自动化测试电机电流功能迁移完成

assets/files/examples/自动测试/电机电流/NB4h_R580_3G/NB4h-R580-3G.cfg

@@ -0,0 +1,152 @@
+{
+    "ROBOT_NAME": "NB4h-R580-3G",
+    "CONFIGURATION": {
+        "AXES_NUMBER": 6,
+        "CLASS": "INDUSTRIAL",
+        "TYPE": "Standard_6_axes",
+        "PAYLOAD": 4
+    },
+    "VERSION": "ME_AE_SS_xC.v3.0.1.R0",
+    "KINEMATICS": {
+        "ROBOT_DIMENSIONS": [0.0, 0.0, 0.0, 0.0, 0.0, 333.0, 0.0, 0.0, 280.0, 300.0, 0.0, 15.0, 0.0, 0.0, 0.0, 75.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+        "DH_PARAMS": [0.0, 0.0, 333.0, 0.0, -90.0, 0.0, 0.0, -90.0, 0.0, 280.0, 0.0, 0.0, -90.0, 15.0, 300.0, 0.0, 90.0, 0.0, 0.0, 0.0, -90.0, 0.0, 75.0, 180.0, 0.0, 0.0, 0.0, 0.0],
+        "DH_PARAMS_SUPPORT": 0,
+        "JOINT_RANGE_MIN": [-171, -90.3, -200.5, -171.5, -123.25, -360],
+        "JOINT_RANGE_MAX": [171, 130.3, 55.5, 171.5, 123.25, 360],
+        "JOINT_RANGE_MIN_CUSTOMIZE": [-170, -90, -200, -170, -120, -360],
+        "JOINT_RANGE_MAX_CUSTOMIZE": [170, 130, 55, 170, 120, 360],
+        "JOINT_CALIBRATE_ANGLE": [8.55, 0, 0, 66, 0, 0],
+        "TRANSPORT_POSTURE": [0, -20, 51, 0, 59, 0],
+        "DRAG_POSTURE": [0, 0, 0, 0, 0, 0],
+        "ROBOT_DIMENSIONS_AID": []
+    },
+    "DYNAMICS": {
+        "JOINT_DAMPING_GAIN": [1, 1, 1, 1, 1, 1],
+        "JOINT_STIFFNESS_GAIN": [1, 1, 1, 1, 1, 1],
+        "JOINT_DAMPING": [],
+        "JOINT_STIFFNESS": [],
+        "VIBRATION_SUPPRESSION_ENABLE": false,
+        "FLEX_SUPPORT": false,
+        "INERTIA_DEAD_ZONE": [],
+        "FEEDFOREWARD_TRQ_FACTOR": [],
+        "TRAJECTORY_PARAMS": [5, 0.1, -0.04072466, 0.43086896, 0.36515585, 0.67591341, 0.27004892, 0.93559897, 0.267038749999999, 1.25511993, -0.14383751, 0.47007479, 0.310998109999999, 0.290793199999999, -0.239750529999999, 0.7878315, 0.706314809999999, -0.46671499, -0.00693842999999999, -0.19215951, 0.56794257, 0.883894509999999, 0.49373632, 0.01380959, 0.83099347, 0.38849866, 0.76181887, 0.581606489999999, 0.0172037599999999, 0.54098027, 0.656982029999999, 0.99054692, -0.07611184, 0.95722059, 0.75434694, 0.493781409999999, 0.582492939999999, 0.0299886699999999, 0.0905649399999999, -0.12391953, 0.09264124, 0.681803229999999, 0.21261835, -0.10514286, -0.74680413, 0.0146706, -1.57221134999999, 1.45187746999999, -0.4803584, 0.681643499999999, 0.37682458, 0.07648201, -0.05270971, -0.291863309999999, -0.570327359999999, -0.52805053, -0.278856209999999, -0.00355706999999999, 0.08835215, -0.232046439999999, -0.812577149999999, 0.00243426, 0.12064894, 0.327550049999999, -0.58553805, -0.01712549, -0.138711389999999, 0.92037943],
+        "IDENT_PARAMS_NF": [],
+        "PAYLOAD_PARAMS": [-0.0746499999999999, 0.0756249999999999, -0.0756249999999999, 0.275, 0.0790249999999999, 0.0777749999999999, 0.025, 0.28, 0.005329, 0.005329, 0.0729999999999999, 0.145999999999999, 0.145999999999999, 1, 1, 1, 1, 1, 1, 1],
+        "MODEL_BUILD_TYPE": 0,
+        "FRICTION_TYPE": 0,
+        "LINK_MASS": [4.542, 3.825, 2.207, 2.915, 1.585, 0.32],
+        "LINK_CENTROID": [-13.755, 16.08, 247.871, -8.709, 15.072, 135.405, 5.145, 6.671, -1.307, -122.719, 0.608, -0.188, 28.128, -1.014, 0.004, -9.557, 0.0, 0.051],
+        "LINK_MOMENT_OF_INERTIA_LOW": [26730.697, 23305.849, 18705.243, -389.139, 981.756, 1367.986, 55818.209, 49259.926, 13261.075, 71.676, -691.385, 1157.377, 4469.258, 4594.973, 5057.332, -88.824, 654.697, -69.477, 4638.362, 20273.735, 21764.076, 225.359, 17.193, 15.37, 1429.243, 2084.235, 2335.733, 45.188, 0.656, -0.408, 197.165, 118.444, 119.352, -0.0, 0.085, -0.0],
+        "MOTOR_INERTIA": [835553.702, 420546.841, 212626.306, 86013.415, 38263.971, 157525.725],
