自动化测试的功能迁移完毕，待测试

code/automatic_test/do_current.py

@@ -1,15 +1,9 @@
-import json
-from os import mkdir
+import os
 import time
-from time import sleep, time
-from sys import argv
-from paramiko import SSHClient, AutoAddPolicy
-from json import loads
-from pandas import DataFrame, concat
+import paramiko
+import pandas
 from common import clibs
 
-display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback"] for chl in range(6)]
-
 
 def initialization(path, sub, data_dirs, data_files, hr, w2t):
     def check_files():
@@ -34,12 +28,12 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
             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":
-            mkdir(f"{path}/single")
-            mkdir(f"{path}/s_1")
-            mkdir(f"{path}/s_2")
-            mkdir(f"{path}/s_3")
+            os.mkdir(f"{path}/single")
+            os.mkdir(f"{path}/s_1")
+            os.mkdir(f"{path}/s_2")
+            os.mkdir(f"{path}/s_3")
         elif sub == "inertia":
-            mkdir(f"{path}/inertia")
+            os.mkdir(f"{path}/inertia")
         else:
             w2t("负载选择错误，电机电流测试只能选择 tool100/inertia 规格！\n", "red", "LoadSelectError")
 
@@ -55,216 +49,75 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
         server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg"
         local_file = path + f"/{robot_type}.cfg"
         clibs.c_pd.pull_file_from_server(server_file, local_file)
-        return local_file
 
     prj_file = check_files()
-    config_file = get_configs()
+    get_configs()
 
-    return config_file, prj_file
+    return prj_file
 
 
-def data_proc_regular(path, filename, channel, scenario_time):
-    if channel in list(range(6)):
-        with open(filename, 'r', encoding='utf-8') as f_obj:
-            lines = f_obj.readlines()
-            _d2d_vel = {'hw_joint_vel_feedback': []}
-            _d2d_trq = {'device_servo_trq_feedback': []}
-            _d2d_sensor = {'hw_sensor_trq_feedback': []}
-            for line in lines[-500:]:  # 保留最后25s的数据
-                data = eval(line.strip())['data']
-                for item in data:
-                    try:
-                        item['value'].reverse()
-                    except KeyError:
-                        continue
-                    if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
-                        _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
-                        _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == channel and item.get('name', None) == 'hw_sensor_trq_feedback':
-                        _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
+def single_axis_proc(path, records, number):
+    text = "single" if number < 6 else "hold"
+    number = number if number < 6 else number - 6
+    d_vel, d_trq, d_sensor = [], [], []
+    for record in records:
+        print(f"record = {record}")
+        data = eval(record)["data"]
+        for item in data:
+            if item.get("channel", None) == number and item.get("name", None) == "hw_joint_vel_feedback":
+                d_vel.extend(item["value"])
+            elif item.get("channel", None) == number and item.get("name", None) == "device_servo_trq_feedback":
+                d_trq.extend(item["value"])
+            elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback":
+                d_sensor.extend(item["value"])
 
