自动化测试电机电流功能迁移完成

code/aio.py

@@ -27,7 +27,7 @@ class App:
         self.__set_root()
         # ========================================================================
         self.style = ttk.Style()
-        self.style.configure("tv.Treeview", font=self.f_treeview, rowheight=30)
+        self.style.configure("tv.Treeview", font=self.f_treeview, rowheight=25)
         self.style.configure("Treeview.Heading", font=self.f_normal, rowheight=30)
         self.entry_path_dpv = ctk.StringVar()
         self.entry_path_dpv.set("数据文件夹路径")
@@ -82,8 +82,7 @@ class App:
         self.label_path_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), width=50, anchor="e", text="Path", font=self.f_common)
         self.entry_path_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=80, state="disabled", textvariable=self.entry_path_atv, font=self.f_entry, text_color="#818181")
         self.frame_top = ctk.CTkFrame(self.tabview_top.tab("自动测试"), width=120, height=10, fg_color="#E9E9E9")
-        self.btn_robot_state = ctk.CTkButton(self.frame_top, width=100, text="机器信息", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_info)
-        self.btn_robot_init = ctk.CTkButton(self.frame_top, width=100, text="初始操作", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_init)
+        self.btn_robot_info = ctk.CTkButton(self.frame_top, width=100, text="机器信息", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_info)
         self.btn_trig_estop = ctk.CTkButton(self.frame_top, width=100, text="触发急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__trig_estop)
         self.btn_reset_estop = ctk.CTkButton(self.frame_top, width=100, text="恢复急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__reset_estop)
         self.popupmenu_ip = tk.Menu(self.entry_ip_at, tearoff=False)
@@ -139,27 +138,113 @@ class App:
         ...
 
     def __detect_network(self):
+        def func_access(state):
+            self.btn_robot_info.configure(state=state)
+            self.btn_trig_estop.configure(state=state)
+            self.btn_reset_estop.configure(state=state)
+
         while True:
             try:
                 if clibs.c_hr.status:
                     self.btn_conn.configure(fg_color="#2E8B57")
+                    func_access("normal")
                 else:
                     self.btn_conn.configure(fg_color="#979DA2")
-            except Exception as Err:
+                    func_access("disabled")
+            except Exception:
                 self.btn_conn.configure(fg_color="#979DA2")
+                func_access("disabled")
             time.sleep(3)
 
     def __robot_info(self):
-        ...
+        def get_robot_info():
+            self.tabview_bottom.set("输出")
+            self.text_output.delete("1.0", "end")
+            self.__w2t("正在获取机器信息，请稍后...\n\n")
+            infos = {0: {}, 1: {}, 2: {}, 3: {}, 4: {}, 5: {}, 6: {}, 7: {}, 8: {}, 9: {}, 10: {}, 11: {}, 12: {}, 13: {}, 14: {}, 15: {}, 16: {}, 17: {}, 18: {}, 19: {}, 20: {}}
+            msg_id, state = clibs.c_hr.execution("controller.get_params")
+            records = clibs.c_hr.get_from_id(msg_id, state)
+            for record in records:
+                if "请求发送成功" not in record[0]:
+                    data, activate = eval(record[0])["data"], []
+                    infos[0]["robot_type"] = data["robot_type"]
+                    infos[1]["controller_type"] = data["controller_type"]
+                    infos[2]["disk_serial_number"] = data["disk_serial_number"]
+                    infos[3]["mac_addr"] = data["mac_addr"]
+                    infos[4]["security_type"] = data["security_type"]
+                    infos[5]["xcore_version"] = data["version"]
+                    auth_states = data["auth_state"]["function"]
+                    for auth_state in auth_states:
+                        if auth_state["auth"] == "activate":
+                            activate.append(auth_state["name"])
+                    infos[6]["activated"] = ", ".join(activate)
 
