, column=7).value = float(lines[index + 4].split()[2])
+            elif line.strip() == "Corner Overshoot and Roundoff":
+                index = lines.index(line)
+                ws.cell(row=35, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=36, column=7).value = float(lines[index + 4].split()[2])
+            elif line.strip() == "Robot Weaving":
+                index = lines.index(line)
+                ws.cell(row=41, column=7).value = float(lines[index + 4].split()[2])
+                ws.cell(row=42, column=7).value = float(lines[index + 4].split()[3])
+                ws.cell(row=43, column=7).value = float(lines[index + 4].split()[4])
+            else:
+                pass
+    pdf.close()
+
+
+def p_iso_100(file, p_files, ws, tmpfile):
+    p_files.append(file)
+
+    pdf = pdfplumber.open(file)
+    with open(tmpfile, mode="w", encoding="utf-8") as fb:
+        for page in pdf.pages:
+            fb.write(page.extract_text())
+    with open(tmpfile, mode="r", encoding="utf-8") as fb:
+        lines = fb.readlines()
+        lines = [line for line in lines if not line.startswith("Page ")]
+        for line in lines:
+            if line.strip() == "Velocity Accuracy and Repeatability":
+                index = lines.index(line)
+                ws.cell(row=26, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=27, column=7).value = float(lines[index + 4].split()[2])
+                ws.cell(row=28, column=7).value = float(lines[index + 4].split()[3])
+            elif line.strip()[:31] == "Path Accuracy and Repeatability":
+                index = lines.index(line)
+                ws.cell(row=33, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=34, column=7).value = float(lines[index + 4].split()[2])
+            elif line.strip() == "Corner Overshoot and Roundoff":
+                index = lines.index(line)
+                ws.cell(row=39, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=40, column=7).value = float(lines[index + 4].split()[2])
+            elif line.strip() == "Robot Weaving":
+                index = lines.index(line)
+                ws.cell(row=47, column=7).value = float(lines[index + 4].split()[2])
+                ws.cell(row=48, column=7).value = float(lines[index + 4].split()[3])
+                ws.cell(row=49, column=7).value = float(lines[index + 4].split()[4])
+            else:
+                pass
+    pdf.close()
+
+
+def p_iso_1000(file, p_files, ws, tmpfile):
+    p_files.append(file)
+
+    pdf = pdfplumber.open(file)
+    with open(tmpfile, mode="w", encoding="utf-8") as fb:
+        for page in pdf.pages:
+            fb.write(page.extract_text())
+    with open(tmpfile, mode="r", encoding="utf-8") as fb:
+        lines = fb.readlines()
+        lines = [line for line in lines if not line.startswith("Page ")]
+        for line in lines:
+            if line.strip() == "Velocity Accuracy and Repeatability":
+                index = lines.index(line)
+                ws.cell(row=23, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=24, column=7).value = float(lines[index + 4].split()[2])
+                ws.cell(row=25, column=7).value = float(lines[index + 4].split()[3])
+            elif line.strip()[:31] == "Path Accuracy and Repeatability":
+                index = lines.index(line)
+                ws.cell(row=31, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=32, column=7).value = float(lines[index + 4].split()[2])
+            elif line.strip() == "Corner Overshoot and Roundoff":
+                index = lines.index(line)
+                ws.cell(row=37, column=7).value = float(lines[index + 4].split()[1])
+                ws.cell(row=38, column=7).value = float(lines[index + 4].split()[2])
