w2tgit add .!

.gitignore

@@ -7,3 +7,4 @@ package/
 code/common/__pycache__/
 code/data_process/__pycache__/
 code/automatic_test/__pycache__/
+code/durable_docs/__pycache__/

code/automatic_test/do_brake.py

@@ -67,7 +67,7 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
                 configs = json.load(f_config)
         except Exception as Err:
             clibs.insert_logdb("ERROR", "current", f"get_config: 无法打开 {local_file}，获取配置文件参数错误 {Err}")
-            w2t(f"无法打开 {local_file}", color="red", desc="OpenFileError")
+            w2t(f"无法打开 {local_file}\n", color="red", desc="OpenFileError")
 
         # 最大角速度，额定电流，减速比，额定转速
         version = configs["VERSION"]
@@ -158,7 +158,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
     elif pon == "negative":
         md.write_pon(0)
     else:
-        w2t("configs.xlsx 中 Target 页面 B5 单元格填写不正确，检查后重新运行...", "red", "DirectionError")
+        w2t("configs.xlsx 中 Target 页面 B5 单元格填写不正确，检查后重新运行...\n", "red", "DirectionError")
 
     for condition in result_dirs:
         reach = condition.split("_")[0].removeprefix("reach")
@@ -175,7 +175,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
 
         for axis in range(1, 4):
             if not clibs.running:
-                w2t("后台数据清零完成，现在可以重新运行之前停止的程序。", "red")
+                w2t("后台数据清零完成，现在可以重新运行之前停止的程序。\n", "red")
                 exit()
 
             # for single condition test
@@ -239,7 +239,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                         else:
                             time.sleep(1)
                             if (time.time() - t_start) > 3:
-                                w2t("3s 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("3s 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...\n", "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(5)  # 消除前 5s 的不稳定数据
                     change_curve_state(hr, True)
@@ -298,7 +298,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                         else:
                             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")
+                        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...\n", "red", "ReadySignalTimeoutError")
 
                     time.sleep(5+random.randint(1, 5))  # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
 
@@ -308,7 +308,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                         while flag:
                             time.sleep(0.05)
                             if time.time() - start > 20:
-                                w2t("20s 内未触发急停，需排查......", "red", "BrakeTimeoutError")
+                                w2t("20s 内未触发急停，需排查......\n", "red", "BrakeTimeoutError")
 
                             try:
                                 clibs.lock.acquire(True)

code/automatic_test/do_current.py

@@ -174,7 +174,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
 
     for condition in conditions:
         if not clibs.running:
-            w2t("后台数据清零完成，现在可以重新运行之前停止的程序。", "red")
+            w2t("后台数据清零完成，现在可以重新运行之前停止的程序。\n", "red")
             exit()
 
         number = conditions.index(condition)
@@ -211,7 +211,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
             else:
                 time.sleep(1)
                 if (time.time() - t_start) > 3:
-                    w2t("3s 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")
+                    w2t("3s 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...\n", "red", "ReadySignalTimeoutError")
 
         # 4. 执行采集
         time.sleep(10)  # 消除前 10s 的不稳定数据

code/common/clibs.py

@@ -9,7 +9,7 @@ def traversal_files(_path, _w2t):
     # 参数：路径
     # 返回值：路径下的文件夹列表 路径下的文件列表
     if not os.path.exists(_path):
-        _w2t(f"数据文件夹{_path}不存在，请确认后重试......", "red", "PathNotExistError")
+        _w2t(f"数据文件夹{_path}不存在，请确认后重试......\n", "red", "PathNotExistError")
     else:
         dirs, files = [], []
         for item in os.scandir(_path):

code/common/openapi.py

@@ -746,7 +746,7 @@ class HmiRequest(object):
                 req = json.load(f_json)
         except Exception as Err:
             clibs.insert_logdb("ERROR", "openapi", f"hr-execution: 暂不支持 {command} 功能，或确认该功能存在... {Err}")
-            clibs.w2t(f"hr-execution: 暂不支持 {command} 功能，或确认该功能存在... {Err}", "red", "CommandError")
+            clibs.w2t(f"hr-execution: 暂不支持 {command} 功能，或确认该功能存在... {Err}\n", "red", "CommandError")
 
         if p_flag == 0:  # for old protocols
             match command:
@@ -2155,7 +2155,7 @@ class PreDos(object):
             self.__ssh.connect(hostname=self.ip, port=self.port, username=self.username, password=self.password)
             self.__sftp = self.__ssh.open_sftp()
         except Exception as Err:
-            msg = f"predos: SSH 无法连接到 {self.ip}:{self.port}，需检查网络连通性或者登录信息是否正确 {Err}"
+            msg = f"predos: SSH 无法连接到 {self.ip}:{self.port}，需检查网络连通性或者登录信息是否正确 {Err}\n"
             clibs.insert_logdb("ERROR", "openapi", msg)
             clibs.w2t(msg, "red", f"SSHError: cannot connected to {self.ip}:{self.port}")
 

