制动性能测试和数据处理已完成

.gitignore

@@ -2,6 +2,7 @@ test.py
 .idea/
 .venv/
 assets/logs/
+assets/files/examples/
 package/
 code/common/__pycache__/
 code/data_process/__pycache__/

assets/files/protocols/collision.get_params.json

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

assets/files/protocols/collision.set_params.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "collision.set_params",
+    "data": null
+}

assets/files/protocols/collision.set_state.json

@@ -0,0 +1,7 @@
+{  
+    "module": "safety",
+    "command": "collision.set_state",
+    "data": {
+      "collision_state": false
+    }
+}

assets/files/protocols/controller.get_params.json

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

assets/files/protocols/controller.reboot.json

@@ -0,0 +1,8 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "system",
+    "command": "controller.reboot",
+    "data": {
+        "arg": 6
+    }
+}

assets/files/protocols/controller.set_params.json

@@ -0,0 +1,8 @@
+{
+    "id": "xxxxxxxxxxx",
+    "module": "system",
+    "command": "controller.set_params",
+    "data": {
+        "time": "2020-02-28 15:28:30"
+    }
+}

assets/files/protocols/drag.get_params.json

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

assets/files/protocols/drag.set_params.json

@@ -0,0 +1,10 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "dynamic",
+    "command": "drag.set_params",
+    "data": {  
+        "enable": true,
+        "space": 0,
+        "type": 0
+    }
+}

assets/files/protocols/fieldbus_device.get_params.json

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

assets/files/protocols/fieldbus_device.load_cfg.json

@@ -0,0 +1,8 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "fieldbus_device.load_cfg",
+    "data": {
+        "file_name": "fieldbus_device.json"
+    }
+}

assets/files/protocols/fieldbus_device.set_params.json

@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "fieldbus_device.set_params",
+    "data": {
+        "device_name": "modbus_1",
+        "enable": true
+    }
+}

assets/files/protocols/io_device.load_cfg.json

@@ -0,0 +1,5 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "io",
+    "command": "io_device.load_cfg"
+}

assets/files/protocols/jog.get_params.json

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

assets/files/protocols/jog.set_params.json

@@ -0,0 +1,10 @@
+{
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "jog.set_params",
+    "data": {  
+        "step": 1000,
+        "override": 0.2,
+        "space": 5
+    }
+}

assets/files/protocols/jog.start.json

@@ -0,0 +1,10 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "jog.start",
+    "data": {  
+        "index": 0,
+        "direction": true,
+        "is_ext": false
+    }
+}

assets/files/protocols/log_code.data.code_list.json

@@ -0,0 +1,8 @@
+{
+    "id": "log_code.data.code_list",
+    "s": {
+        "log_code.data": {
+            "code_list": []
+        }
+    }
+}

assets/files/protocols/log_code.data.json

@@ -0,0 +1,5 @@
+{
+    "g": {
+        "log_code.data": "null"
+    }
+}

assets/files/protocols/modbus.get_params.json

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

assets/files/protocols/modbus.get_values.json

@@ -0,0 +1,8 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.get_values",
+    "data": {
+        "mode": "all"
+    }
+}

assets/files/protocols/modbus.load_cfg.json

@@ -0,0 +1,8 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.load_cfg",
+    "data": {
+        "file" : "registers.json"
+     }
+}

assets/files/protocols/modbus.set_params.json

@@ -0,0 +1,12 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.set_params",
+    "data": {  
+        "enable_slave": true,
+        "ip": "192.168.0.160",
+        "port": 502,
+        "slave_id": 0,
+        "enable_master": false
+    }
+}

assets/files/protocols/move.get_joint_pos.json

@@ -0,0 +1,5 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_joint_pos"
+}

assets/files/protocols/move.get_monitor_cfg.json

@@ -0,0 +1,5 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_monitor_cfg"
+}

assets/files/protocols/move.get_params.json

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

assets/files/protocols/move.get_pos.json

@@ -0,0 +1,5 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_pos"
+}

assets/files/protocols/move.get_quickstop_distance.json

@@ -0,0 +1,5 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_quickstop_distance"
+}

assets/files/protocols/move.get_quickturn_pos.json

@@ -0,0 +1,5 @@
+{
+    "id" : "xxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_quickturn_pos"
+}

assets/files/protocols/move.quick_turn.json

@@ -0,0 +1,8 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.quick_turn",
+    "data": {  
+        "name":"home"
+    }
+}

assets/files/protocols/move.set_monitor_cfg.json

@@ -0,0 +1,8 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_monitor_cfg",
+    "data": {
+       "ref_coordinate": 1
+    }
+}

