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xcore通信完成

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gitea
2025-01-08 21:28:52 +08:00
parent ca4fa4980a
commit 73fa811e57
7 changed files with 4219 additions and 72 deletions
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165
code/aio.py
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@ -13,7 +13,7 @@ import webbrowser
import sqlite3
from datetime import datetime
import os
from common import clibs
from common import clibs, openapi
from data_process import current, brake, iso, wavelogger
import threading
import re
@ -76,14 +76,15 @@ class App:
self.om_sub_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["tool33", "tool66", "tool100", "inertia"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
self.label_ip_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), anchor="e", text="IP", font=self.f_common)
self.entry_ip_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=160, textvariable=self.entry_ip_atv, font=self.f_entry, text_color="#818181")
self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0)
self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=lambda: self.__thread_it(self.__conn_xcore))
self.progressbar_at = ctk.CTkProgressBar(self.tabview_top.tab("自动测试"), width=160, mode="indeterminate")
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_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=print)
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=print)
self.btn_robot_state = ctk.CTkButton(self.frame_top, width=100, text="机器信息", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_info)
self.btn_robot_init = ctk.CTkButton(self.frame_top, width=100, text="初始操作", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_init)
self.btn_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)
self.popupmenu_ip.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy(self.entry_ip_at))
self.popupmenu_ip.add_command(label="剪切", accelerator="Ctrl+X", font=self.f_treeview, command=lambda: self.__cut(self.entry_ip_at))
@ -130,15 +131,57 @@ class App:
# ========================================================================
self.__draw()
clibs.insert_logdb("INFO", "aio", "AIO starts running......")
def detect_network(self):
while True:
try:
if clibs.c_hr.status:
self.btn_conn.configure(fg_color="#2E8B57")
else:
self.btn_conn.configure(fg_color="#979DA2")
except Exception as Err:
self.btn_conn.configure(fg_color="#979DA2")
time.sleep(2)
def __conn_xcore(self):
if self.btn_conn.cget("fg_color") == "#979DA2":
try:
if clibs.c_hr.status:
self.btn_conn.configure(fg_color="#2E8B57")
return
except Exception as Err:
...
clibs.ip_addr = self.entry_ip_atv.get().strip()
ip_pattern = re.compile(r'(([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])\.){3}([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])')
if not ip_pattern.fullmatch(clibs.ip_addr):
messagebox.showerror(title="非法地址", message=f"{clibs.ip_addr} 不是一个有效的 IP 地址")
clibs.insert_logdb("ERROR", "aio", f"connection: {clibs.ip_addr} 不是一个有效的 IP 地址")
return
# 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)
else:
try:
# clibs.c_md.close()
clibs.c_hr.close()
except Exception as Err:
...
self.btn_conn.configure(fg_color="#979DA2")
def __robot_info(self):
clibs.cursor.execute("select * from logs")
records = clibs.cursor.fetchall()
self.text_output.insert(ctk.END, records)
...
def __robot_init(self):
...
def __trig_estop(self):
...
def __reset_estop(self):
...
def __thread_it(self, func, *args):
""" 将函数打包进线程 """
""" 将函数打包进线程，必须使用 lambda """
self.myThread = threading.Thread(target=func, args=args)
self.myThread.daemon = True # 主线程退出就直接让子线程跟随退出,不论是否运行完成。
self.myThread.start()
@ -208,7 +251,6 @@ class App:
return data
def init_op():
clibs.w2t = self.__w2t
self.text_output.delete("1.0", ctk.END)
self.tabview_bottom.set("输出")
if clibs.db_state != "readwrite":
@ -241,6 +283,7 @@ class App:
exec_function()
@clibs.db_lock
def __reset_state(self):
def reset_methods():
self.btn_load.configure(fg_color="#979DA2")
@ -272,8 +315,9 @@ class App:
reset_methods()