+        "CUBIC_FRICTION_PARAMS": [0.126, 1.447, 7.75, -5.222, 0.137, -1.59, 8.462, 4.614, 0.049, 0.477, 3.277, -5.465, 0.036, -0.431, 3.259, 6.058, 0.043, 0.54, 3.008, -4.789, 0.03, -0.414, 2.75, 4.184, 0.019, 0.367, 3.08, -4.867, 0.019, -0.372, 3.16, 4.732, 0.007, 0.137, 1.419, -2.47, 0.008, -0.149, 1.504, 2.418, 0.009, 0.163, 1.362, -1.95, 0.01, -0.171, 1.397, 1.942, 7.803, 5.538, 5.022, 9.391, 7.783, 10.495],
+        "PIECE_WISE_LINEAR_FRICTION_PARAMS": [-0.06535761799684625, 5.307688270951032, 1.7604060137212758, 6.068038154979308, 5.583910262589325, 2.6218551937934973, 6.732621808450132, 4.471944392836248, 7.806749671368908, 7.0602371104504185, 7.853981633974483, 5.331997878206609, 0.24831213946387853, 5.840754037739742, 0.7403630230897218, 2.968216798484358, 1.5824972029194462, 2.407956752510862, 2.589954407861573, 1.937742619236955, 5.573021764456917, 1.58751952063559, 5.8904862254808625, 4.357924135448341e-07, -0.30232711860210815, 4.529134308122705, 0.8817788776693095, 2.4193841686971425, 1.916911521752169, 1.7713111112576077, 3.095284385491982, 1.2439578089982188, 4.999009668864633, 0.889507380429942, 5.235987755982989, 1.6838803244759562e-05, 0.07276495199295319, 5.073757316934823, 2.954918730146166, 2.2231836749454685, 8.925123452528698, 0.8524820442812915, 9.39438330300407, 1.1316138156617148, 10.664561784960355, 4.4656417123822525e-07, 10.681415022205297, -1.1884619119438249e-05, -0.022751910304290357, 2.4695451161700452, 1.2278079266323212, 1.3395643105831287, 2.6707582902172615, 1.0161324308647695, 4.316481644896923, 0.7563247691632612, 7.79933238944163, 0.593519692288847, 9.666438934122441, -2.374687996390956e-07, 0.016116837609708723, 1.986467017026887, 1.6666214728424908, 1.1416576684507849, 3.461070297757759, 0.7112239873757976, 8.31710269092633, 0.457300468823857, 10.593335243447141, 0.8462317840546537, 16.226303519258618, -5.592302627025284e-08],
+        "IDENT_PARAMS_WF": [-0.3835157067, 5.035909, 9.38751, 0.1737, 0.9389008715, -0.0260568815, -0.0586179693999999, -0.0358425081999999, 0.0965298651999999, 3.1896350395, 0.0475487017, 5.403823, 5.012539, -2.883714, 0.3274178574, 0.0209162596999999, -0.0671335438, 0.761626541199999, 0.0442403211, 0.0940986696, 0.9138090424, 2.617634, 6.395417, 0.004183, 0.0771906938, -0.0003390905, 0.0237117726, 0.0798426609, -0.0119266748, 0.0108141559, 0.0497106805, 1.0543, 2.663184, 0.15474, -0.0370267432999999, -0.0054303809, -0.0239029530999999, 0.0071703301, 0.0127975931, 0.0017350899, -0.00237885969999999, 0.779036, 1.647843, 0.075562, 0.0053908232, -0.0112614849, 0.0124041744, -0.0061579121, 0.0070301924, 0.0023095324, 0.0040231572, 1.033086, 3.76907, 0.118944],
+        "LINK_MOMENT_OF_INERTIA": [26730.697, 23305.849, 854258.945, -389.139, 981.756, 1367.986, 55818.209, 469806.767, 13261.075, 71.676, -691.385, 1157.377, 4469.258, 217221.279, 5057.332, -88.824, 654.697, -69.477, 90651.777, 20273.735, 21764.076, 225.359, 17.193, 15.37, 1429.243, 40348.207, 2335.733, 45.188, 0.656, -0.408, 119.352, 118.444, 157722.891, -0.0, 0.085, -0.0],
+        "LINK_MASS_AID": [],
+        "LINK_CENTROID_AID": [],
+        "LINK_MOMENT_OF_INERTIA_AID": []
+    },
+    "MOTOR": {
+        "ENCODER_RESOLUTION": [131072, 131072, 131072, 131072, 131072, 131072],
+        "RATED_SPEED": [3000, 3000, 3000, 3000, 3000, 3000],
+        "MAX_SPEED": [6000, 6000, 6000, 6000, 6000, 6000],
+        "MAX_SPEED_CUSTOMIZE": [6000, 6000, 6000, 6000, 6000, 6000],
+        "RATED_TORQUE": [1.27, 0.64, 0.32, 0.32, 0.16, 0.32],
+        "TORQUE_OVERLOAD_FACTOR": [0.95, 1.5, 1.9, 1.45, 1.25, 1.55],
+        "PEAK_TORQUE": [4.46, 2.23, 1.11, 1.11, 0.56, 1.11],