-            df1 = DataFrame.from_dict(_d2d_vel)
-            df2 = DataFrame.from_dict(_d2d_trq)
-            df3 = DataFrame.from_dict(_d2d_sensor)
-            df = concat([df1, df2, df3], axis=1)
-            _filename = f'{path}\\single\\j{channel+1}_single_{time()}.data'
-            df.to_csv(_filename, sep='\t', index=False)
-    elif channel in list(range(6, 9)):
-        with open(filename, 'r', encoding='utf-8') as f_obj:
-            lines = f_obj.readlines()
-            _d2d_vel_0 = {'hw_joint_vel_feedback': []}
-            _d2d_trq_0 = {'device_servo_trq_feedback': []}
-            _d2d_sensor_0 = {'hw_sensor_trq_feedback': []}
-            _d2d_vel_1 = {'hw_joint_vel_feedback': []}
-            _d2d_trq_1 = {'device_servo_trq_feedback': []}
-            _d2d_sensor_1 = {'hw_sensor_trq_feedback': []}
-            _d2d_vel_2 = {'hw_joint_vel_feedback': []}
-            _d2d_trq_2 = {'device_servo_trq_feedback': []}
-            _d2d_sensor_2 = {'hw_sensor_trq_feedback': []}
-            _d2d_vel_3 = {'hw_joint_vel_feedback': []}
-            _d2d_trq_3 = {'device_servo_trq_feedback': []}
-            _d2d_sensor_3 = {'hw_sensor_trq_feedback': []}
-            _d2d_vel_4 = {'hw_joint_vel_feedback': []}
-            _d2d_trq_4 = {'device_servo_trq_feedback': []}
-            _d2d_sensor_4 = {'hw_sensor_trq_feedback': []}
-            _d2d_vel_5 = {'hw_joint_vel_feedback': []}
-            _d2d_trq_5 = {'device_servo_trq_feedback': []}
-            _d2d_sensor_5 = {'hw_sensor_trq_feedback': []}
-            for line in lines:
-                data = eval(line.strip())['data']
-                for item in data:
-                    try:
-                        item['value'].reverse()
-                    except KeyError:
-                        continue
-                    if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
-                        _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
-                        _d2d_trq_0['device_servo_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 0 and item.get('name', None) == 'hw_sensor_trq_feedback':
-                        _d2d_sensor_0['hw_sensor_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback':
-                        _d2d_vel_1['hw_joint_vel_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback':
-                        _d2d_trq_1['device_servo_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_sensor_trq_feedback':
-                        _d2d_sensor_1['hw_sensor_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback':
-                        _d2d_vel_2['hw_joint_vel_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback':
-                        _d2d_trq_2['device_servo_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
-                        _d2d_sensor_2['hw_sensor_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback':
-                        _d2d_vel_3['hw_joint_vel_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback':
-                        _d2d_trq_3['device_servo_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
-                        _d2d_sensor_3['hw_sensor_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback':
-                        _d2d_vel_4['hw_joint_vel_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback':
-                        _d2d_trq_4['device_servo_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_sensor_trq_feedback':
-                        _d2d_sensor_4['hw_sensor_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback':
-                        _d2d_vel_5['hw_joint_vel_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
-                        _d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_sensor_trq_feedback':
-                        _d2d_sensor_5['hw_sensor_trq_feedback'].extend(item['value'])
-
-            df_01 = DataFrame.from_dict(_d2d_vel_0)
-            df_02 = DataFrame.from_dict(_d2d_trq_0)
-            df_03 = DataFrame.from_dict(_d2d_sensor_0)
-            df = concat([df_01, df_02, df_03], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
-            df.to_csv(_filename, sep='\t', index=False)
-
-            df_01 = DataFrame.from_dict(_d2d_vel_1)
-            df_02 = DataFrame.from_dict(_d2d_trq_1)
-            df_03 = DataFrame.from_dict(_d2d_sensor_1)
-            df = concat([df_01, df_02, df_03], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
-            df.to_csv(_filename, sep='\t', index=False)
-
-            df_01 = DataFrame.from_dict(_d2d_vel_2)
-            df_02 = DataFrame.from_dict(_d2d_trq_2)
-            df_03 = DataFrame.from_dict(_d2d_sensor_2)
-            df = concat([df_01, df_02, df_03], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
-            df.to_csv(_filename, sep='\t', index=False)
-
-            df_01 = DataFrame.from_dict(_d2d_vel_3)
-            df_02 = DataFrame.from_dict(_d2d_trq_3)
-            df_03 = DataFrame.from_dict(_d2d_sensor_3)
-            df = concat([df_01, df_02, df_03], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
-            df.to_csv(_filename, sep='\t', index=False)
-
-            df_01 = DataFrame.from_dict(_d2d_vel_4)
-            df_02 = DataFrame.from_dict(_d2d_trq_4)
-            df_03 = DataFrame.from_dict(_d2d_sensor_4)
-            df = concat([df_01, df_02, df_03], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
-            df.to_csv(_filename, sep='\t', index=False)
-
-            df_01 = DataFrame.from_dict(_d2d_vel_5)
-            df_02 = DataFrame.from_dict(_d2d_trq_5)
-            df_03 = DataFrame.from_dict(_d2d_sensor_5)
-            df = concat([df_01, df_02, df_03], axis=1)
-            _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data'
-            df.to_csv(_filename, sep='\t', index=False)
-    elif channel in list(range(9, 15)):
-        with open(filename, 'r', encoding='utf-8') as f_obj:
-            lines = f_obj.readlines()
-            _d2d_vel = {'hw_joint_vel_feedback': []}
-            _d2d_trq = {'device_servo_trq_feedback': []}
-            _d2d_sensor = {'hw_sensor_trq_feedback': []}
-            for line in lines[-300:]:  # 保留最后15s的数据
-                data = eval(line.strip())['data']
-                for item in data:
-                    try:
-                        item['value'].reverse()
-                    except KeyError:
-                        continue
-                    if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback':
-                        _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
-                        _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
-                    elif item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_sensor_trq_feedback':
-                        _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
-
-            df1 = DataFrame.from_dict(_d2d_vel)
-            df2 = DataFrame.from_dict(_d2d_trq)
-            df3 = DataFrame.from_dict(_d2d_sensor)
-            df = concat([df1, df2, df3], axis=1)
-            _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
-            df.to_csv(_filename, sep='\t', index=False)
+        df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
+        df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
+        df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
+        df = pandas.concat([df1, df2, df3], axis=1)
+        filename = f"{path}/single/j{number + 1}_{text}_{time.time()}.data"
+        df.to_csv(filename, sep="\t", index=False)
 
