完成了电流->转矩的转变，基本完成

assets/files/version/file_version_info.txt

@@ -6,8 +6,8 @@ VSVersionInfo(
   ffi=FixedFileInfo(
     # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
     # Set not needed items to zero 0.
-    filevers=(0, 3, 0, 0),
+    filevers=(0, 3, 1, 0),
-    prodvers=(0, 3, 0, 0),
+    prodvers=(0, 3, 1, 0),
     # Contains a bitmask that specifies the valid bits 'flags'r
     mask=0x3f,
     # Contains a bitmask that specifies the Boolean attributes of the file.
@@ -31,12 +31,12 @@ VSVersionInfo(
         '040904b0',
         [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
         StringStruct('FileDescription', 'All in one automatic toolbox'),
-        StringStruct('FileVersion', '0.3.0.0 (2025-01-17)'),
+        StringStruct('FileVersion', '0.3.1.0 (2025-01-22)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.3.0.0 (2025-01-17)')])
+        StringStruct('ProductVersion', '0.3.1.0 (2025-01-22)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

assets/files/version/vers

@@ -1 +1 @@
-0.3.0.0@01/17/2025
+0.3.1.0@01/22/2025

code/aio.py

@@ -13,6 +13,7 @@ import os
 from common import clibs, openapi
 from data_process import current, brake, iso, wavelogger
 from automatic_test import do_current, do_brake
+from durable_docs import factory_test, create_plot
 import threading
 import re
 
@@ -38,6 +39,10 @@ class App:
         self.entry_tips_v = None
         self.server_vers = None
         self.tv_cols = {1: ["ID", 1], 2: ["time", 160], 3: ["level", 25], 4: ["module", 30], 5: ["content", 700]}
+        self.chk_box_v = ctk.BooleanVar()
+        self.chk_box_v.set(False)
+        self.entry_path_ddv = ctk.StringVar()
+        self.entry_path_ddv.set("数据文件夹路径")
 