-    def __robot_init(self):
-        ...
+            msg_id, state = clibs.c_hr.execution("device.get_params")
+            records = clibs.c_hr.get_from_id(msg_id, state)
+            for record in records:
+                if "请求发送成功" not in record[0]:
+                    data = eval(record[0])["data"]["devices"]
+                    for item in data:
+                        if item["type"] == 2:
+                            infos[7]["security_version"] = item["version"]
+                        elif item["type"] == 4:
+                            infos[8]["communication_version"] = item["version"]
+                        elif item["type"] == 6:
+                            infos[9]["motion_control_version"] = item["version"]
+                        elif item["type"] == 9:
+                            infos[10]["end_firmware_version"] = item["version"]
+                        elif item["type"] == 10:
+                            infos[11]["robot_cfg_version"] = item["version"]
+                        elif item["type"] == 11:
+                            infos[12]["env_package_version"] = item["version"]
+
+            msg_id, state = clibs.c_hr.execution("state.get_state")
+            records = clibs.c_hr.get_from_id(msg_id, state)
+            for record in records:
+                if "请求发送成功" not in record[0]:
+                    data = eval(record[0])["data"]
+                    infos[13]["rc_state"] = data["rc_state"]
+                    infos[14]["engine"] = data["engine"]
+                    infos[15]["servo_mode"] = data["servo_mode"]
+                    infos[16]["operate"] = data["operate"]
+                    infos[17]["task_space"] = data["task_space"]
+                    infos[18]["robot_action"] = data["robot_action"]
+                    infos[19]["safety_mode"] = data["safety_mode"]
+
+            msg_id, state = clibs.c_hr.execution("state.get_tp_mode")
+            records = clibs.c_hr.get_from_id(msg_id, state)
+            for record in records:
+                if "请求发送成功" not in record[0]:
+                    data = eval(record[0])["data"]
+                    infos[20]["tp_mode"] = data["tp_mode"]
+
+            for idx in sorted(infos.keys()):
+                for k, v in infos[idx].items():
+                    self.__w2t(f"{k}: {v}\n")
+        t = threading.Thread(target=get_robot_info)
+        t.daemon = True
+        t.start()
 
     def __trig_estop(self):
-        ...
+        def trig_estop():
+            self.tabview_bottom.set("输出")
+            self.text_output.delete("1.0", "end")
+            self.__w2t("触发软急停信号已发送...\n")
+            clibs.c_md.r_soft_estop(0)
+        t = threading.Thread(target=trig_estop)
+        t.daemon = True
+        t.start()
 
     def __reset_estop(self):
-        ...
+        def reset_estop():
+            self.tabview_bottom.set("输出")
+            self.text_output.delete("1.0", "end")
+            self.__w2t("解除软急停信号已发送...\n")
+            clibs.c_md.r_soft_estop(1)
+            clibs.c_md.r_clear_alarm()
+        t = threading.Thread(target=reset_estop)
+        t.daemon = True
+        t.start()
 
     def __thread_it(self, func, *args):
         """ 将函数打包进线程，必须使用 lambda """
@@ -894,6 +979,10 @@ class App:
                         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)
+                        # clibs.c_md.read_scenario_time()
+                        # clibs.c_hr.execution('state.set_tp_mode', tp_mode='without')
+                        # clibs.c_hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
+                        # clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=[], frequency=50, version="1.4.1")
                         self.btn_conn.configure(state="normal", fg_color="#2E8B57")
                     except Exception:
                         self.btn_conn.configure(state="normal", fg_color="#979DA2")
@@ -960,10 +1049,9 @@ class App:
         self.label_path_at.grid(row=1, column=1, padx=(0, 10), pady=(0, 10), sticky="e")
         self.entry_path_at.grid(row=1, column=2, columnspan=3, padx=(0, 10), pady=(0, 10), sticky="we")
         self.frame_top.grid(row=2, column=0, columnspan=5, padx=0, pady=0, sticky="we")
-        self.btn_robot_state.grid(row=0, column=0, padx=10, pady=0)
-        self.btn_robot_init.grid(row=0, column=1, padx=(0, 10), pady=0)
-        self.btn_trig_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
-        self.btn_reset_estop.grid(row=0, column=3, padx=(0, 10), pady=0)
+        self.btn_robot_info.grid(row=0, column=0, padx=10, pady=0)
+        self.btn_trig_estop.grid(row=0, column=1, padx=(0, 10), pady=0)
+        self.btn_reset_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
 
         # self.progressbar_at.start()
         # self.progressbar_at.configure(progress_color="red", fg_color="gray")

code/automatic_test/do_brake.py

@@ -1,8 +1,8 @@
-from time import sleep, time, strftime, localtime
-from os import mkdir
-from paramiko import SSHClient, AutoAddPolicy
-from openpyxl import load_workbook
-from pandas import DataFrame, concat
+import time
+import os
+import paramiko
+import openpyxl
+import pandas
 import json
 from commons import clibs
 
@@ -13,7 +13,7 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
             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！", "red")
             w2t("1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n", "red", "InitFileError")
 
-        config_file, reach33, reach66, reach100, prj_file = None, None, None, None, None
+        config_file, reach33, reach66, reach100, prj_file, result_dirs = None, None, None, None, None, []
         for data_file in data_files:
             filename = data_file.split("/")[-1]
             if filename == "configs.xlsx":
@@ -31,20 +31,19 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
                 w2t("1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n", "red", "InitFileError")
 