+            elif line.strip() == "Robot Weaving":
+                index = lines.index(line)
+                ws.cell(row=44, column=7).value = float(lines[index + 4].split()[2])
+                ws.cell(row=45, column=7).value = float(lines[index + 4].split()[3])
+                ws.cell(row=46, column=7).value = float(lines[index + 4].split()[4])
+            else:
+                pass
+    pdf.close()
+
+
+def main():
+    path = clibs.data_dp["_path"]
+    w2t = clibs.w2t
+    dirs, files = clibs.traversal_files(path, 1)
+
+    filename = f"{path}/iso-results.xlsx"
+    tmpfile = f"{path}/data.txt"
+    wb, ws = None, None
+    try:
+        wb = openpyxl.load_workbook(filename)
+        ws = wb.active
+        for i in range(3, 50):
+            ws.cell(row=i, column=7).value = None
+    except Exception as Err:
+        clibs.insert_logdb("ERROR", "iso", f"main: 无法打开文件 {filename}")
+        w2t(f"发生错误：{Err}", "red", "FileOpenError")
+
+    p_files = []
+    for file in files:
+        if file.endswith(".pdf") and file.split("/")[-1] == "ISO.pdf":
+            w2t(f"正在处理{file}......\n")
+            p_iso(file, p_files, ws, tmpfile)
+            w2t(f"文件{file}已处理完毕。\n")
+
+        elif file.endswith(".pdf") and file.split("/")[-1] == "ISO-V100.pdf":
+            w2t(f"正在处理{file}......\n")
+            p_iso_100(file, p_files, ws, tmpfile)
+            w2t(f"文件{file}已处理完毕。\n")
+
+        elif file.endswith(".pdf") and file.split("/")[-1] == "ISO-V1000.pdf":
+            w2t(f"正在处理{file}......\n")
+            p_iso_1000(file, p_files, ws, tmpfile)
+            w2t(f"文件{file}已处理完毕。\n")
+
+        else:
+            pass
+    wb.save(filename)
+    wb.close()
+
+    if len(p_files) == 0:
+        w2t(f"目录 {path} 下没有需要处理的文件，需要确认......", "red")
+    else:
+        os.remove(tmpfile)
+        w2t("------------------------------------------\n")
+        w2t("所有文件均已处理完毕！\n")
+
+
+if __name__ == "__main__":
+    main()

code/data_process/wavelogger.py

@@ -1,5 +1,148 @@
-
+import pandas
+import csv
+import openpyxl
 from common import clibs
-def main():
-    print("wavelogger")
 
+
+def find_point(bof, step, margin, threshold, pos, data_file, flag, df, row, w2t):
+    # bof: backward or forward
+    # pos: used for debug
+    # flag: greater than or lower than
+    row_target = None
+    row_origin = df.index[-1] - margin + 1
+    if flag == "gt":
+        while 0 < row < row_origin:
+            value = float(df.iloc[row, 2])
+            if value > threshold:
+                row = row - step if bof == "backward" else row + step
+                continue
+            else:
+                row_target = row - step if bof == "backward" else row + step
+                break
+        else:
+            if bof == "backward":
+                clibs.insert_logdb("ERROR", "wavelogger", f"find_point-gt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...")
+                w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red", "DataError")
+            elif bof == "forward":
+                row_target = row + margin  # to end while loop in function `single_file_proc`
+    elif flag == "lt":
+        while 0 < row < row_origin:
+            value = float(df.iloc[row, 2])
+            if value < threshold:
+                row = row - step if bof == "backward" else row + step
+                continue
+            else:
+                row_target = row - step if bof == "backward" else row + step
+                break
+        else:
+            if bof == "backward":
+                clibs.insert_logdb("ERROR", "wavelogger", f"find_point-lt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...")