# TBD: something signifies status of program and terminate some thread ect.
@clibs.db_lock
def __get_realtime_log(self):
clibs.cursor.execute("select * from logs order by id desc")
clibs.cursor.execute("select id from logs")
len_records = len(clibs.cursor.fetchall())
pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
self.label_pages_logs.set(f"{pages_all} / {pages_all}")
@ -292,6 +336,7 @@ class App:
self.__reset_entry_keyword()
@clibs.db_lock
def __get_previous_log(self):
if self.btn_find.cget("fg_color") == "#979DA2":
try:
@ -334,47 +379,56 @@ class App:
self.label_pages_logs.set(f"{previous_page} / {pages_all}")
def __get_next_log(self):
if self.btn_find.cget("fg_color") == "#979DA2":
try:
clibs.cursor.execute("select * from logs order by id desc")
len_records = len(clibs.cursor.fetchall())
@clibs.db_lock
def get_next_page():
if self.btn_find.cget("fg_color") == "#979DA2":
try:
clibs.cursor.execute("select id from logs")
len_records = len(clibs.cursor.fetchall())
row = self.treeview_logs.get_children()
last_id = self.treeview_logs.item(row[-1], "values")[0]
start = int(last_id) + 1
end = int(last_id) + 100
if int(start) <= len_records:
clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
records = clibs.cursor.fetchall()
row = self.treeview_logs.get_children()
last_id = self.treeview_logs.item(row[-1], "values")[0]
start = int(last_id) + 1
end = int(last_id) + 100
if int(start) <= len_records:
clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
records = clibs.cursor.fetchall()
self.treeview_logs.delete(*self.treeview_logs.get_children())
for record in records:
self.treeview_logs.insert("", "end", values=record, tags=record[2])
# self.treeview_logs.yview_moveto(1)
pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
self.label_pages_logs.set(f"{current_page} / {pages_all}")
except Exception as ERR:
...
else:
len_records = len(clibs.f_records)
pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
current_page = int(self.label_pages_logs.get().split("/")[0].strip())
if current_page < pages_all:
row = self.treeview_logs.get_children()
last_one = list(self.treeview_logs.item(row[-1], "values"))
last_one[0] = int(last_one[0])
index_start = clibs.f_records.index(tuple(last_one))+1
self.treeview_logs.delete(*self.treeview_logs.get_children())
for record in records:
self.treeview_logs.insert("", "end", values=record, tags=record[2])
# self.treeview_logs.yview_moveto(1)
if index_start+100 <= len_records:
for record in clibs.f_records[index_start:index_start+100]:
self.treeview_logs.insert("", "end", values=record, tags=record[2])
else:
for record in clibs.f_records[index_start:]:
self.treeview_logs.insert("", "end", values=record, tags=record[2])
pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
self.label_pages_logs.set(f"{current_page} / {pages_all}")
except Exception as ERR:
...
else:
len_records = len(clibs.f_records)
pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
current_page = int(self.label_pages_logs.get().split("/")[0].strip())
if current_page < pages_all:
row = self.treeview_logs.get_children()
last_one = list(self.treeview_logs.item(row[-1], "values"))
last_one[0] = int(last_one[0])
index_start = clibs.f_records.index(tuple(last_one))+1
self.treeview_logs.delete(*self.treeview_logs.get_children())
if index_start+100 <= len_records:
for record in clibs.f_records[index_start:index_start+100]:
self.treeview_logs.insert("", "end", values=record, tags=record[2])
else:
for record in clibs.f_records[index_start:]:
self.treeview_logs.insert("", "end", values=record, tags=record[2])
next_page = current_page + 1
self.label_pages_logs.set(f"{next_page} / {pages_all}")
next_page = current_page + 1
self.label_pages_logs.set(f"{next_page} / {pages_all}")
current_page = int(self.label_pages_logs.get().split("/")[0].strip())
pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
if current_page == pages_all:
self.__get_realtime_log()
return
get_next_page()
def __load_log_db(self):
db_file = filedialog.askopenfilename(title="加载数据库文件", defaultextension=".db", initialdir=f"{clibs.PREFIX}/logs")
@ -589,13 +643,14 @@ class App:
except Exception as ERR:
...
@clibs.db_lock
def jump2page():
try:
number = int(self.entry_tips_v)
if number > 0:
start = number * 100 - 99
end = number * 100
clibs.cursor.execute("select * from logs order by id desc")
clibs.cursor.execute("select id from logs")
len_records = len(clibs.cursor.fetchall())
if start <= len_records:
clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
@ -649,6 +704,7 @@ class App:
label_tips.grid(row=0, column=0, padx=10, pady=10, sticky="w")
entry_tips.grid(row=0, column=1, padx=(0, 10), pady=10, sticky="w")
@clibs.db_lock
def find_log(event):
def find_error(cdt):
clibs.insert_logdb("WARNING", "aio", f"查询条件 [{cdt}] 书写规则错误！")
@ -863,8 +919,9 @@ class App:
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_trig_estop.grid(row=0, column=1, padx=(0, 10), pady=0)
self.btn_reset_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
self.btn_robot_init.grid(row=0, column=1, padx=(0, 10), pady=0)
self.btn_trig_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
self.btn_reset_estop.grid(row=0, column=3, padx=(0, 10), pady=0)
self.progressbar_at.start()
self.progressbar_at.configure(progress_color="red", fg_color="gray")
@ -913,9 +970,15 @@ class App:
self.om_sub_dp.configure(state="disabled")
self.om_trqh_dp.configure(state="disabled")
self.om_sensor_dp.configure(state="disabled")
# ========================================================================
clibs.w2t = self.__w2t
clibs.insert_logdb("INFO", "aio", "AIO starts running......")