         # ========================================================================
         self.frame_left = ctk.CTkFrame(self.root, width=80, corner_radius=0, fg_color="#E9E9E9")
@@ -46,6 +51,7 @@ class App:
         self.tabview_top._segmented_button.configure(font=ctk.CTkFont(family="Consolas", size=18, weight="bold"))
         self.tabview_top.add("数据处理")
         self.tabview_top.add("自动测试")
+        self.tabview_top.add("耐久记录")
         # -------
         self.tabview_bottom = ctk.CTkTabview(self.root, fg_color="#E9E9E9", segmented_button_selected_color="#008B8B", segmented_button_selected_hover_color="#2F4F4F", border_width=2, anchor="w", command=self.__switch_tab_bottom)
         self.tabview_bottom._segmented_button.configure(font=ctk.CTkFont(family="Consolas", size=18, weight="bold"))
@@ -58,23 +64,25 @@ class App:
         self.btn_start = ctk.CTkButton(self.frame_left, text="开始运行", font=self.f_normal, fg_color="#4F4F4F", command=lambda: self.__thread_it(self.__program_start))
         self.btn_reset_state = ctk.CTkButton(self.frame_left, text="重置状态", font=self.f_normal, fg_color="#4F4F4F", command=self.__reset_state)
         # ========================================================================
-        self.om_main_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=160, dynamic_resizing=False, values=["brake", "current", "iso", "wavelogger"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D", command=self.__main_switch_dp)
+        self.om_main_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=160, dynamic_resizing=False, values=["brake", "current", "iso", "wavelogger"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", command=self.__main_switch_dp)
-        self.om_sub_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=160, dynamic_resizing=False, values=["cycle", "max", "avg"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
+        self.om_sub_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=160, dynamic_resizing=False, values=["cycle", "max", "avg"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090")
         self.label_path_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=40, anchor="e", text="Path", font=self.f_common)
         self.entry_path_dp = ctk.CTkEntry(self.tabview_top.tab("数据处理"), width=80, state="disabled", textvariable=self.entry_path_dpv, font=self.f_entry, text_color="#818181")
         self.label_vel_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=40, anchor="e", text="Vel", font=self.f_common)
-        self.om_vel_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
+        self.om_vel_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
         self.label_trq_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=40, anchor="e", text="Trq", font=self.f_common)
-        self.om_trq_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
+        self.om_trq_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
         self.label_trqh_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=40, anchor="e", text="TrqH", font=self.f_common)
-        self.om_trqh_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
+        self.om_trqh_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
         self.label_sensor_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=60, anchor="e", text="Sensor", font=self.f_common)
-        self.om_sensor_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
+        self.om_sensor_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
         self.label_estop_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=60, anchor="e", text="Estop", font=self.f_common)
-        self.om_estop_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
+        self.om_estop_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
+        self.popupmenu_path_dp = tk.Menu(self.entry_path_dp, tearoff=False)
+        self.popupmenu_path_dp.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy_path(self.entry_path_dp))
         # ========================================================================
-        self.om_main_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["brake", "current"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
+        self.om_main_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["brake", "current"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090")
-        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.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", button_hover_color="#708090")
         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, cursor="hand2")
@@ -89,16 +97,30 @@ class App:
         self.popupmenu_ip.add_command(label="剪切", accelerator="Ctrl+X", font=self.f_treeview, command=lambda: self.__cut(self.entry_ip_at))
         self.popupmenu_ip.add_command(label="粘贴", accelerator="Ctrl+V", font=self.f_treeview, command=lambda: self.__paste(self.entry_ip_at))
         self.popupmenu_ip.add_command(label="全选", accelerator="Ctrl+A", font=self.f_treeview, command=lambda: self.__select(self.entry_ip_at))
+        self.popupmenu_path_at = tk.Menu(self.entry_path_at, tearoff=False)
+        self.popupmenu_path_at.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy_path(self.entry_path_at))
+        # ========================================================================
+        self.scrollable_frame = ctk.CTkScrollableFrame(self.tabview_top.tab("耐久记录"), width=360, height=60, label_text="选择曲线", label_font=self.f_segbtn)
+        self.switch_1 = ctk.CTkSwitch(self.scrollable_frame, text="hw_joint_vel_feedback", font=self.f_treeview, onvalue=True, offvalue=False)
+        self.switch_2 = ctk.CTkSwitch(self.scrollable_frame, text="device_servo_trq_feedback", font=self.f_treeview, onvalue=True, offvalue=False)
+        self.label_path_dd = ctk.CTkLabel(self.tabview_top.tab("耐久记录"), width=80, anchor="e", text="指定路径", font=self.f_segbtn_l)
+        self.entry_path_dd = ctk.CTkEntry(self.tabview_top.tab("耐久记录"), width=80, state="disabled", textvariable=self.entry_path_ddv, font=self.f_entry, text_color="#818181")
+        self.label_interval = ctk.CTkLabel(self.tabview_top.tab("耐久记录"), text="间隔时间", width=80, font=self.f_segbtn_l)
+        self.entry_interval = ctk.CTkEntry(self.tabview_top.tab("耐久记录"), placeholder_text="采样间隔时间，默认(最小)300s", font=self.f_entry)
+        self.btn_plot = ctk.CTkButton(self.tabview_top.tab("耐久记录"), text="绘图", width=80, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__create_plot)
+        self.chk_box = ctk.CTkCheckBox(self.tabview_top.tab("耐久记录"), text="全部打开/关闭", checkbox_width=15, checkbox_height=15, corner_radius=0, onvalue=True, offvalue=False, variable=self.chk_box_v, width=20, font=self.f_segbtn_l, command=self.__all_or_none)
+        self.popupmenu_path_dd = tk.Menu(self.entry_path_dd, tearoff=False)
+        self.popupmenu_path_dd.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy_path(self.entry_path_dd))
         # ========================================================================
         self.text_output = ctk.CTkTextbox(self.tabview_bottom.tab("输出"), height=10, corner_radius=0, wrap="none", font=self.f_text)
         # ========================================================================
-        self.label_logs = ctk.CTkLabel(self.tabview_bottom.tab("日志"), width=80, font=self.f_pager, textvariable=self.label_pages_logs, text_color="blue", bg_color="#DCDCDC", cursor="hand2")
+        self.label_logs = ctk.CTkLabel(self.tabview_bottom.tab("日志"), width=100, font=self.f_pager, textvariable=self.label_pages_logs, text_color="blue", bg_color="#DCDCDC", cursor="hand2")
         self.btn_previous = ctk.CTkButton(self.tabview_bottom.tab("日志"), width=60, text="上一页", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__get_previous_log)
         self.btn_realtime = ctk.CTkButton(self.tabview_bottom.tab("日志"), width=60, text="实时", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__get_realtime_log)
         self.btn_next = ctk.CTkButton(self.tabview_bottom.tab("日志"), width=60, text="下一页", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__get_next_log)
         self.btn_load = ctk.CTkButton(self.tabview_bottom.tab("日志"), width=60, text="加载", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__load_log_db)
         self.btn_find = ctk.CTkButton(self.tabview_bottom.tab("日志"), text="查找", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, cursor="hand2")
-        self.entry_keyword = ctk.CTkEntry(self.tabview_bottom.tab("日志"), placeholder_text="[id/level/module] 查找内容", width=60, font=self.f_entry)
+        self.entry_keyword = ctk.CTkEntry(self.tabview_bottom.tab("日志"), placeholder_text="[id/level/module] 查找内容", width=10, font=self.f_entry)
         self.treeview_logs = ttk.Treeview(self.tabview_bottom.tab("日志"),  height=1, columns=("id", "time", "level", "module", "content"), style="tv.Treeview", show="headings")
         self.y_scrollbar_logs = tk.Scrollbar(self.tabview_bottom.tab("日志"), width=30, command=self.treeview_logs.yview)
         self.popupmenu_kw = tk.Menu(self.entry_keyword, tearoff=False)
@@ -140,6 +162,29 @@ class App:
     def __do_nothing(event):
         ...
 