         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")
+            os.mkdir(f"{path}/j1")
+            os.mkdir(f"{path}/j2")
+            os.mkdir(f"{path}/j3")
 
             load = f"load{sub.removeprefix("tool")}"
             for reach in ["reach33", "reach66", "reach100"]:
                 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}")
+                    os.mkdir(f"{path}/j1/{dir_name}")
+                    os.mkdir(f"{path}/j2/{dir_name}")
                     if reach == "reach100":
-                        mkdir(f"{path}/j3/{dir_name}")
+                        os.mkdir(f"{path}/j3/{dir_name}")
 
             w2t("数据目录合规性检查结束，未发现问题......\n", "blue")
             return config_file, reach33, reach66, reach100, prj_file, result_dirs
@@ -77,10 +76,10 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
         clibs.insert_logdb("INFO", "do_brake", f"get_configs: 各关节角速度 {avs}")
         return avs
 
-    config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files()
-    avs = get_configs()
+    _config_file, _reach33, _reach66, _reach100, _prj_file, _result_dirs = check_files()
+    _avs = get_configs()
 
-    return config_file, reach33, reach66, reach100, prj_file, result_dirs, avs
+    return _config_file, _reach33, _reach66, _reach100, _prj_file, _result_dirs, _avs
 
 
 @clibs.db_lock
@@ -101,10 +100,10 @@ def gen_result_file(path, axis, reach, load, speed, rounds):
             elif item.get("channel", None) == 0 and item.get("name", None) == "device_safety_estop":
                 d_stop.extend(item["value"])
 
-    df1 = DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
-    df2 = DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
-    df3 = DataFrame.from_dict({"device_safety_estop": d_stop})
-    df = concat([df1, df2, df3], axis=1)
+    df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
+    df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
+    df3 = pandas.DataFrame.from_dict({"device_safety_estop": d_stop})
+    df = pandas.concat([df1, df2, df3], axis=1)
     filename = f"{path}\\j{axis}\\reach{reach}_load{load}_speed{speed}\\reach{reach}_load{load}_speed{speed}_{rounds}.data"
     df.to_csv(filename, sep="\t", index=False)
 
@@ -114,7 +113,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
     prj_name = prj_file.split("/")[-1].split(".")[0]
     display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback"] for chl in range(6)]
     display_pdo_params.append({"name": "device_safety_estop", "channel": 0})
-    wb = load_workbook(config_file, read_only=True)
+    wb = openpyxl.load_workbook(config_file, read_only=True)
     ws = wb["Target"]
     write_diagnosis = float(ws.cell(row=2, column=2).value)
     get_init_speed = float(ws.cell(row=3, column=2).value)
@@ -150,11 +149,10 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                 continue
 
             md.write_axis(axis)
-            speed_max = 0
             w2t(f"-"*90+"\n", "purple")
             for rounds in range(1, 4):
                 count += 1
-                this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
+                this_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
                 prj_path = f"{prj_name}/_build/{prj_name}.prj"
                 w2t(f"[{this_time} | {count}/{total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...\n")
 
@@ -163,13 +161,13 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                 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
+                time.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
                     rl_cmd = ""
-                    ssh = SSHClient()
-                    ssh.set_missing_host_key_policy(AutoAddPolicy())
+                    ssh = paramiko.SSHClient()
+                    ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
                     ssh.connect(hostname=clibs.ip_addr, port=clibs.ssh_port, username=clibs.username, password=clibs.password)
                     if pon == "positive":
                         rl_cmd = f"brake_E(j{axis}_{reach}_p, j{axis}_{reach}_n, p_speed, p_tool)"
@@ -196,23 +194,23 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                     hr.execution("state.switch_motor_on")
                     hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
                     hr.execution("rl_task.run", tasks=["brake", "stop0_related"])
-                    t_start = time()
+                    t_start = time.time()
                     while True:
                         if md.read_ready_to_go() == 1:
                             md.write_act(True)
                             break
                         else:
-                            sleep(1)
-                            if (time() - t_start) // 20 > 1:
+                            time.sleep(1)
+                            if (time.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...", "red", "ReadySignalTimeoutError")
                 # 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)  # 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
+                    time.sleep(get_init_speed)  # 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", tasks=["brake"])
 
                     # 找出最大速度
                     @clibs.db_lock
-                    def get_speed_max(axis, pon):
-                        speed_max = 0
+                    def get_speed_max():
+                        _speed_max = 0
                         len_records = int(get_init_speed * 20) + 1  # 1000 / 50 = 20
                         clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
                         records = clibs.cursor.fetchall()
@@ -222,12 +220,12 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                                 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 pon == "positive":
-                                        speed_max = max(_, speed_max)
+                                        _speed_max = max(_, _speed_max)
                                     elif pon == "negative":
-                                        speed_max = min(_, speed_max)
-                        return speed_max
+                                        _speed_max = min(_, _speed_max)
+                        return _speed_max
 