def show(self):
if self.server_vers:
t = threading.Thread(target=self.detect_network)
t.daemon = True
t.start()
self.root.mainloop()

96
code/common/clibs.py
View File

@ -2,16 +2,17 @@ import os
import os.path
import sqlite3
import threading
import json
def traversal_files(path, w2t):
def traversal_files(_path, _w2t):
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
# 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")
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")
else:
dirs, files = [], []
for item in os.scandir(path):
for item in os.scandir(_path):
if item.is_dir():
dirs.append(item.path.replace("\\", "/"))
elif item.is_file():
@ -20,13 +21,17 @@ def traversal_files(path, w2t):
return dirs, files
def init_logdb(connect, cur):
connect = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=256)
def init_logdb(conn, cursor):
conn = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=4096)
# connect = sqlite3.connect("log.db", isolation_level=None, check_same_thread=False, cached_statements=256)
# time text default (datetime('now', 'localtime')),
cur = connect.cursor()
cur.execute(
cursor = conn.cursor()
cursor.execute("PRAGMA journal_mode=wal")
cursor.execute("PRAGMA wal_checkpoint=TRUNCATE")
cursor.execute("PRAGMA synchronous=normal")
cursor.execute("PRAGMA temp_store=memory")
cursor.execute("PRAGMA mmap_size=30000000000")
cursor.execute(
"""
create table if not exists logs(
id integer primary key autoincrement,
@ -37,16 +42,41 @@ def init_logdb(connect, cur):
)
"""
)
return connect, cur
return conn, cursor
def db_lock(func):
def wrapper(*args, **kwargs):
try:
lock.acquire(True)
ret = func(*args, **kwargs)
finally:
lock.release()
return ret
return wrapper
@db_lock
def insert_logdb(_level, _module, _content):
if db_state == "readwrite":
global conn, cursor
global conn, cursor, lock
data = [_level, _module, repr(_content)]
cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
def insert_logdb_multi(data):
if db_state == "readwrite":
global conn, cursor, lock
# data = [_level, _module, repr(_content)]
# cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
try:
lock.acquire(True)
cursor.executemany("insert into logs (level, module, content) values (?, ?, ?)", data)
finally:
lock.release()
class GetThreadResult(threading.Thread):
def __init__(self, func, args=()):
super(GetThreadResult, self).__init__()
@ -79,15 +109,39 @@ running = False
stop = True
tl_prg = None
f_records = None
ip_addr = "192.168.0.160"
ssh_port = 22
socket_port = 5050
xService_port = 6666
external_port = 8080
modbus_port = 502
upgrade_port = 4567
username = "luoshi"
password = "luoshi2019" # for real robot
# password = "forpqart" # for robot vm
interval = 0.5 # interval after actions being triggered, such as modbus/socket/external communication operations
RADIAN = 57.3 # 180 / 3.1415926
MAX_FRAME_SIZE = 1024
c_md = None
c_hr = None
c_ec = None
c_pd = None
lock = threading.Lock()
conn, cursor = init_logdb(conn, cursor)
for i in range(100):
insert_logdb("DEBUG", "clibs", 'this is a DEBUG log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
insert_logdb("INFO", "clibs", 'this is a INFO log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
insert_logdb("WARNING", "clibs", 'this is a WARNING log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
insert_logdb("ERROR", "clibs", 'this is a ERROR log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
insert_logdb("DEBUG", "clibs", 'running')
insert_logdb("INFO", "clibs", 'running')
insert_logdb("WARNING", "clibs", 'running')
insert_logdb("ERROR", "clibs", 'running')
# for i in range(100):
# insert_logdb("DEBUG", "clibs", 'this is a DEBUG log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
# insert_logdb("INFO", "clibs", 'this is a INFO log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
# insert_logdb("WARNING", "clibs", 'this is a WARNING log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
# insert_logdb("ERROR", "clibs", 'this is a ERROR log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
#
# insert_logdb("DEBUG", "clibs", 'running')
# insert_logdb("INFO", "clibs", 'running')
# insert_logdb("WARNING", "clibs", 'running')
# insert_logdb("ERROR", "clibs", 'running')
with open(f"{log_path}/response.txt", mode="w", encoding="utf-8") as f_res:
f_res.write("")
with open(f"{log_path}/logs.txt", mode="w", encoding="utf-8") as f_res:
f_res.write("")

2467
code/common/openapi.py Normal file
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