assets/files/protocols/move.set_params.json

@@ -0,0 +1,17 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_params",
+    "data": {
+		"MOTION": {
+			"JOINT_MAX_SPEED": [1.0,0.0,0.0,0.0,0.0,0.0],
+			"JOINT_MAX_ACC": [1.0,0.0,0.0,0.0,0.0,0.0],
+			"JOINT_MAX_JERK": [1.0,0.0,0.0],
+			"TCP_MAX_SPEED": 500,
+			"DEFAULT_ACC_PARAMS": [0.3,1.0],
+			"VEL_SMOOTH_FACTOR": 3.33,
+			"ACC_RAMPTIME_JOG": 0.01
+	   }
+    }
+     
+}

assets/files/protocols/move.set_quickstop_distance.json

@@ -0,0 +1,8 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_quickstop_distance",
+    "data":{
+        "distance": 2
+    }
+}

assets/files/protocols/move.set_quickturn_pos.json

@@ -0,0 +1,15 @@
+{
+    "id" : "xxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_quickturn_pos",
+    "data": {
+        "enable_home": false,
+        "enable_drag": false,
+        "enable_transport": false,
+        "joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
+        "joint_drag": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
+        "joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
+        "end_posture": 0,
+        "home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+    }
+}

assets/files/protocols/move.stop.json

@@ -0,0 +1,8 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.stop",
+    "data":{
+        "stoptype": 0
+    }
+}

assets/files/protocols/safety.safety_area.overall_enable.json

@@ -0,0 +1,7 @@
+{
+    "c": {
+        "safety.safety_area.overall_enable": {
+            "enable": true
+        }
+    }
+}

assets/files/protocols/safety.safety_area.safety_area_enable.json

@@ -0,0 +1,8 @@
+{
+    "c": {
+        "safety.safety_area.safety_area_enable": {
+            "id": 0,
+            "enable": true
+        }
+    }
+}

assets/files/protocols/safety.safety_area.set_param.json

@@ -0,0 +1,5 @@
+{
+    "c": {
+        "safety.safety_area.set_param": null
+    }
+}

assets/files/protocols/safety.safety_area.signal_enable.json

@@ -0,0 +1,7 @@
+{
+    "c": {
+		"safety.safety_area.signal_enable": {
+			"signal": true
+		}
+	}
+}

assets/files/protocols/safety_area_data.json

@@ -0,0 +1,5 @@
+{
+    "g": {
+        "safety_area_data": null
+    }
+}

assets/files/protocols/servo.clear_alarm.json

@@ -0,0 +1,5 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "robot",
+    "command": "servo.clear_alarm"
+}

assets/files/protocols/socket.get_params.json

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

assets/files/protocols/socket.set_params.json

@@ -0,0 +1,17 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "network",
+    "command": "socket.set_params",
+    "data": {
+        "enable": true,
+        "ip": "",
+        "name": "c1",
+        "port": "8080",
+        "suffix": "\r",
+        "type": 1,
+        "reconnect_flag": false,
+        "auto_connect": true,
+        "disconnection_triggering_behavior": 0,
+        "disconnection_detection_time": 10
+    }
+}

assets/files/protocols/soft_limit.get_params.json

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

assets/files/protocols/soft_limit.set_params.json

@@ -0,0 +1,12 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "soft_limit.set_params",
+    "data": {  
+        "enable": true,
+        "upper": [0,0,0,0,0,0,0],
+        "lower": [0,0,0,0,0,0,0],
+        "reduced_upper": [0,0,0,0,0,0,0],
+        "reduced_lower": [0,0,0,0,0,0,0]
+    }
+}

assets/files/protocols/system_io.query_configuration.json

@@ -0,0 +1,5 @@
+{    
+	"id": "xxxxxxxxxxx",
+	"module": "io",
+	"command": "system_io.query_configuration"
+}

assets/files/protocols/system_io.query_event_cfg.json

@@ -0,0 +1,5 @@
+{    
+	"id": "xxxxxxxxxxx",
+	"module": "io",
+	"command": "system_io.query_event_cfg"
+}

assets/files/protocols/system_io.update_configuration.json

@@ -0,0 +1,9 @@
+{  
+    "id": "xxxxxxxxxxx",
+	"module": "io",
+	"command": "system_io.update_configuration",
+    "data": {
+        "input_system_io": {},
+        "output_system_io": {}
+    }
+}

code/aio.py

@@ -15,7 +15,7 @@ from datetime import datetime
 import os
 from common import clibs, openapi
 from data_process import current, brake, iso, wavelogger
-from automatic_test import do_current
+from automatic_test import do_current, do_brake
 import threading
 import re
 