-                    speed_max = abs(get_speed_max(axis, pon))
+                    speed_max = abs(get_speed_max())
                     speed_target = avs[axis-1] * float(speed) / 100
                     clibs.insert_logdb("INFO", "do_brake", f"axis = {axis}, direction = {pon}, max speed = {speed_max}")
                     if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
@@ -255,21 +253,21 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                         md.write_act(1)
                         break
                     else:
-                        sleep(1)
+                        time.sleep(1)
                 else:
                     w2t("3s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...", "red", "ReadySignalTimeoutError")
 
-                sleep(10)  # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
+                time.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()
+                t_start = time.time()
                 while True:
                     if md.read_brake_done() == 1:
-                        sleep(4)  # 保证速度归零
+                        time.sleep(4)  # 保证速度归零
                         md.write_probe(0)
                         break
                     else:
-                        sleep(1)
-                        if (time() - t_start) > 30:
+                        time.sleep(1)
+                        if (time.time() - t_start) > 30:
                             md.write_probe(0)
                             w2t(f"30s 内未触发急停，该条数据无效，需要确认 RL/Python 程序配置正确并正常执行，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...", "red", "NoEstopTriggeredError")
 
@@ -288,14 +286,13 @@ def main():
     w2t = clibs.w2t
     hr = clibs.c_hr
     md = clibs.c_md
-    insert_logdb = clibs.insert_logdb
 
-    s_time = time()
+    s_time = time.time()
     data_dirs, data_files = clibs.traversal_files(path, w2t)
     config_file, reach33, reach66, reach100, prj_file, result_dirs, avs = initialization(path, sub, data_dirs, data_files, hr, w2t)
     clibs.c_pd.push_prj_to_server(prj_file)
     run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t)
-    e_time = time()
+    e_time = 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", "green")
 

code/automatic_test/do_current.py

@@ -1,4 +1,5 @@
 import os
+import multiprocessing
 import time
 import paramiko
 import pandas
@@ -7,9 +8,10 @@ from common import clibs
 
 def initialization(path, sub, data_dirs, data_files, hr, w2t):
     def check_files():
+        msg = "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"
+        msg += "1. T_电机电流.xlsx\n2. xxxx.zip\n"
         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")
+            w2t(msg, "red", "InitFileError")
 
         prj_file, count = None, 0
         for data_file in data_files:
@@ -20,12 +22,11 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
                 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")
+                w2t(msg, "red", "InitFileError")
 
         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(msg, "red", "InitFileError")
+
         w2t("数据目录合规性检查结束，未发现问题......\n")
         if sub == "tool100" or sub == "inertia":
             os.mkdir(f"{path}/single")
@@ -50,10 +51,10 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
         local_file = path + f"/{robot_type}.cfg"
         clibs.c_pd.pull_file_from_server(server_file, local_file)
 
-    prj_file = check_files()
+    _prj_file = check_files()
     get_configs()
 
-    return prj_file
+    return _prj_file
 
 
 def single_axis_proc(path, records, number):
@@ -61,58 +62,63 @@ def single_axis_proc(path, records, number):
     number = number if number < 6 else number - 6
     d_vel, d_trq, d_sensor = [], [], []
     for record in records:
-        print(f"record = {record}")
-        data = eval(record)["data"]
+        data = eval(record[0])["data"]
         for item in data:
+            d_item = reversed(item["value"])
             if item.get("channel", None) == number and item.get("name", None) == "hw_joint_vel_feedback":
-                d_vel.extend(item["value"])
+                d_vel.extend(d_item)
             elif item.get("channel", None) == number and item.get("name", None) == "device_servo_trq_feedback":
-                d_trq.extend(item["value"])
+                d_trq.extend(d_item)
             elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback":
-                d_sensor.extend(item["value"])
+                d_sensor.extend(d_item)
+
+    df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
+    df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
+    df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
+    df = pandas.concat([df1, df2, df3], axis=1)
+    filename = f"{path}/single/j{number + 1}_{text}_{time.time()}.data"
+    df.to_csv(filename, sep="\t", index=False)
+
+
+def scenario_proc(path, records, number, scenario_time):
+    for axis in range(6):
+        d_vel, d_trq, d_sensor = [], [], []
+        for record in records:
+            data = eval(record[0])["data"]
+            for item in data:
+                d_item = reversed(item["value"])
+                if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
+                    d_vel.extend(d_item)
+                elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
+                    d_trq.extend(d_item)
+                elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback":
+                    d_sensor.extend(d_item)
 
         df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
         df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
         df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
         df = pandas.concat([df1, df2, df3], axis=1)
-        filename = f"{path}/single/j{number + 1}_{text}_{time.time()}.data"
+        filename = f"{path}/s_{number-11}/j{axis+1}_s_{number-11}_{scenario_time}_{time.time()}.data"
         df.to_csv(filename, sep="\t", index=False)
 