+        "STALL_TORQUE": [1.27, 0.64, 0.32, 0.32, 0.16, 0.32],
+        "RATED_TORQUE_AT_MAX_SPEED": [0.64, 0.32, 0.159, 0.159, 0.08, 0.159],
+        "PEAK_TORQUE_AT_MAX_SPEED": [2, 1, 0.79, 0.79, 0.56, 0.79],
+        "SPEED_AT_PEAK_TORQUE_TURN_POINT": [3600, 3600, 4100, 4100, 6000, 4100],
+        "TORQUE_GRADIENT": [0.00021, 0.000107, 5.4e-05, 5.4e-05, 2.7e-05, 5.4e-05]
+    },
+    "TRANSMISSION": {
+        "REDUCTION_RATIO_NUMERATOR": [80, -106.66666666666666, -120, -58.82352941176471, -65, -38.72222222222222],
+        "REDUCTION_RATIO_DENOMINATOR": [1, 1, 1, 1, 1, 1],
+        "MAX_TORQUE_FOR_START_AND_STOP": [73, 73, 66.5, 33, 15, 22.5],
+        "OVERLOAD_FACTOR": [0.95, 1.45, 0.95, 0.95, 0.95, 0.95],
+        "COUPLING_FACTOR": [0, 0, -0.02582496413199426],
+        "MAX_AVERAGE_TORQUE": [46, 46, 48.5, 25.5, 6.2, 17.6],
+        "MAX_PEAK_TORQUE": [124, 124, 135.9, 69, 29, 47],
+        "MAX_INPUT_SPEED": [6500, 6500, 7300, 7200, 8200, 7200]
+    },
+    "MOTION": {
+        "MIN_SMOOTH_TIME": 1,
+        "MAX_SMOOTH_TIME": 1024,
+        "SMOOTH_TIME": 1,
+        "FILTER_ENABLE": false,
+        "VEL_SMOOTH_FACTOR": 1,
+        "JOINT_MAX_SPEED": [450.0, 318.0, 288.0, 550.0, 450.0, 612.0],
+        "JOINT_MAX_ACC": [10900, 8900, 5300, 8060, 4893, 10400],
+        "JOINT_MAX_JERK": [421000, 249000, 199000, 161200, 65244, 41800],
+        "TCP_MAX_SPEED": 7000,
+        "TCP_MAX_ACC": 5000,
+        "TCP_MAX_JERK": 100000,
+        "TCP_ROTATE_MAX_SPEED": 500,
+        "TCP_ROTATE_MAX_ACC": 600,
+        "TCP_ROTATE_MAX_JERK": 2000,
+        "JERK_LIMIT_CART": 1000,
+        "JERK_LIMIT_ROT": 1000,
+        "JERK_LIMIT_JOINT": 7000,
+        "MAX_ACC_PARAMS": [1, 0.5],
+        "MIN_ACC_PARAMS": [0.3, 0.02],
+        "DEFAULT_ACC_PARAMS": [1, 0.08],
+        "ACC_RAMPTIME_JOG": 0.06,
+        "ACC_RAMPTIME_STOP": 0.08
+    },
+    "SAFETY_CONTROL": {
+        "STOP_STO_TIME": [260, 760],
+        "BACK_DISTANCE": 3,
+        "STOP0_TYPE": 2,
+        "STOP0_TIME": 50,
+        "STOP0_LENGTH": 3,
+        "STOP0_DELAY": 240,
+        "STOP1_TYPE": 2,
+        "STOP1_TIME": 150,
+        "STOP1_LENGTH": 6,
+        "STOP1_DELAY": 700,
+        "STOP2_TYPE": 2,
+        "STOP2_TIME": 150,
+        "STOP2_LENGTH": 6,
+        "STOP2_DELAY": 700
+    },
+    "COLLISION": {
+        "ZERO_PROTECT_ENABLE": false,
+        "PATH_SPEED_MIN": [6, 6, 6, 2, 2, 2],
+        "PATH_SPEED_MAX": [25, 25, 15, 8, 5, 4],
+        "JOG_SPEED_MIN": [6, 6, 6, 2, 2, 2],
+        "JOG_SPEED_MAX": [25, 25, 15, 8, 5, 4],
+        "DELAY_PERIOD_RANGE": 50,
+        "SENSITIVITY": {
+            "LOW": [300, 300, 300, 50, 50, 50],
+            "MEDIUM": [30, 30, 30, 20, 20, 20],
+            "HIGH": [4, 4, 4, 2, 2, 2],
+            "ULTRA_LOW": [300, 300, 300, 50, 50, 50],
+            "ULTRA_MEDIUM": [30, 30, 30, 20, 20, 20],
+            "ULTRA_HIGH": [4, 4, 4, 2, 2, 2]
+        }
+    },
+    "FORCE_CONTROL": {
+        "COMMON": {
+            "MAX_TRQ_CMD": [300, 300, 200, 80, 40, 40],
+            "PROTECT_FORCE_SWITCH": 1,
+            "COMPLIANCE_KD_IN_SLOWDOWN": [1, 1, 1, 1, 0.5, 0.5],
+            "COMPLIANCE_KI_IN_SLOWDOWN": [20, 20, 10, 5, 1, 1],
+            "PROTECT_FORCE_DAMP": [80, 80, 25, 10, 3, 3],
+            "PROTECT_FORCE_MAXTIME": 200
+        }
+    },
+    "RSC_PROTECT": {
+        "POS_FOLLOWING_ERROR_THRESHOLD": [262144, 262144, 262144, 262144, 262144, 262144],
+        "VEL_FOLLOWING_ERROR_THRESHOLD": [1200, 1000, 1000, 1000, 1000, 1000],
+        "CONTINUE_TIME": [1500, 1000, 0, 0],
+        "PROTECT_SUPPORT": false
+    },
+    "TEACHING": {