@@ -298,7 +298,7 @@ class App:
     def __is_running(operation):
         if clibs.running:
             messagebox.showerror(title="处理中", message=f"有程序正在运行，需等待结束后，在执行{operation}操作！")
-            return
+            return "running"
 
     def __program_start(self):
         def get_data_dp():
@@ -323,7 +323,8 @@ class App:
             return data
 
         def init_op():
-            self.__is_running("开始")
+            if self.__is_running("开始") == "running":
+                return
             self.text_output.delete("1.0", ctk.END)
             self.tabview_bottom.set("输出")
             clibs.tl_prg = self.__toplevel_progress
@@ -339,7 +340,6 @@ class App:
         def exec_function():
             init_op()
             if self.tabview_top.get() == "数据处理":
-                if not clibs.running:
                 clibs.running = True
                 clibs.data_dp = get_data_dp()
                 try:
@@ -347,10 +347,7 @@ class App:
                 finally:
                     clibs.running = False
                     clibs.stop = False
-                else:
-                    messagebox.showinfo(title="进行中...", message="当前有程序正在运行！")
             elif self.tabview_top.get() == "自动测试":
-                if not clibs.running:
                 clibs.running = True
                 clibs.data_at = get_data_at()
                 try:
@@ -358,8 +355,6 @@ class App:
                 finally:
                     clibs.running = False
                     clibs.stop = False
-                else:
-                    messagebox.showinfo(title="进行中...", message="当前有程序正在运行！")
 
         exec_function()
 
@@ -371,7 +366,8 @@ class App:
             self.entry_path_atv.set("数据文件夹路径")
             self.entry_path_atv.set("数据文件夹路径")
 
-        self.__is_running("重置")
+        if self.__is_running("重置") == "running":
+            return
 
         if clibs.db_state == "readwrite":
             res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及日志记录，且不可恢复，请确认！", default=messagebox.NO, icon=messagebox.WARNING)
@@ -522,7 +518,8 @@ class App:
         get_next_page()
 
     def __load_log_db(self):
-        self.__is_running("加载")
+        if self.__is_running("加载") == "running":
+            return
         db_file = filedialog.askopenfilename(title="加载数据库文件", defaultextension=".db", initialdir=f"{clibs.PREFIX}/logs")
         if not db_file:
             return
@@ -979,10 +976,9 @@ 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_md.write_speed_max(123.456)
                         # 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")

code/automatic_test/do_brake.py

@@ -4,33 +4,33 @@ import paramiko
 import openpyxl
 import pandas
 import json
-from commons import clibs
+from common import clibs, openapi
 
 
 def initialization(path, sub, data_dirs, data_files, hr, w2t):
     def check_files():
-        if len(data_dirs) != 0 or len(data_files) != 6:
+        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五个文件，确认后重新运行！\n"
-            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")
+        msg += "1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n"
-            w2t("1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n", "red", "InitFileError")
+        if len(data_dirs) != 0 or len(data_files) != 5:
+            w2t(msg, "red", "InitFileError")
 
-        config_file, reach33, reach66, reach100, prj_file, result_dirs = None, None, None, None, None, []
+        config_file, reach33_file, reach66_file, reach100_file, prj_file, result_dirs = None, None, None, None, None, []
         for data_file in data_files:
             filename = data_file.split("/")[-1]
             if filename == "configs.xlsx":
                 config_file = data_file
             elif filename.startswith("reach33_") and filename.endswith(".xlsx"):
-                reach33 = data_file
+                reach33_file = data_file
             elif filename.startswith("reach66_") and filename.endswith(".xlsx"):
-                reach66 = data_file
+                reach66_file = data_file
             elif filename.startswith("reach100_") and filename.endswith(".xlsx"):
-                reach100 = data_file
+                reach100_file = data_file
             elif filename.endswith(".zip"):
                 prj_file = data_file
             else:
-                w2t("初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！", "red")
+                w2t(msg, "red", "InitFileError")
-                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:
+        if config_file and reach33_file and reach66_file and reach100_file and prj_file:
             os.mkdir(f"{path}/j1")
             os.mkdir(f"{path}/j2")
             os.mkdir(f"{path}/j3")
@@ -46,10 +46,9 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
                         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
+            return config_file, prj_file, result_dirs
         else:
-            w2t("初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！", "red")
+            w2t(msg, "red", "InitFileError")
-            w2t("1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n", "red", "InitFileError")
 
     def get_configs():
         robot_type = None
@@ -76,40 +75,45 @@ 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()
+    clibs.c_hr.set_socket_params(True, str(clibs.external_port), "\r", 1)
+    clibs.c_ec = openapi.ExternalCommunication(clibs.ip_addr, clibs.external_port)
+
+    _config_file, _prj_file, _result_dirs = check_files()
     _avs = get_configs()
 