+    @staticmethod
+    def __create_plot():
+        create_plot.main()
+
+    def __all_or_none(self):
+        if self.chk_box_v.get():
+            for widget in self.scrollable_frame.winfo_children():
+                widget.select()
+        else:
+            for widget in self.scrollable_frame.winfo_children():
+                widget.deselect()
+
+    def __get_curve_names(self):
+        curves = []
+        for widget in self.scrollable_frame.winfo_children():
+            if widget.get():
+                curves.append(widget.cget("text"))
+        return curves
+
+    def __copy_path(self, widget):
+        self.root.clipboard_clear()
+        self.root.clipboard_append(widget.get())
+
     def __detect_network(self):
         def func_access(state):
             self.btn_robot_info.configure(state=state)
@@ -157,12 +202,12 @@ class App:
             except Exception:
                 self.btn_conn.configure(fg_color="#979DA2")
                 func_access("disabled")
-            time.sleep(3)
+            time.sleep(2)
 
     def __robot_info(self):
         def get_robot_info():
             self.tabview_bottom.set("输出")
-            self.text_output.delete("1.0", "end")
+            # self.text_output.delete("1.0", "end")
             self.__w2t("正在获取机器信息，请稍后...\n\n")
             infos = {0: {}, 1: {}, 2: {}, 3: {}, 4: {}, 5: {}, 6: {}, 7: {}, 8: {}, 9: {}, 10: {}, 11: {}, 12: {}, 13: {}, 14: {}, 15: {}, 16: {}, 17: {}, 18: {}, 19: {}, 20: {}}
             msg_id, state = clibs.c_hr.execution("controller.get_params")
@@ -229,17 +274,23 @@ class App:
     def __trig_estop(self):
         def trig_estop():
             self.tabview_bottom.set("输出")
-            self.text_output.delete("1.0", "end")
             self.__w2t("触发软急停信号已发送...\n")
             clibs.c_md.r_soft_estop(0)
-            clibs.running = False
+            try:
-            raise Exception("StopProcRunning")
+                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")
+            except Exception as Err:
+                clibs.insert_logdb("WARNING", "aio", f"关闭诊断曲线失败 -  {Err}")
+            if clibs.running:
+                clibs.running = False
+                self.__w2t("程序已停止运行，执行过程中停止时需要清零后台数据，大约一分钟左右后再重新运行！！！\n", "red", "TerminateProgram")
+
         self.__thread_it(trig_estop)
 