+        "FRICTION_FACTOR": [1, 1, 1, 1, 1, 1],
+        "INERTIAL_FACTOR": 0.3,
+        "MAX_CARTESIAN_SPEED": 0.25,
+        "MAX_JOINT_SPEED": 0.5,
+        "TORQUE_FACTOR": 1
+    }
+}

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_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_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_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_info.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=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=2, padx=(0, 10), pady=0)
-        self.btn_reset_estop.grid(row=0, column=3, 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
+import time
-from os import mkdir
+import os
-from paramiko import SSHClient, AutoAddPolicy
+import paramiko
-from openpyxl import load_workbook
+import openpyxl
-from pandas import DataFrame, concat
+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 = []
+            os.mkdir(f"{path}/j1")
-            mkdir(f"{path}/j1")
+            os.mkdir(f"{path}/j2")
-            mkdir(f"{path}/j2")
+            os.mkdir(f"{path}/j3")
-            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}")
+                    os.mkdir(f"{path}/j1/{dir_name}")
-                    mkdir(f"{path}/j2/{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()
+    _config_file, _reach33, _reach66, _reach100, _prj_file, _result_dirs = check_files()
-    avs = get_configs()
+    _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})
+    df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
-    df2 = DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
+    df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
-    df3 = DataFrame.from_dict({"device_safety_estop": d_stop})
+    df3 = pandas.DataFrame.from_dict({"device_safety_estop": d_stop})
-    df = concat([df1, df2, df3], axis=1)
+    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 = paramiko.SSHClient()
-                    ssh.set_missing_host_key_policy(AutoAddPolicy())
+                    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)
+                            time.sleep(1)
-                            if (time() - t_start) // 20 > 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):
+                    def get_speed_max():
-                        speed_max = 0
+                        _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)
+                                        _speed_max = min(_, _speed_max)
-                        return 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)
+                        time.sleep(1)
-                        if (time() - t_start) > 30:
+                        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(msg, "red", "InitFileError")
-            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:
@@ -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(msg, "red", "InitFileError")
-                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(msg, "red", "InitFileError")
-            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":
             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):
@@ -61,15 +62,15 @@ 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[0])["data"]
-        data = eval(record)["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})
@@ -80,39 +81,44 @@ def single_axis_proc(path, records, number):
 
 
 def scenario_proc(path, records, number, scenario_time):
+    for axis in range(6):
         d_vel, d_trq, d_sensor = [], [], []
         for record in records:
-        print(f"record = {record}")
+            data = eval(record[0])["data"]
-        data = eval(record)["data"]