-    return _config_file, _reach33, _reach66, _reach100, _prj_file, _result_dirs, _avs
+    return _config_file, _prj_file, _result_dirs, _avs
 
 
 @clibs.db_lock
-def gen_result_file(path, axis, reach, load, speed, rounds):
+def gen_result_file(path, axis, t_end, reach, load, speed, rounds):
     d_vel, d_trq, d_stop = [], [], []
 
-    len_records = 12 * 1000 // 50
+    start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(t_end-12))
-    clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
+    end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(t_end))
+    clibs.cursor.execute(f"select content from logs where time between '{start_time}' and '{end_time}' and content like '%diagnosis.result%' order by id asc")
     records = clibs.cursor.fetchall()
 
     for record in records:  # 保留最后12s的数据
-        data = eval(record)["data"]
+        data = eval(record[0])["data"]
         for item in data:
+            d_item = reversed(item["value"])
             if item.get("channel", None) == axis-1 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-1 and item.get("name", None) == "device_servo_trq_feedback":
-                d_trq.extend(item["value"])
+                d_trq.extend(d_item)
             elif item.get("channel", None) == 0 and item.get("name", None) == "device_safety_estop":
-                d_stop.extend(item["value"])
+                d_stop.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({"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"
+    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)
 
 
 def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
-    count, total = 0, 63
+    count, total, speed_target = 0, 63, 0
     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})
@@ -119,7 +123,9 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
     get_init_speed = float(ws.cell(row=3, column=2).value)
     single_brake = str(ws.cell(row=4, column=2).value)
     pon = ws.cell(row=5, column=2).value
-    w2t(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}\n")
+    io_name = ws.cell(row=6, column=2).value.upper()
+    wb.close()
+    w2t(f"基本参数配置：write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}, pon = {pon}\n")
 
     if pon == "positive":
         md.write_pon(1)
@@ -136,7 +142,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
         speed = condition.split("_")[2].removeprefix("speed")
 
         # for single condition test
-        single_axis = 0
+        single_axis = -1
         if single_brake != "0":
             total = 3
             single_axis = int(single_brake.split("-")[0])
@@ -145,25 +151,28 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
 
         for axis in range(1, 4):
             # for single condition test
-            if (single_axis != 0 and single_axis != axis) or (axis == 3 and reach != "100"):
+            if (single_axis != -1 and single_axis != axis) or (axis == 3 and reach != "100"):
                 continue
 
             md.write_axis(axis)
             w2t(f"-"*90+"\n", "purple")
             for rounds in range(1, 4):
                 count += 1
+                _ = 3 if count % 3 == 0 else count % 3
                 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")
+                w2t(f"[{this_time} | {count}/{total}] 正在执行 {axis} 轴 {condition} 的第 {_} 次制动测试...\n")
 
                 # 1. 触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
-                md.trigger_estop()
+                md.r_soft_estop(0)
-                md.reset_estop()
+                md.r_soft_estop(1)
-                md.clear_alarm()
+                clibs.c_ec.setdo_value(io_name, "true")
+                md.r_reset_estop()
+                md.r_clear_alarm()
                 md.write_act(0)
-                time.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)  # 急停超差后，等待写诊断时间，可通过configs.xlsx配置，2.3 版本之后设置为 0 即可
 
-                while count == 1:
+                while count % 3 == 1:
                     # 2. 修改要执行的场景
                     rl_cmd = ""
                     ssh = paramiko.SSHClient()
@@ -176,24 +185,24 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                     rl_speed = f"VelSet {speed}"
                     rl_tool = f"tool p_tool = tool{sub.removeprefix("tool")}"
                     cmd = "cd /home/luoshi/bin/controller/; "
-                    cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/brake_E/d" projects/{prj_name}/_build/brake/main.mod; '
-                    cmd += f'sudo sed -i "/DONOTDELETE/i {rl_cmd}" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/DONOTDELETE/i {rl_cmd}" projects/{prj_name}/_build/brake/main.mod; '
-                    cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/VelSet/d" projects/{prj_name}/_build/brake/main.mod; '
-                    cmd += f'sudo sed -i "/MoveAbsJ/i {rl_speed}" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/MoveAbsJ/i {rl_speed}" projects/{prj_name}/_build/brake/main.mod; '
-                    cmd += 'sudo sed -i "/tool p_tool/d" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/tool p_tool/d" projects/{prj_name}/_build/brake/main.mod; '
-                    cmd += f'sudo sed -i "/VelSet/i {rl_tool}" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/VelSet/i {rl_tool}" projects/{prj_name}/_build/brake/main.mod; '
                     stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
                     stdin.write(clibs.password + "\n")
                     stdout.read().decode()  # 需要read一下才能正常执行
                     stderr.read().decode()
 