 
-def scenario_proc(path, records, number, scenario_time):
-    d_vel, d_trq, d_sensor = [], [], []
-    for record in records:
-        print(f"record = {record}")
-        data = eval(record)["data"]
-        for axis in range(6):
-            for item in data:
-                if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
-                    d_vel.extend(item["value"])
-                elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
-                    d_trq.extend(item["value"])
-                elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback":
-                    d_sensor.extend(item["value"])
+def gen_result_file(path, number, start_time, end_time, scenario_time):
+    @clibs.db_lock
+    def get_records(s_time, e_time):
+        clibs.cursor.execute(f"select content from logs where time between '{s_time}' and '{e_time}' and content like '%diagnosis.result%' order by id asc")
+        _ = clibs.cursor.fetchall()
+        return _
 
-            df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
-            df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
-            df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
-            df = pandas.concat([df1, df2, df3], axis=1)
-            filename = f"{path}/s_{number-11}/j{axis}_s_{number-11}_{scenario_time}_{time.time()}.data"
-            df.to_csv(filename, sep="\t", index=False)
-
-
-@clibs.db_lock
-def gen_result_file(path, number, scenario_time):
-    if number < 12:  # 35s/15s == 700/300
-        len_records = 700 if number < 6 else 300
-        clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
-        records = clibs.cursor.fetchall()
-        single_axis_proc(path, records, number)
-    elif number < 15:  # scenario time
-        len_records = int(scenario_time * 20) + 1
-        clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
-        records = clibs.cursor.fetchall()
-        scenario_proc(path, records, number, scenario_time)
+    if number < 12:
+        records = get_records(start_time, end_time)
+        p = multiprocessing.Process(target=single_axis_proc, args=(path, records, number))
+        p.daemon = True
+        p.start()
+    elif number < 15:
+        records = get_records(start_time, end_time)
+        p = multiprocessing.Process(target=scenario_proc, args=(path, records, number, scenario_time))
+        p.daemon = True
+        p.start()
 
 
 def run_rl(path, prj_file, hr, md, sub, w2t):
@@ -151,8 +157,9 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
     # 打开诊断曲线，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
     hr.execution("diagnosis.open", open=True, display_open=True, overrun=True, turn_area=True, delay_motion=False)
     hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
-    md.trigger_estop()
-    md.reset_estop()
+    md.r_soft_estop(0)
+    md.r_soft_estop(1)
+    md.r_clear_alarm()
 
     for condition in conditions:
         number = conditions.index(condition)
@@ -178,7 +185,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
         hr.execution("state.switch_auto")
         hr.execution("state.switch_motor_on")
 
-        # 3. 开始运行程序，单轴运行35s
+        # 3. 开始运行程序
         hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
         hr.execution("rl_task.run", tasks=["current"])
         t_start = time.time()
@@ -188,34 +195,35 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
                 break
             else:
                 time.sleep(1)
-                if (time.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...", "red", "ReadySignalTimeoutError")
+                if (time.time() - t_start) > 20:
+                    w2t("20s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...", "red", "ReadySignalTimeoutError")
 
-        # 4. 打开诊断曲线，并执行采集
-        time.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
+        # 4. 执行采集
+        time.sleep(10)  # 消除前 10s 的不稳定数据
+        start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
+        single_time, stall_time, scenario_time = 30, 10, 0
         if number < 6:  # 单轴
-            time.sleep(35)
+            time.sleep(single_time)
         elif number < 12:  # 堵转
-            time.sleep(15)
+            time.sleep(stall_time)
         else:  # 场景
             t_start = time.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}\n")
+                scenario_time = float(f"{float(md.read_scenario_time()):.2f}")
+                if float(scenario_time) != 0:
+                    w2t(f"场景{number - 11}的周期时间：{scenario_time}\n")
                     break
                 else:
-                    time.sleep(5)
-                    if (time.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...\n", "red", "GetScenarioTimeError")
-            time.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()
-            time.sleep(float(scenario_time)*0.2)  # 再运行周期的20%即可
+                    time.sleep(1)
+                    if (time.time()-t_start) > 180:
+                        w2t(f"180s 内未收到场景{number - 11}的周期时间，需要确认RL程序和工具通信交互是否正常执行...\n", "red", "GetScenarioTimeError")
+            time.sleep(20)
 