code/data_process/brake.py

@@ -69,7 +69,7 @@ def get_configs(config_file, w2t):
 
         p_dir = config_file.split('/')[-2]
         if not re.match("^[jJ][123]$", p_dir):
-            w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")
+            w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式\n", "red", "DirNameError")
         axis = int(p_dir[-1])
 
         rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]]  # 减速比，rr for reduction ratio

code/data_process/current.py

@@ -64,11 +64,11 @@ def current_max(data_files, rts, trq, w2t, insert_logdb):
         if not cur:
             continue
         else:
-            w2t(f"{axis}轴数据：")
+            w2t(f"{axis}轴最大转矩数据：")
             for value in cur:
                 w2t(f"{value:.4f} ")
             w2t("\n")
-    w2t("\n【MAX】数据处理完毕......")
+    w2t("\n【MAX】最大转矩数据处理完毕......\n")
     insert_logdb("INFO", "current", f"MAX: 获取最大转矩值结束 current_max = {current}")
     return current
 
@@ -106,11 +106,11 @@ def current_avg(data_files, rts, trqh, w2t, insert_logdb):
         if not cur:
             continue
         else:
-            w2t(f"{axis}轴数据：")
+            w2t(f"{axis}轴平均转矩数据：")
             for value in cur:
                 w2t(f"{value:.4f} ")
             w2t("\n")
-    w2t("\n【AVG】数据处理完毕......\n")
+    w2t("\n【AVG】平均转矩数据处理完毕......\n")
     insert_logdb("INFO", "current", f"AVG: 获取平均转矩值结束 current_avg = {current}")
     return current
 
@@ -176,7 +176,7 @@ def find_point(data_file, df, flag, row_s, row_e, threshold, step, end_point, sk
                     insert_logdb("WARNING", "current", f"【lt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！")
                 return row_s, row_e
         else:
-            w2t(f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点...", "red", "AnchorNotFound")
+            w2t(f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点...\n", "red", "AnchorNotFound")
     elif flag == "gt":
         while row_e > end_point:
             speed_avg = df.iloc[row_s:row_e].abs().mean()
@@ -194,7 +194,7 @@ def find_point(data_file, df, flag, row_s, row_e, threshold, step, end_point, sk
                     insert_logdb("WARNING", "current", f"【gt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！")
                 return row_s, row_e
         else:
-            w2t(f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点...", "red", "AnchorNotFound")
+            w2t(f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点...\n", "red", "AnchorNotFound")
 
 
 def get_row_number(threshold, flag, df, row_s, row_e, axis, insert_logdb):
@@ -345,7 +345,7 @@ def p_scenario(wb, scenario, vel, trq, sensor, rrs, dur_time, w2t):
         row_start = 3000
         row_end = row_start + int(dur_time/cycle)
         if row_end > df.index[-1]:
-            w2t(f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "red", "DataOverLimit")
+            w2t(f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...\n", "red", "DataOverLimit")
 
         data, first_c, second_c, third_c, fourth_c = [], vel-1, trq-1, sensor-1, sensor
         for row in range(row_start, row_end+1):

code/data_process/iso.py

@@ -147,7 +147,7 @@ def main():
             ws.cell(row=i, column=7).value = None
     except Exception as Err:
         clibs.insert_logdb("ERROR", "iso", f"main: 无法打开文件 {filename}")
-        w2t(f"发生错误：{Err}", "red", "FileOpenError")
+        w2t(f"发生错误：{Err}\n", "red", "FileOpenError")
 
     p_files = []
     for file in files:
@@ -172,7 +172,7 @@ def main():
     wb.close()
 
     if len(p_files) == 0:
-        w2t(f"目录 {path} 下没有需要处理的文件，需要确认......", "red")
+        w2t(f"目录 {path} 下没有需要处理的文件，需要确认......\n", "red")
     else:
         os.remove(tmpfile)
         w2t("------------------------------------------\n")

code/durable_docs/factory_test.py

@@ -141,7 +141,7 @@ def run_rl(path, params, curves, hr, md, w2t):
     count = 0
     while clibs.running:
         if not clibs.running:
-            w2t("后台数据清零完成，现在可以重新运行之前停止的程序。", "red")
+            w2t("后台数据清零完成，现在可以重新运行之前停止的程序。\n", "red")
             exit()
 
         this_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))