                     # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
-                    hr.execution("overview.reload", prj_path=prj_path, tasks=["brake", "stop0_related"])
+                    hr.execution("overview.reload", prj_path=prj_path, tasks=["brake"])
-                    hr.execution("rl_task.pp_to_main", tasks=["brake", "stop0_related"])
+                    hr.execution("rl_task.pp_to_main", tasks=["brake"])
                     hr.execution("state.switch_auto")
                     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"])
+                    hr.execution("rl_task.run", tasks=["brake"])
                     t_start = time.time()
                     while True:
                         if md.read_ready_to_go() == 1:
@@ -201,21 +210,24 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, 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")
                 # 4. 找出最大速度，传递给RL程序，最后清除相关记录
+                    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()))
                     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"])
+                    end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
+                    hr.execution("rl_task.stop", tasks=["brake"])
+                    time.sleep(5)  # 确保数据都拿到
 
                     # 找出最大速度
                     @clibs.db_lock
                     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 time between '{start_time}' and '{end_time}' and content like '%diagnosis.result%' order by id asc")
-                        clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
                         records = clibs.cursor.fetchall()
                         for record in records:
-                            data = eval(record)["data"]
+                            data = eval(record[0])["data"]
                             for item in data:
                                 if item.get("channel", None) == axis-1 and item.get("name", None) == "hw_joint_vel_feedback":
                                     _ = clibs.RADIAN * sum(item["value"]) / len(item["value"])
@@ -234,20 +246,17 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                     md.write_speed_max(speed_max)
 
                     if speed_max < 10:
-                        md.clear_alarm()
+                        md.r_clear_alarm()
                         w2t("未获取到正确的速度，即将重新获取...\n", "red")
                         continue
                     else:
                         break
 
-                # 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停
+                # 5. 重新运行程序，发送继续运动信号，当速度达到最大值时，通过DO触发急停
-                md.reset_estop()  # 其实没必要
+                hr.execution("rl_task.pp_to_main", tasks=["brake"])
-                md.clear_alarm()
-
-                hr.execution("rl_task.pp_to_main", tasks=["brake", "stop0_related"])
                 hr.execution("state.switch_auto")
                 hr.execution("state.switch_motor_on")
-                hr.execution("rl_task.run", tasks=["brake", "stop0_related"])
+                hr.execution("rl_task.run", tasks=["brake"])
                 for i in range(3):
                     if md.read_ready_to_go() == 1:
                         md.write_act(1)
@@ -258,21 +267,38 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                     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")
 
                 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.time()
-                while True:
-                    if md.read_brake_done() == 1:
-                        time.sleep(4)  # 保证速度归零
-                        md.write_probe(0)
-                        break
-                    else:
-                        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")
 
+                def exec_brake():
+                    flag, start, data, record = True, time.time(), None, None
+                    while flag:
+                        time.sleep(0.2)
+                        if time.time() - start > 20:
+                            w2t("20s 内未触发急停，需排查......", "red", "BrakeTimeoutError")
+
+                        try:
+                            clibs.lock.acquire(True)
+                            clibs.cursor.execute(f"select content from logs where content like '%diagnosis.result%' order by id desc limit 1")
+                            record = clibs.cursor.fetchone()
+                            data = eval(record[0])["data"]
+                        finally:
+                            clibs.lock.release()
+
+                        for item in data:
+                            if item.get("channel", None) != axis-1 or item.get("name", None) != "hw_joint_vel_feedback":
+                                continue
+
+                            speed_moment = clibs.RADIAN * sum(item["value"]) / len(item["value"])
+                            if (pon == "positive" and speed_moment > 0) or (pon == "negative" and speed_moment < 0):
+                                if abs(speed_moment) > speed_target * 0.95:
+                                    clibs.c_ec.setdo_value(io_name, "false")
+                                    time.sleep(5)
+                                    flag = False
+                                    break
+                    return time.time()
+
+                t_end = exec_brake()
                 # 6. 保留数据并处理输出
-                gen_result_file(path, axis, reach, load, speed, rounds)
+                gen_result_file(path, axis, t_end, reach, load, speed, rounds)
     else:
         w2t(f"\n{sub.removeprefix("tool")}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。\n", "green")
         hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
@@ -280,21 +306,22 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
 
 
 def main():
-    # path, hr, md, loadsel, w2t
+    s_time = time.time()
     path = clibs.data_at["_path"]
     sub = clibs.data_at["_sub"]
     w2t = clibs.w2t
     hr = clibs.c_hr
     md = clibs.c_md
 