 
-def data_proc_inertia(path, filename, channel):
-    with open(filename, 'r', encoding='utf-8') as f_obj:
-        lines = f_obj.readlines()
-        _d2d_vel = {'hw_joint_vel_feedback': []}
-        _d2d_trq = {'device_servo_trq_feedback': []}
-        _d2d_sensor = {'hw_sensor_trq_feedback': []}
-        for line in lines:
-            data = eval(line.strip())['data']
+def scenario_proc(path, records, number, scenario_time):
+    d_vel, d_trq, d_sensor = [], [], []
+    for record in records:
+        print(f"record = {record}")
+        data = eval(record)["data"]
+        for axis in range(6):
             for item in data:
-                try:
-                    item['value'].reverse()
-                except KeyError:
-                    continue
-                if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback':
-                    _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
-                elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
-                    _d2d_trq['device_servo_trq_feedback'].extend(item['value'])
-                elif item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_sensor_trq_feedback':
-                    _d2d_trq['hw_sensor_trq_feedback'].extend(item['value'])
+                if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
+                    d_vel.extend(item["value"])
+                elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
+                    d_trq.extend(item["value"])
+                elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback":
+                    d_sensor.extend(item["value"])
 
-        df1 = DataFrame.from_dict(_d2d_vel)
-        df2 = DataFrame.from_dict(_d2d_trq)
-        df3 = DataFrame.from_dict(_d2d_sensor)
-        df = concat([df1, df2, df3], axis=1)
-        _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
-        df.to_csv(_filename, sep='\t', index=False)
+            df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
+            df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
+            df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
+            df = pandas.concat([df1, df2, df3], axis=1)
+            filename = f"{path}/s_{number-11}/j{axis}_s_{number-11}_{scenario_time}_{time.time()}.data"
+            df.to_csv(filename, sep="\t", index=False)
 