-        for axis in range(6):
             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(item["value"])
+                    d_vel.extend(d_item)
                 elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
-                    d_trq.extend(item["value"])
+                    d_trq.extend(d_item)
                 elif item.get("channel", None) == axis 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}/s_{number-11}/j{axis}_s_{number-11}_{scenario_time}_{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 gen_result_file(path, number, start_time, end_time, scenario_time):
     @clibs.db_lock
-def gen_result_file(path, number, scenario_time):
+    def get_records(s_time, e_time):
-    if number < 12:  # 35s/15s == 700/300
+        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")
-        len_records = 700 if number < 6 else 300
+        _ = clibs.cursor.fetchall()
-        clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
+        return _
-        records = clibs.cursor.fetchall()
+
-        single_axis_proc(path, records, number)
+    if number < 12:
-    elif number < 15:  # scenario time
+        records = get_records(start_time, end_time)
-        len_records = int(scenario_time * 20) + 1
+        p = multiprocessing.Process(target=single_axis_proc, args=(path, records, number))
-        clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
+        p.daemon = True
-        records = clibs.cursor.fetchall()
+        p.start()
-        scenario_proc(path, records, number, scenario_time)
+    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.r_soft_estop(0)
-    md.reset_estop()
+    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:
+                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程序编写正确并正常执行...", "red", "ReadySignalTimeoutError")
+                    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
+        # 4. 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
+        time.sleep(10)  # 消除前 10s 的不稳定数据
-        scenario_time = 0
+        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()
+                scenario_time = float(f"{float(md.read_scenario_time()):.2f}")
-                if float(scenario_time) > 1:
+                if float(scenario_time) != 0:
-                    w2t(f"场景{number-5}的周期时间：{scenario_time}\n")
+                    w2t(f"场景{number - 11}的周期时间：{scenario_time}\n")
                     break
                 else:
-                    time.sleep(5)
+                    time.sleep(1)
-                    if (time.time()-t_start)//60 > 3:
+                    if (time.time()-t_start) > 180:
-                        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")
+                        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(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
+            time.sleep(20)
-            scenario_time = md.read_scenario_time()
-            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", tasks=["current"])
+        end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
-        gen_result_file(path, number, scenario_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)
+        results = self.__c.read_holding_registers(40601, count=2)
-        result = BinaryPayloadDecoder.fromRegisters(results.registers, byteorder=Endian.BIG, wordorder=Endian.LITTLE)
+        result = self.__c.convert_from_registers(results.registers, data_type=self.__c.DATATYPE.FLOAT32, word_order="little")
-        result = f"{result.decode_32bit_float():.3f}"
         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()