-    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)
+    config_file, 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.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")
+    w2t(f"-" * 90 + "\n", "purple")
+    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\n", "green")
 
 
 if __name__ == "__main__":

code/automatic_test/do_current.py

@@ -201,7 +201,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
         # 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
+        single_time, stall_time, scenario_time = 40, 10, 0
         if number < 6:  # 单轴
             time.sleep(single_time)
         elif number < 12:  # 堵转
@@ -234,6 +234,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
 
 
 def main():
+    s_time = time.time()
     path = clibs.data_at["_path"]
     sub = clibs.data_at["_sub"]
     w2t = clibs.w2t
@@ -245,6 +246,11 @@ def main():
     clibs.c_pd.push_prj_to_server(prj_file)
     run_rl(path, prj_file, hr, md, sub, w2t)
 
+    e_time = time.time()
+    time_total = e_time - s_time
+    w2t(f"-" * 90 + "\n", "purple")
+    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")
+
 
 if __name__ == "__main__":
     main()

code/data_process/brake.py

@@ -1,13 +1,14 @@
-import openpyxl
+import json
 import os.path
 import time
 import pandas
 import threading
+import openpyxl
 import re
 from common import clibs
 
 
-def check_files(path, rawdata_dirs, result_files, w2t):
+def check_files(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"
@@ -33,8 +34,10 @@ def check_files(path, rawdata_dirs, result_files, w2t):
     reach_s = ['reach33', 'reach66', 'reach100']
     load_s = ['load33', 'load66', 'load100']
     speed_s = ['speed33', 'speed66', 'speed100']
+    prefix = []
     for rawdata_dir in rawdata_dirs:
         components = rawdata_dir.split("/")[-1].split('_')  # reach_load_speed
+        prefix.append(components[0])
         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"
@@ -47,161 +50,139 @@ def check_files(path, rawdata_dirs, result_files, w2t):
             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"
+                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\n"
                 w2t(msg, "red", "WrongDataFile")
 
-    w2t("数据目录合规性检查结束，未发现问题......")
+    result_files = []
+    for _ in [reach33_file, reach66_file, reach100_file]:
+        if _.split("/")[-1].split("_")[0] in set(prefix):
+            result_files.append(_)
+
+    w2t("数据目录合规性检查结束，未发现问题......\n")
+    return config_file, result_files
 
 
-def get_configs(configfile, w2t):
+def get_configs(config_file, w2t):
-    axis = configfile.split('\\')[-2][-1]
+    try:
-    if axis not in ['1', '2', '3']:
+        with open(config_file, mode="r", encoding="utf-8") as f_config:
-        w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", 0, 9, 'red')
+            configs = json.load(f_config)
-    else:
+    except Exception as Err:
-        axis = int(axis)
+        clibs.insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，获取配置文件参数错误 {Err}")
+        w2t(f"无法打开 {config_file}", color="red", desc="OpenFileError")
 
-    _wb = load_workbook(configfile, read_only=True)
+    p_dir = config_file.split('/')[-2]
-    _ws = _wb['Target']
+    if not re.match("^[jJ][123]$", p_dir):
-    rr = float(_ws.cell(row=2, column=axis + 1).value)
+        w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")
-    av = float(_ws.cell(row=3, column=axis + 1).value)
+    axis = int(p_dir[-1])
+
+    rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]]  # 减速比，rr for reduction ratio
+    avs = configs["MOTION"]["JOINT_MAX_SPEED"]
+    rr = rrs[axis-1]
+    av = avs[axis-1]
 
     return av, rr
 
 
 def now_doing_msg(docs, flag, w2t):
-    # 功能：输出正在处理的文件或目录
+    now = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()))
-    # 参数：文件或目录，start 或 done 标识
+    file_type = 'file' if os.path.isfile(docs) else 'dir'
-    # 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......")
+        w2t(f"[{now}] 正在处理目录 {docs} 中的数据......\n")
     elif flag == 'start' and file_type == 'file':
-        w2t(f"[{now}] 正在处理文件 {docs} 中的数据......")
+        w2t(f"[{now}] 正在处理文件 {docs} 中的数据......\n")
     elif flag == 'done' and file_type == 'dir':
-        w2t(f"[{now}] 目录 {docs} 数据文件已处理完毕")
+        w2t(f"[{now}] 目录 {docs} 数据文件已处理完毕\n")
     elif flag == 'done' and file_type == 'file':
-        w2t(f"[{now}] 文件 {docs} 数据已处理完毕")
+        w2t(f"[{now}] 文件 {docs} 数据已处理完毕\n")
 