 
-def gen_result_file(path, loadsel, disc, number, scenario_time):
-    filename = path + f'\\data.txt'
-    with open(filename, 'w', encoding='utf-8') as f_obj:
-        for line in disc[number][1]:
-            f_obj.write(str(line)+'\n')
-
-    if loadsel == 'tool100':
-        data_proc_regular(path, filename, number, scenario_time)
-    elif loadsel == 'inertia':
-        data_proc_inertia(path, filename, number)
+@clibs.db_lock
+def gen_result_file(path, number, scenario_time):
+    if number < 12:  # 35s/15s == 700/300
+        len_records = 700 if number < 6 else 300
+        clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
+        records = clibs.cursor.fetchall()
+        single_axis_proc(path, records, number)
+    elif number < 15:  # scenario time
+        len_records = int(scenario_time * 20) + 1
+        clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
+        records = clibs.cursor.fetchall()
+        scenario_proc(path, records, number, scenario_time)
 
 
-def run_rl(path, hr, md, sub, w2t):
+def run_rl(path, prj_file, hr, md, sub, 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", "hw_sensor_trq_feedback"] for chl in range(6)]
     c_regular = [
         "scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
         "scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
@@ -272,118 +125,104 @@ def run_rl(path, hr, md, sub, w2t):
         "scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)",
         "scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)",
         "scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)",
-        "scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
-        "scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
-        "scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
         "scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)",
         "scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)",
         "scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)",
         "scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)",
         "scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)",
         "scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)",
+        "scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
     ]
     c_inertia = [
         "scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)",
         "scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)",
         "scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)",
     ]
-    disc_regular = {
-        0: ['一轴', []], 1: ['二轴', []], 2: ['三轴', []], 3: ['四轴', []], 4: ['五轴', []], 5: ['六轴', []],
-        6: ['场景一', []], 7: ['场景二', []], 8: ['场景三', []], 9: ['一轴保持', []], 10: ['二轴保持', []],
-        11: ['三轴保持', []], 12: ['四轴保持', []], 13: ['五轴保持', []], 14: ['六轴保持', []]
-    }
-    disc_inertia = {0: ['四轴惯量', []], 1: ['五轴惯量', []], 2: ['六轴惯量', []]}
-    if sub == 'tool100':
-        conditions = c_regular
-        disc = disc_regular
-    elif sub == 'inertia':
-        conditions = c_inertia
-        disc = disc_inertia
+    disc_regular = ["一轴", "二轴", "三轴", "四轴", "五轴", "六轴", "一轴保持", "二轴保持", "三轴保持", "四轴保持", "五轴保持", "六轴保持", "场景一", "场景二", "场景三"]
+    disc_inertia = ["四轴惯量", "五轴惯量", "六轴惯量"]
+    conditions, disc = [], []
+    if sub == "tool100":
+        conditions, disc = c_regular, disc_regular
+    elif sub == "inertia":
+        conditions, disc = c_inertia, disc_inertia
 
-    # preparation 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', hr, w2t, tab_name, open=True, display_open=True)
-    hr.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
-    # clibs.execution('diagnosis.save', hr, w2t, tab_name, save=True)  # 这条命令有问题
+    # 打开诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来
+    hr.execution("diagnosis.open", open=True, display_open=True, overrun=True, turn_area=True, delay_motion=False)
+    hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
     md.trigger_estop()
     md.reset_estop()
 
     for condition in conditions:
         number = conditions.index(condition)
-        w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', tab_name)
+        w2t(f"正在执行{disc[number]}测试......\n")
 
-        # 1. 将act重置为False，并修改未要执行的场景
+        # 1. 将act重置为False，并修改将要执行的场景
         md.write_act(False)
-        ssh = SSHClient()
-        ssh.set_missing_host_key_policy(AutoAddPolicy())
-        ssh.connect(clibs.ip_addr, 22, username='luoshi', password='luoshi2019')
-        cmd = 'cd /home/luoshi/bin/controller/; '
-        cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; '
-        cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod'
+        ssh = paramiko.SSHClient()
+        ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
+        ssh.connect(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password)
+        cmd = "cd /home/luoshi/bin/controller/; "
+        cmd += f'sudo sed -i "/scenario/d" projects/{prj_name}/_build/current/main.mod; '
+        cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/{prj_name}/_build/current/main.mod'
         stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
-        stdin.write('luoshi2019' + '\n')
+        stdin.write(clibs.password + "\n")
         stdout.read().decode()  # 需要read一下才能正常执行
         stderr.read().decode()
 