     def __reset_estop(self):
         def reset_estop():
             self.tabview_bottom.set("输出")
-            self.text_output.delete("1.0", "end")
+            # self.text_output.delete("1.0", "end")
             self.__w2t("解除软急停信号已发送...\n")
             clibs.c_md.r_soft_estop(1)
             clibs.c_md.r_clear_alarm()
@@ -322,6 +373,14 @@ class App:
             }
             return data
 
+        def get_data_dd():
+            data = {
+                "path": self.entry_path_ddv.get(),
+                "interval": self.entry_interval.get(),
+                "curves": self.__get_curve_names()
+            }
+            return data
+
         def init_op():
             if self.__is_running("开始") == "running":
                 return "running"
@@ -342,22 +401,22 @@ class App:
             if init_op() == "running":
                 return
 
-            if self.tabview_top.get() == "数据处理":
+            clibs.running = True
-                clibs.running = True
+            try:
-                clibs.data_dp = get_data_dp()
+                if self.tabview_top.get() == "数据处理":
-                try:
+                    clibs.data_dp = get_data_dp()
                     eval(clibs.data_dp["_main"] + ".main()")
-                finally:
+                elif self.tabview_top.get() == "自动测试":
-                    clibs.running = False
+                    clibs.data_at = get_data_at()
-                    clibs.stop = False
-            elif self.tabview_top.get() == "自动测试":
-                clibs.running = True
-                clibs.data_at = get_data_at()
-                try:
                     eval("do_" + clibs.data_at["_main"] + ".main()")
-                finally:
+                elif self.tabview_top.get() == "耐久记录":
-                    clibs.running = False
+                    clibs.data_dd = get_data_dd()
-                    clibs.stop = False
+                    factory_test.main()
+            except Exception as Err:
+                self.__w2t(f"程序执行过程中出现异常，{Err}\n", "red")
+            finally:
+                clibs.running = False
+                clibs.stop = False
 
         exec_function()
 
@@ -593,6 +652,7 @@ class App:
         self.f_logo = ("Segoe Script Bold", 28, "bold")
         self.f_normal = ("Consolas", 20, "bold")
         self.f_segbtn = ("楷体", 20, "bold")
+        self.f_segbtn_l = ("楷体", 18, "bold")
         self.f_common = ("Consolas", 18, "bold")
         self.f_entry = ("Consolas", 16, "bold")
         self.f_text = ("仿宋", 16, "normal")
@@ -643,11 +703,17 @@ class App:
             self.__quit_preparation()
 
     def __switch_tab_top(self):
-        ...
+        tab_name = self.tabview_top.get()
+        if tab_name == "数据处理" or tab_name == "自动测试":
+            self.tabview_top.configure(height=180)
+        elif tab_name == "耐久记录":
+            self.tabview_top.configure(height=330)
 
     def __switch_tab_bottom(self):
         if self.tabview_bottom.get() == "日志":
             self.__get_realtime_log()
+        elif self.tabview_bottom.get() == "输出":
+            self.text_output.see(ctk.END)
 
     def __cut(self, widget):
         try:
@@ -704,6 +770,12 @@ class App:
                     self.entry_path_atv.set(dir_path)
                 else:
                     self.entry_path_atv.set(c_origin)
+            elif t_name == "耐久记录":
+                c_origin = self.entry_path_ddv.get()
+                if dir_path:
+                    self.entry_path_ddv.set(dir_path)
+                else:
+                    self.entry_path_ddv.set(c_origin)
 
         def esc_quit_log_tl(event):
             widget_toplevel = event.widget
@@ -973,6 +1045,14 @@ class App:
         def show_popupmenu_output(event):
             self.popupmenu_output.post(event.x_root, event.y_root)
 