 
-def w2t_local(msg, wait, w2t):
+def data2result(df, ws_result, row_start, row_end, vel, trq, estop):
-    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):
+    for row in range(row_start, row_end):
-        data.append(df.iloc[_row, vel - 1])
+        data.append(df.iloc[row, vel - 1])
-        data.append(df.iloc[_row, trq - 1])
+        data.append(df.iloc[row, trq - 1])
-        data.append(df.iloc[_row, estop - 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
+    row_max = 1000 if row_end - row_start < 1000 else row_end - row_start + 100
-    for _row in range(2, row_max):
+    for row in range(2, row_max):
         try:
-            ws_result.cell(row=_row, column=1).value = data[i]
+            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=2).value = data[i + 1]
-            ws_result.cell(row=_row, column=3).value = data[i + 2]
+            ws_result.cell(row=row, column=3).value = data[i + 2]
             i += 3
-        except:
+        except Exception:
-            ws_result.cell(row=_row, column=1).value = None
+            ws_result.cell(row=row, column=1).value = None
-            ws_result.cell(row=_row, column=2).value = None
+            ws_result.cell(row=row, column=2).value = None
-            ws_result.cell(row=_row, column=3).value = None
+            ws_result.cell(row=row, column=3).value = None
 
 
-def find_row_start(data_file, df, conditions, av, rr, vel, estop, w2t):
+def get_row_range(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
+    row_start, row_end = 0, 0
-    # 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):
+    for row in range(df.index[-1] - 1, -1, -10):
-        if df.iloc[_row, estop - 1] != 0:
+        if df.iloc[row, estop - 1] != 0:
-            row_start = _row - 20 if _row - 20 > 0 else 0
+            row_start = row - 20 if row - 20 > 0 else 0  # 急停前找 20 个点
             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')
+        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\n", "red", "StartNotFoundError")
 
-    for _row in range(row_start, row_max):
+    for row in range(row_start, df.index[-1] - 1, 10):
-        speed_row = (df.iloc[_row, vel - 1] * 180) / 3.1415926 * rr * 60 / 360
+        speed_row = df.iloc[row, vel - 1] * clibs.RADIAN * rr * 60 / 360
         if abs(speed_row) < 1:
-            row_end = _row + 100 if _row + 100 <= row_max else row_max
+            row_end = row + 100 if row + 100 <= df.index[-1] - 1 else df.index[-1] - 1
             break
     else:
-        w2t(f"数据文件 {data_file} 最后的速度未降为零 ", 0, 10, 'red')
+        w2t(f"数据文件 {data_file} 最后的速度未降为零\n", "red", "SpeedNotZeroError")
 
-    av_estop = abs((df.iloc[row_start - 10:row_start + 10, vel - 1].abs().mean() * 180) / 3.1415926)
+    av_estop = abs(df.iloc[row_start - 20:row_start, vel - 1].abs().mean() * clibs.RADIAN)
     if abs(av_estop / av_max) < threshold:
-        filename = data_file.split('\\')[-1]
+        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')
+        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\n", "#8A2BE2")
 
     return row_start, row_end
 
 
-def find_result_sheet_name(conditions, count):
+def get_shtname(conditions, count):
-    # 功能：获取结果文件准确的sheet页名称
+    # 33%负载_33%速度_1 - reach/load/speed
-    # 参数：臂展和速度的列表
+    load = conditions[1].removeprefix('load')
-    # 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):
+def single_file_process(data_file, wb, count, av, rr, vel, trq, estop, w2t):
-    # 功能：完成单个数据文件的处理
+    df = pandas.read_csv(data_file, sep='\t')
-    # 参数：如上
+    conditions = data_file.split("/")[-2].split("_")  # reach/load/speed
-    # 返回值：-
+    shtname = get_shtname(conditions, count)
-    df = read_csv(data_file, sep='\t')
+    ws = wb[shtname]
 
-    conditions = sorted(data_file.split('\\')[-2].split('_'))  # ['loadxx', 'reachxx', 'speedxx']
+    row_start, row_end = get_row_range(data_file, df, conditions, av, rr, vel, estop, w2t)
-    result_sheet_name = find_result_sheet_name(conditions, count)
+    data2result(df, ws, row_start, row_end, vel, trq, estop)
-    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):
+def data_process(result_file, rawdata_dirs, av, rr, vel, trq, estop, w2t):
-    # 功能：完成一个结果文件的数据处理
+    filename = result_file.split("/")[-1]
-    # 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
+    clibs.stop = True
-    stop = 0
+    w2t(f"正在打开文件 {filename} 需要 1min 左右......\n", "blue")
-    t_excel = clibs.GetThreadResult(load_workbook, args=(result_file,))
+    t_excel = clibs.GetThreadResult(openpyxl.load_workbook, args=(result_file, ))
-    t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
+    t_excel.daemon = True
     t_excel.start()
-    t_wait.start()
+    t_progress = threading.Thread(target=clibs.tl_prg, args=("Processing......", ))
-    t_excel.join()
+    t_progress.daemon = True
-    wb_result = t_excel.get_result()
+    t_progress.start()
-    stop = 1
+    wb = t_excel.get_result()
-    sleep(1.1)
-    w2t('')
 