+                w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red", "DataError")
+            elif bof == "forward":
+                row_target = row + margin  # to end while loop in function `single_file_proc`
+    return row_target
+
+
+def get_cycle_info(data_file, step, margin, threshold, 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
+    csv_reader = csv.reader(open(data_file))
+    begin = int(next(csv_reader)[1])
+    df = pandas.read_csv(data_file, sep=",", encoding="gbk", skip_blank_lines=False, header=begin - 1, on_bad_lines="skip")
+    row = df.index[-1] - margin
+    if float(df.iloc[row, 2]) < threshold:
+        row = find_point("backward", step, margin, threshold, "a1", data_file, "lt", df, row, w2t)
+
+    _row = find_point("backward", step, margin, threshold, "a2", data_file, "gt", df, row, w2t)
+    _row = find_point("backward", step, margin, threshold, "a3", data_file, "lt", df, _row, w2t)
+    row_end = find_point("backward", step, margin, threshold, "a4", data_file, "gt", df, _row, w2t)
+    row_middle = find_point("backward", step, margin, threshold, "a5", data_file, "lt", df, row_end, w2t)
+    row_start = find_point("backward", step, margin, threshold, "a6", data_file, "gt", df, row_middle, w2t)
+    # print(f"row_end = {row_end}")
+    # print(f"row_middle = {row_middle}")
+    # print(f"row_start = {row_start}")
+    return row_end-row_middle, row_middle-row_start, row_end-row_start, df
+
+
+def initialization(path, w2t):
+    _, data_files = clibs.traversal_files(path, w2t)
+
+    for data_file in data_files:
+        if not data_file.lower().endswith(".csv"):
+            clibs.insert_logdb("ERROR", "wavelogger", f"init: {data_file} 文件后缀错误，只允许 .csv 文件，需要确认！")
+            w2t(f"{data_file} 文件后缀错误，只允许 .csv 文件，需要确认！", "red", "FileTypeError")
+
+    return data_files
+
+
+def preparation(data_file, step, margin, threshold, wb, w2t):
+    shtname = data_file.split("/")[-1].split(".")[0]
+    ws = wb.create_sheet(shtname)
+    low, high, cycle, df = get_cycle_info(data_file, step, margin, threshold, w2t)
+
+    return ws, df, low, high, cycle
+
+
+def single_file_proc(ws, data_file, step, threshold, margin, data_length, df, cycle, w2t):
+    row, row_lt, row_gt, count, count_i, data = 1, 1, 1, 1, 1, {}
+    row_max = df.index[-1] - margin
+    while row < row_max:
+        if count not in data.keys():
+            data[count] = []
+
+        value = float(df.iloc[row, 2])
+        if value < threshold:
+            row_lt = find_point("forward", step, margin, threshold, "c"+str(row), data_file, "lt", df, row, w2t)
+            start = int(row_gt + (row_lt - row_gt - data_length) / 2)
+            end = start + data_length
+            value = df.iloc[start:end, 2].mean() + 3 * df.iloc[start:end, 2].std()
+            if value > 1:
+                msg = f"{data_file} 文件第 {count} 轮 第 {count_i} 个数据可能有问题，需人工手动确认，确认有问题可删除，无问题则保留"
+                clibs.insert_logdb("WARNING", "wavelogger", msg)
+                w2t(msg, "orange")
+            data[count].append(value)
+            count_i += 1
+        else:
+            row_gt = find_point("forward", step, margin, threshold, "c"+str(row), data_file, "gt", df, row, w2t)
+            if row_gt - row_lt > cycle * 2:
+                count += 1
+                count_i = 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"
+
+    for i in sorted(data.keys()):
+        row, column = 2, i + 1
+        for value in data[i]:
+            ws.cell(row=row, column=column).value = float(value)
+            row += 1
+
+
+def execution(data_files, w2t):
+    wb = openpyxl.Workbook()
+    step, margin, data_length, threshold = 5, 50, 50, 5
+    for data_file in data_files:
+        ws, df, low, high, cycle = preparation(data_file, step, margin, threshold, wb, w2t)
+        single_file_proc(ws, data_file, step, threshold, margin, data_length, df, cycle, w2t)
+
+    wd = "/".join(data_files[0].split("/")[:-1])
+    filename = wd + "/result.xlsx"
+    wb.save(filename)
+    wb.close()
+    w2t("----------------------------------------\n")
+    w2t("所有文件均已处理完毕\n")
+
+
+def main():
+    path = clibs.data_dp["_path"]
+    w2t = clibs.w2t
+    data_files = initialization(path, w2t)
+    execution(data_files, w2t)
+
+
+if __name__ == "__main__":
+    main()