         # 5.停止程序运行，保留数据并处理输出
-        clibs.execution("rl_task.stop", tasks=["current"])
-        gen_result_file(path, number, scenario_time)
+        end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
+        hr.execution("rl_task.stop", tasks=["current"])
+        time.sleep(5)  # 确保数据都拿到
+        gen_result_file(path, number, start_time, end_time, scenario_time)
     else:
         if sub == "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。\n", "green")
@@ -231,7 +239,6 @@ def main():
     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)
     prj_file = initialization(path, sub, data_dirs, data_files, hr, w2t)

code/common/openapi.py

@@ -157,7 +157,7 @@ class ModbusRequest(object):
         clibs.insert_logdb("INFO", "openapi", f"modbus: 40101 将 {probe} 写入")
 
     def write_pon(self, pon):
-        self.__c.write_register(40101, pon)
+        self.__c.write_register(40102, pon)
         clibs.insert_logdb("INFO", "openapi", f"modbus: 40102 将 {pon} 写入")
 
     def write_axis(self, axis):
@@ -318,13 +318,12 @@ class ModbusRequest(object):
         return result.registers[0]
 
     def read_scenario_time(self):
-        results = self.__c.read_holding_registers(41002, count=2)
-        result = BinaryPayloadDecoder.fromRegisters(results.registers, byteorder=Endian.BIG, wordorder=Endian.LITTLE)
-        result = f"{result.decode_32bit_float():.3f}"
+        results = self.__c.read_holding_registers(40601, count=2)
+        result = self.__c.convert_from_registers(results.registers, data_type=self.__c.DATATYPE.FLOAT32, word_order="little")
         return result
 
     def read_brake_done(self):
-        result = self.__c.read_holding_registers(41007, count=1)
+        result = self.__c.read_holding_registers(40603, count=1)
         return result.registers[0]
 
 
@@ -721,7 +720,7 @@ class HmiRequest(object):
             self.close()
             clibs.w2t(f"请求 {msg_id} 发送失败......\n", "red", "ReqSendFailed")
         for _ in range(3):
-            time.sleep(clibs.interval * 2)
+            time.sleep(clibs.interval * 4)
             try:
                 clibs.lock.acquire(True)
                 clibs.cursor.execute(f"select content from logs where content like '{f_text}'")

code/data_process/brake.py

@@ -1,5 +1,275 @@
+import openpyxl
+import os.path
+import time
+import pandas
+import threading
+import re
 from common import clibs
 
-def main():
-    print("brake")
 