         # 2. reload工程后，pp2main，并且自动模式和上电
-        prj_path = 'target/_build/target.prj'
-        clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
-        clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
-        clibs.execution('state.switch_auto', hr, w2t, tab_name)
-        clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
+        prj_path = f"{prj_name}/_build/{prj_name}.prj"
+        hr.execution("overview.reload", prj_path=prj_path, tasks=["current"])
+        hr.execution("rl_task.pp_to_main", tasks=["current"])
+        hr.execution("state.switch_auto")
+        hr.execution("state.switch_motor_on")
 
         # 3. 开始运行程序，单轴运行35s
-        clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
-        clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
-        _t_start = time()
+        hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
+        hr.execution("rl_task.run", tasks=["current"])
+        t_start = time.time()
         while True:
             if md.read_ready_to_go() == 1:
                 md.write_act(True)
                 break
             else:
-                if (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...", 0, 111, 'red', tab_name)
-                else:
-                    sleep(1)
+                time.sleep(1)
+                if (time.time() - t_start) // 20 > 1:
+                    w2t("20s 内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", "red", "ReadySignalTimeoutError")
 
         # 4. 打开诊断曲线，并执行采集
-        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)  # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定
         scenario_time = 0
-        if number < 6:
-            sleep(35)
-        elif number > 8:
-            sleep(15)
-        else:
-            _t_start = time()
+        if number < 6:  # 单轴
+            time.sleep(35)
+        elif number < 12:  # 堵转
+            time.sleep(15)
+        else:  # 场景
+            t_start = time.time()
             while True:
                 scenario_time = md.read_scenario_time()
                 if float(scenario_time) > 1:
-                    w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
+                    w2t(f"场景{number-5}的周期时间：{scenario_time}\n")
                     break
                 else:
-                    if (time()-_t_start)//60 > 3:
-                        w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
-                    else:
-                        sleep(5)
-            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(5)
+                    if (time.time()-t_start)//60 > 3:
+                        w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...\n", "red", "GetScenarioTimeError")
+            time.sleep(1)  # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
             scenario_time = md.read_scenario_time()
-            sleep(float(scenario_time)*0.2)  # 再运行周期的20%即可
+            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', hr, w2t, tab_name, tasks=['current'])
-        _c_msg = hr.c_msg.copy()
-        for _msg in _c_msg:
-            if 'diagnosis.result' in _msg:
-                disc[number][1].insert(0, loads(_msg))
-        else:
-            hr.c_msg_xs.clear()
-            if len(hr.c_msg) > 270:
-                del hr.c_msg[270:]
-            gen_result_file(path, loadsel, disc, number, scenario_time)
+        clibs.execution("rl_task.stop", tasks=["current"])
+        gen_result_file(path, number, scenario_time)
     else:
-        if loadsel == '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。", 0, 0, 'green', tab_name)
-        elif loadsel == 'inertia':
-            w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。", 0, 0, 'green', tab_name)
+        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")
+        elif sub == "inertia":
+            w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。\n", "green")
+        hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
+        hr.execution("diagnosis.set_params", display_pdo_params=[], frequency=50, version="1.4.1")
 
 
 def main():
@@ -395,11 +234,10 @@ def main():
     insert_logdb = clibs.insert_logdb
 
     data_dirs, data_files = clibs.traversal_files(path, w2t)
-    config_file, prj_file = initialization(path, sub, data_dirs, data_files, hr, w2t)
+    prj_file = initialization(path, sub, data_dirs, data_files, hr, w2t)
     clibs.c_pd.push_prj_to_server(prj_file)
-    clibs.c_hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
-    # run_rl(path, hr, md, sub, w2t)
+    run_rl(path, prj_file, hr, md, sub, w2t)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     main()