+        def show_popupmenu_path(event):
+            if self.tabview_top.get() == "数据处理":
+                self.popupmenu_path_dp.post(event.x_root, event.y_root)
+            elif self.tabview_top.get() == "自动测试":
+                self.popupmenu_path_at.post(event.x_root, event.y_root)
+            elif self.tabview_top.get() == "耐久记录":
+                self.popupmenu_path_dd.post(event.x_root, event.y_root)
+
         def conn_change(event):
             def conn_or_disconn():
                 if self.btn_conn.cget("fg_color") == "#979DA2":
@@ -987,9 +1067,6 @@ 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.write_speed_max(123.456)
-                        # clibs.c_hr.execution('state.set_tp_mode', tp_mode='without')
                         self.btn_conn.configure(state="normal", fg_color="#2E8B57")
                     except Exception:
                         self.btn_conn.configure(state="normal", fg_color="#979DA2")
@@ -1052,6 +1129,7 @@ class App:
         self.om_sensor_dp.grid(row=1, column=10, padx=(0, 10), pady=(0, 10))
 
         self.entry_path_dp.bind("<Button-1>", select_path)
+        self.entry_path_dp.bind("<Button-3>", show_popupmenu_path, add="+")
         self.om_vel_dp.set("1")
         self.om_trq_dp.set("2")
         self.om_trqh_dp.set("2")
@@ -1072,13 +1150,27 @@ class App:
         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.om_main_at.bind("<<ComboboxSelected>>", change_sub_at)
         self.om_main_at.bind("<Button-1>", change_sub_at)
         self.entry_path_at.bind("<Button-1>", select_path)
+        self.entry_path_at.bind("<Button-3>", show_popupmenu_path, add="+")
         self.entry_ip_at.bind("<Button-3>", show_popupmenu_ip, add="+")
         self.btn_conn.bind("<Button-1>", conn_change)
         self.btn_conn.bind("<Double-1>", self.__do_nothing, add="+")
         # ========================================================================
+        self.tabview_top.tab("耐久记录").grid_columnconfigure(2, weight=1)
+        self.scrollable_frame.grid(row=0, column=0, rowspan=30, padx=10, pady=0)
+        self.switch_1.grid(row=0, column=0, padx=10, sticky="w")
+        self.switch_2.grid(row=1, column=0, padx=10, sticky="w")
+        self.label_path_dd.grid(row=0, column=1, padx=10, pady=0, sticky="w")
+        self.entry_path_dd.grid(row=0, column=2, padx=(0, 10), pady=0, sticky="we")
+        self.label_interval.grid(row=1, column=1, padx=10, pady=0, sticky="w")
+        self.entry_interval.grid(row=1, column=2, padx=(0, 10), pady=0, sticky="we")
+        self.btn_plot.grid(row=2, column=1, padx=10, pady=(5, 0), sticky="w")
+        self.chk_box.grid(row=2, column=2, padx=(0, 10), pady=(5, 0), sticky="e")
+
+        self.entry_path_dd.bind("<Button-1>", select_path)
+        self.entry_path_dd.bind("<Button-3>", show_popupmenu_path, add="+")
+        # ========================================================================
         self.tabview_bottom.tab("输出").grid_rowconfigure(0, weight=1)
         self.tabview_bottom.tab("输出").grid_columnconfigure(0, weight=1)
         self.text_output.grid(row=0, column=0, sticky="news")

code/automatic_test/do_brake.py

@@ -10,7 +10,7 @@ from common import clibs, openapi
 
 def initialization(path, sub, data_dirs, data_files, hr, w2t):
     def check_files():
-        msg = "初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！\n"
+        msg = "初始路径下不允许有文件夹，初始路径下只能存在如下五个文件，且文件为关闭状态，确认后重新运行！\n"
         msg += "1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n"
         if len(data_dirs) != 0 or len(data_files) != 5:
             w2t(msg, "red", "InitFileError")
@@ -130,16 +130,19 @@ def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds,
     df.to_csv(filename, sep="\t", index=False)
 