+def check_files(path, rawdata_dirs, result_files, w2t):
+    msg_wrong = "需要有四个文件和若干个数据文件夹，可参考如下确认：\n"
+    msg_wrong += "1. reach33_XXXXXXX.xlsx\n2. reach66_XXXXXXX.xlsx\n3. reach100_XXXXXXX.xlsx\n4. *.cfg\n"
+    msg_wrong += "- reach33_load33_speed33\nreach33_load33_speed66\n......\nreach100_load100_speed66\nreach100_load100_speed100\n"
+
+    if len(result_files) != 4 or len(rawdata_dirs) == 0:
+        w2t(msg_wrong, "red", "InitFileError")
+
+    config_file, reach33_file, reach66_file, reach100_file = None, None, None, None
+    for result_file in result_files:
+        filename = result_file.split("/")[-1]
+        if re.match(".*\\.cfg", filename):
+            config_file = result_file
+        elif filename.startswith("reach33_") and filename.endswith(".xlsx"):
+            reach33_file = result_file
+        elif filename.startswith("reach66_") and filename.endswith(".xlsx"):
+            reach66_file = result_file
+        elif filename.startswith("reach100_") and filename.endswith(".xlsx"):
+            reach100_file = result_file
+    else:
+        if not (config_file and reach33_file and reach66_file and reach100_file):
+            w2t(msg_wrong, "red", "InitFileError")
+
+    reach_s = ['reach33', 'reach66', 'reach100']
+    load_s = ['load33', 'load66', 'load100']
+    speed_s = ['speed33', 'speed66', 'speed100']
+    for rawdata_dir in rawdata_dirs:
+        components = rawdata_dir.split("/")[-1].split('_')  # reach_load_speed
+        if components[0] not in reach_s or components[1] not in load_s or components[2] not in speed_s:
+            msg = f"报错信息：数据目录 {rawdata_dir} 命名不合规，请参考如下形式\n"
+            msg += "命名规则：reachAA_loadBB_speedCC，AA/BB/CC 指的是臂展/负载/速度的比例\n"
+            msg += "规则解释：reach66_load100_speed33，表示 66% 臂展，100% 负载以及 33% 速度情况下的测试结果文件夹\n"
+            w2t(msg, "red", "WrongDataFolder")
+
+        _, rawdata_files = clibs.traversal_files(rawdata_dir, w2t)
+        if len(rawdata_files) != 3:
+            msg = f"数据目录 {rawdata_dir} 下数据文件个数错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件\n"
+            w2t(msg, "red", "WrongDataFile")
+        for rawdata_file in rawdata_files:
+            if not rawdata_file.endswith(".data"):
+                msg = f"数据文件 {rawdata_file} 后缀错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
+                w2t(msg, "red", "WrongDataFile")
+
+    w2t("数据目录合规性检查结束，未发现问题......")
+
+
+def get_configs(configfile, w2t):
+    axis = configfile.split('\\')[-2][-1]
+    if axis not in ['1', '2', '3']:
+        w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", 0, 9, 'red')
+    else:
+        axis = int(axis)
+
+    _wb = load_workbook(configfile, read_only=True)
+    _ws = _wb['Target']
+    rr = float(_ws.cell(row=2, column=axis + 1).value)
+    av = float(_ws.cell(row=3, column=axis + 1).value)
+
+    return av, rr
+
+
+def now_doing_msg(docs, flag, w2t):
+    # 功能：输出正在处理的文件或目录
+    # 参数：文件或目录，start 或 done 标识
+    # 返回值：-
+    now = strftime('%Y-%m-%d %H:%M:%S', localtime(time()))
+    file_type = 'file' if isfile(docs) else 'dir'
+    if flag == 'start' and file_type == 'dir':
+        w2t(f"[{now}] 正在处理目录 {docs} 中的数据......")
+    elif flag == 'start' and file_type == 'file':
+        w2t(f"[{now}] 正在处理文件 {docs} 中的数据......")
+    elif flag == 'done' and file_type == 'dir':
+        w2t(f"[{now}] 目录 {docs} 数据文件已处理完毕")
+    elif flag == 'done' and file_type == 'file':
+        w2t(f"[{now}] 文件 {docs} 数据已处理完毕")
+
+
+def w2t_local(msg, wait, w2t):
+    while True:
+        global stop
+        if stop == 0 and wait != 0:
+            sleep(1)
+            w2t(msg, wait, 0, 'orange')
+        else:
+            break
+
+
+def copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop):
+    # 功能：将数据文件中有效数据拷贝至结果文件对应的 sheet
+    # 参数：如上
+    # 返回值：-
+    # 结果文件数据清零
+
+    data = []
+    for _row in range(row_start, row_end + 1):
+        data.append(df.iloc[_row, vel - 1])
+        data.append(df.iloc[_row, trq - 1])
+        data.append(df.iloc[_row, estop - 1])
+
+    i = 0
+    row_max = 2000 if row_end - row_start < 2000 else row_end - row_start + 20
+    for _row in range(2, row_max):
+        try:
+            ws_result.cell(row=_row, column=1).value = data[i]
+            ws_result.cell(row=_row, column=2).value = data[i + 1]
+            ws_result.cell(row=_row, column=3).value = data[i + 2]
+            i += 3
+        except:
+            ws_result.cell(row=_row, column=1).value = None
+            ws_result.cell(row=_row, column=2).value = None
+            ws_result.cell(row=_row, column=3).value = None
+
+
+def find_row_start(data_file, df, conditions, av, rr, vel, estop, w2t):
+    # 功能：查找数据文件中有效数据的行号，也即最后一个速度下降的点位
+    # 参数：如上
+    # 返回值：速度下降点位，最后的数据点位
+    ratio = float(conditions[2].removeprefix('speed')) / 100
+    av_max = av * ratio
+    row_max = df.index[-1]
+    threshold = 0.95
+
+    for _row in range(row_max, -1, -1):
+        if df.iloc[_row, estop - 1] != 0:
+            row_start = _row - 20 if _row - 20 > 0 else 0
+            break
+    else:
+        w2t(f"数据文件 {data_file} 采集的数据中没有 ESTOP 为非 0 的情况，需要确认", 0, 9, 'red')
+
+    for _row in range(row_start, row_max):
+        speed_row = (df.iloc[_row, vel - 1] * 180) / 3.1415926 * rr * 60 / 360