-    prefix = result_file.split('\\')[-1].split('_')[0]
+    prefix = filename.split('_')[0]
-    for raw_data_dir in raw_data_dirs:
+    for rawdata_dir in rawdata_dirs:
-        if raw_data_dir.split('\\')[-1].split('_')[0] == prefix:
+        if rawdata_dir.split("/")[-1].split('_')[0] == prefix:
-            now_doing_msg(raw_data_dir, 'start', w2t)
+            now_doing_msg(rawdata_dir, 'start', w2t)
-            _, data_files = clibs.traversal_files(raw_data_dir, w2t)
+            _, data_files = clibs.traversal_files(rawdata_dir, w2t)
             # 数据文件串行处理模式---------------------------------
             # count = 1
             # for data_file in data_files:
@@ -212,59 +193,41 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, 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)),
+                threading.Thread(target=single_file_process, args=(data_files[0], wb, 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)),
+                threading.Thread(target=single_file_process, args=(data_files[1], wb, 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))
+                threading.Thread(target=single_file_process, args=(data_files[2], wb, 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(rawdata_dir, 'done', w2t)
 
-    now_doing_msg(result_file, 'done', w2t)
+    w2t(f"正在保存文件 {filename} 需要 1min 左右......\n\n", "blue")
-    w2t(f"正在保存文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
+    t_excel = threading.Thread(target=wb.save, args=(result_file, ))
-    stop = 0
+    t_excel.daemon = True
-    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
+    wb.close()
-    sleep(1.1)
+    clibs.stop = False
-    w2t('\n')
+    t_progress.join()
 
 
 def main():
-    # path, vel, trq, estop, w2t
+    time_start = time.time()
     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)
+    config_file, result_files = check_files(rawdata_dirs, result_files, w2t)
+    av, rr = get_configs(config_file, w2t)
 
-    # threads = []
+    for result_file in result_files:
-    check_files(path, rawdata_dirs, result_files, w2t)
+        data_process(result_file, rawdata_dirs, av, rr, vel, trq, estop, 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("-"*60 + "\n全部处理完毕\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"

code/data_process/current.py

@@ -4,6 +4,7 @@ import openpyxl
 import pandas
 import re
 import csv
+import time
 from common import clibs
 
 
@@ -161,12 +162,10 @@ def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, ins
     t_excel.daemon = True
     t_excel.start()
     t_excel.join()
+    wb.close()
     clibs.stop = False
     t_progress.join()
 
-    w2t("----------------------------------------------------------\n")
-    w2t("全部处理完毕")
-
 
 def find_point(data_file, df, flag, row_s, row_e, threshold, step, end_point, skip_scale, axis, seq, w2t, insert_logdb):
     if flag == "lt":
@@ -255,7 +254,7 @@ def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb):
         row_e = df.index[-1]
         row_s = row_e - end_point
         speed_avg = df.iloc[row_s:row_e].abs().mean()
-        if speed_avg < 2:
+        if speed_avg < threshold:
             # 第一次过滤：消除速度为零的数据，找到速度即将大于零的上升临界点
             row_s, row_e = find_point(data_file, df, "lt", row_s, row_e, threshold, step, end_point, skip_scale, axis, "pre-1", w2t, insert_logdb)
             row_e -= end_point*skip_scale
@@ -281,7 +280,7 @@ def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb):
             # 正式第三次采集：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
             row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 3, w2t, insert_logdb)
             row_start = get_row_number(threshold, "start", df, row_s, row_e, axis, insert_logdb)
-        elif speed_avg > 2:
+        elif speed_avg > threshold:
             # 第一次过滤：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
             row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, "pre-1", w2t, insert_logdb)
             row_e -= end_point*skip_scale
@@ -409,6 +408,7 @@ def get_configs(config_file, w2t, insert_logdb):
 
 
 def main():
+    time_start = time.time()
     sub = clibs.data_dp["_sub"]
     path = clibs.data_dp["_path"]
     vel = int(clibs.data_dp["_vel"])
@@ -429,6 +429,12 @@ def main():
     elif sub == "cycle":
         current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb)
 
+    w2t("-"*60 + "\n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()