 
-def change_curve_state(hr, stat_1, stat_2):
+def change_curve_state(hr, stat):
-    display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback"] for chl in range(6)]
+    if not stat:
-    display_pdo_params.append({"name": "device_safety_estop", "channel": 0})
+        display_pdo_params = []
-    hr.execution("diagnosis.open", open=stat_1, display_open=stat_2, overrun=True, turn_area=True, delay_motion=False)
+    else:
+        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})
+    hr.execution("diagnosis.open", open=stat, display_open=stat, 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")
 
 
 def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
     count, total, speed_target = 0, 63, 0
-    prj_name = prj_file.split("/")[-1].split(".")[0]
+    prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
     wb = openpyxl.load_workbook(config_file, read_only=True)
     ws = wb["Target"]
     write_diagnosis = float(ws.cell(row=2, column=2).value)
@@ -171,6 +174,10 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                 continue
 
         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")
+                exit()
+
             # for single condition test
             if (single_axis != -1 and single_axis != axis) or (axis == 3 and reach != "100"):
                 continue
@@ -231,16 +238,16 @@ 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:
+                            if (time.time() - t_start) > 3:
-                                w2t("20s 内未收到机器人的运行信号，需要确认 RL 程序编写正确并正常执行...", "red", "ReadySignalTimeoutError")
+                                w2t("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")
                 # 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, True)
+                    change_curve_state(hr, True)
                     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
                     end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
                     hr.execution("rl_task.stop", tasks=["brake"])
-                    change_curve_state(hr, False, False)
+                    change_curve_state(hr, False)
 
                     # 找出最大速度
                     @clibs.db_lock
@@ -297,7 +304,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
 
                     def exec_brake():
                         flag, start, data, record = True, time.time(), None, None
-                        change_curve_state(hr, True, True)
+                        change_curve_state(hr, True)
                         while flag:
                             time.sleep(0.05)
                             if time.time() - start > 20:
@@ -320,7 +327,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
                                     if (pon == "positive" and speed_moment > 0) or (pon == "negative" and speed_moment < 0):
                                         clibs.c_ec.setdo_value(io_name, "false")
                                         time.sleep(2)
-                                        change_curve_state(hr, False, False)
+                                        change_curve_state(hr, False)
                                         flag = False
                         return time.time()
 

code/automatic_test/do_current.py

@@ -8,7 +8,7 @@ from common import clibs
 
 def initialization(path, sub, data_dirs, data_files, hr, w2t):
     def check_files():
-        msg = "初始路径下不允许有文件夹，且初始路径下只能存在如下两个文件，确认后重新运行！\n"
+        msg = "初始路径下不允许有文件夹，初始路径下只能存在如下两个文件，且文件为关闭状态，确认后重新运行！\n"
         msg += "1. T_电机电流.xlsx\n2. xxxx.zip\n"
         if len(data_dirs) != 0 or len(data_files) != 2:
             w2t(msg, "red", "InitFileError")
@@ -60,7 +60,7 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
 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 = [], [], []
+    d_vel, d_trq, d_sensor, d_trans = [], [], [], []
     for record in records:
         data = eval(record[0])["data"]
         for item in data:
@@ -71,33 +71,40 @@ def single_axis_proc(path, records, number):
                 d_trq.extend(d_item)
             elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback":
                 d_sensor.extend(d_item)
+            elif item.get("channel", None) == number and item.get("name", None) == "hw_estimate_trans_trq_res":
+                d_trans.extend(d_item)
 
     df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
     df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
     df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
-    df = pandas.concat([df1, df2, df3], axis=1)
+    df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans})
+    df = pandas.concat([df1, df2, df3, df4], axis=1)
     filename = f"{path}/single/j{number + 1}_{text}_{time.time()}.data"
     df.to_csv(filename, sep="\t", index=False)
 
 
 def scenario_proc(path, records, number, scenario_time):
-    for axis in range(6):
+    d_vel, d_trq, d_sensor, d_trans = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
-        d_vel, d_trq, d_sensor = [], [], []
+    for record in records:
-        for record in records:
+        data = eval(record[0])["data"]
-            data = eval(record[0])["data"]
+        for item in data:
-            for item in data:
+            d_item = reversed(item["value"])
-                d_item = reversed(item["value"])
+            for axis in range(6):
                 if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
-                    d_vel.extend(d_item)
+                    d_vel[axis].extend(d_item)
                 elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
-                    d_trq.extend(d_item)
+                    d_trq[axis].extend(d_item)
                 elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback":
-                    d_sensor.extend(d_item)
+                    d_sensor[axis].extend(d_item)
+                elif item.get("channel", None) == axis and item.get("name", None) == "hw_estimate_trans_trq_res":
+                    d_trans[axis].extend(d_item)
 