+        if abs(speed_row) < 1:
+            row_end = _row + 100 if _row + 100 <= row_max else row_max
+            break
+    else:
+        w2t(f"数据文件 {data_file} 最后的速度未降为零 ", 0, 10, 'red')
+
+    av_estop = abs((df.iloc[row_start - 10:row_start + 10, vel - 1].abs().mean() * 180) / 3.1415926)
+    if abs(av_estop / av_max) < threshold:
+        filename = data_file.split('\\')[-1]
+        w2t(f"[av_estop: {av_estop:.2f} | shouldbe: {av_max:.2f}] 数据文件 {filename} 触发 ESTOP 时未采集到指定百分比的最大速度，需要检查", 0, 0, '#8A2BE2')
+
+    return row_start, row_end
+
+
+def find_result_sheet_name(conditions, count):
+    # 功能：获取结果文件准确的sheet页名称
+    # 参数：臂展和速度的列表
+    # 返回值：结果文件对应的sheet name
+    # 33%负载_33%速度_1 - ['loadxx', 'reachxx', 'speedxx']
+    load = conditions[0].removeprefix('load')
+    speed = conditions[2].removeprefix('speed')
+    result_sheet_name = f"{load}%负载_{speed}%速度_{count}"
+
+    return result_sheet_name
+
+
+def single_file_process(data_file, wb_result, count, av, rr, vel, trq, estop, w2t):
+    # 功能：完成单个数据文件的处理
+    # 参数：如上
+    # 返回值：-
+    df = read_csv(data_file, sep='\t')
+
+    conditions = sorted(data_file.split('\\')[-2].split('_'))  # ['loadxx', 'reachxx', 'speedxx']
+    result_sheet_name = find_result_sheet_name(conditions, count)
+    ws_result = wb_result[result_sheet_name]
+
+    row_start, row_end = find_row_start(data_file, df, conditions, av, rr, vel, estop, w2t)
+    copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop)
+
+
+def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
+    # 功能：完成一个结果文件的数据处理
+    # 参数：结果文件，数据目录，以及预读取的参数
+    # 返回值：-
+    file_name = result_file.split('\\')[-1]
+    w2t(f"正在打开文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
+
+    global stop
+    stop = 0
+    t_excel = clibs.GetThreadResult(load_workbook, args=(result_file,))
+    t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
+    t_excel.start()
+    t_wait.start()
+    t_excel.join()
+    wb_result = t_excel.get_result()
+    stop = 1
+    sleep(1.1)
+    w2t('')
+
+    prefix = result_file.split('\\')[-1].split('_')[0]
+    for raw_data_dir in raw_data_dirs:
+        if raw_data_dir.split('\\')[-1].split('_')[0] == prefix:
+            now_doing_msg(raw_data_dir, 'start', w2t)
+            _, data_files = clibs.traversal_files(raw_data_dir, w2t)
+            # 数据文件串行处理模式---------------------------------
+            # count = 1
+            # for data_file in data_files:
+            #     now_doing_msg(data_file, 'start', w2t)
+            #     single_file_process(data_file, wb_result, count, av, rr, vel, trq, estop, w2t)
+            #     count += 1
+            #     now_doing_msg(data_file, 'done', w2t)
+            # ---------------------------------------------------
+            # 数据文件并行处理模式---------------------------------
+            threads = [
+                Thread(target=single_file_process, args=(data_files[0], wb_result, 1, av, rr, vel, trq, estop, w2t)),
+                Thread(target=single_file_process, args=(data_files[1], wb_result, 2, av, rr, vel, trq, estop, w2t)),
+                Thread(target=single_file_process, args=(data_files[2], wb_result, 3, av, rr, vel, trq, estop, w2t))
+            ]
+            [t.start() for t in threads]
+            [t.join() for t in threads]
+            # ---------------------------------------------------
+            now_doing_msg(raw_data_dir, 'done', w2t)
+
+    now_doing_msg(result_file, 'done', w2t)
+    w2t(f"正在保存文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
+    stop = 0
+    t_excel = Thread(target=wb_result.save, args=(result_file,))
+    t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
+    t_excel.start()
+    t_wait.start()
+    t_excel.join()
+    stop = 1
+    sleep(1.1)
+    w2t('\n')
+
+
+def main():
+    # path, vel, trq, estop, w2t
+    path = clibs.data_dp["_path"]
+    vel = int(clibs.data_dp["_vel"])
+    trq = int(clibs.data_dp["_trq"])
+    estop = int(clibs.data_dp["_estop"])
+    w2t = clibs.w2t
+    insert_logdb = clibs.insert_logdb
+    time_start = time.time()
+    rawdata_dirs, result_files = clibs.traversal_files(path, w2t)
+
+    # threads = []
+    check_files(path, rawdata_dirs, result_files, w2t)
+    # av, rr = get_configs(path + '\\configs.xlsx', w2t)
+    #
+    # prefix = []
+    # for raw_data_dir in rawdata_dirs:
+    #     prefix.append(raw_data_dir.split('\\')[-1].split("_")[0])
+    #
+    # for result_file in result_files:
+    #     if result_file.split('\\')[-1].split('_')[0] not in set(prefix):
+    #         continue
+    #     else:
+    #         now_doing_msg(result_file, 'start', w2t)
+    #         data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t)
+    #     # threads.append(Thread(target=data_process, args=(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t)))
+    # # [t.start() for t in threads]
+    # # [t.join() for t in threads]
+
+    w2t("----------------------------------------------------------\n")
+    w2t("全部处理完毕\n")
+    time_end = time.time()
+    time_total = time_end - time_start
+    msg = f"数据处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s\n"
+    w2t(msg)
+
+
+if __name__ == "__main__":
+    main()