-        df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
+    for axis in range(6):
-        df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
+        df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel[axis]})
-        df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
+        df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
-        df = pandas.concat([df1, df2, df3], axis=1)
+        df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor[axis]})
+        df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans[axis]})
+        df = pandas.concat([df1, df2, df3, df4], axis=1)
         filename = f"{path}/s_{number-11}/j{axis+1}_s_{number-11}_{scenario_time}_{time.time()}.data"
         df.to_csv(filename, sep="\t", index=False)
 
@@ -121,14 +128,15 @@ def gen_result_file(path, number, start_time, end_time, scenario_time):
         p.start()
 
 
-def change_curve_state(hr, stat_1, stat_2):
+def change_curve_state(hr, stat):
-    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)]
+    curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res"]
-    hr.execution("diagnosis.open", open=stat_1, display_open=stat_2, overrun=True, turn_area=True, delay_motion=False)
+    display_pdo_params = [] if not stat else [{"name": curve, "channel": chl} for curve in curves for chl in range(6)]
+    hr.execution("diagnosis.open", open=stat, display_open=stat, 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")
 
 
 def run_rl(path, prj_file, hr, md, sub, w2t):
-    prj_name = prj_file.split("/")[-1].split(".")[0]
+    prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
     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)",
@@ -165,6 +173,10 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
     md.r_clear_alarm()
 
     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")
+            exit()
+
         number = conditions.index(condition)
         w2t(f"正在执行{disc[number]}测试......\n")
 
@@ -198,12 +210,12 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
                 break
             else:
                 time.sleep(1)
-                if (time.time() - t_start) > 20:
+                if (time.time() - t_start) > 3:
-                    w2t("20s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...", "red", "ReadySignalTimeoutError")
+                    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")
 
         # 4. 执行采集
         time.sleep(10)  # 消除前 10s 的不稳定数据
-        change_curve_state(hr, True, True)
+        change_curve_state(hr, True)
         start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
         single_time, stall_time, scenario_time = 40, 10, 0
         if number < 6:  # 单轴
@@ -227,7 +239,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
         end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
         hr.execution("rl_task.stop", tasks=["current"])
         time.sleep(2)  # 确保数据都拿到
-        change_curve_state(hr, False, False)
+        change_curve_state(hr, False)
         gen_result_file(path, number, start_time, end_time, scenario_time)
     else:
         if sub == "tool100":
@@ -252,7 +264,7 @@ def main():
     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")
+    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/common/clibs.py

@@ -66,42 +66,12 @@ def insert_logdb(_level, _module, _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__()
-        self.func = func
-        self.args = args
-        self.result = None
-
-    def run(self):
-        self.result = self.func(*self.args)
-
-    def get_result(self):
-        threading.Thread.join(self)  # 等待线程执行完毕
-        try:
-            return self.result
-        except Exception:
-            return None
-
-
 # PREFIX = 'assets'  # for pyinstaller packaging
 PREFIX = '../assets'  # for source code testing and debug
 log_path = f"{PREFIX}/logs"
 levels = ["DEBUG", "INFO", "WARNING", "ERROR"]
 db_state = "readwrite"
-data_dp, data_at = {}, {}
+data_dp, data_at, data_dd = {}, {}, {}
 conn, cursor, w2t, tl_prg, f_records, stop, running = None, None, None, None, None, True, False
 
 ip_addr = "192.168.0.160"

code/common/openapi.py

@@ -1,6 +1,5 @@
 import json
 import socket
-import inspect
 from inspect import currentframe
 import threading
 import functools
@@ -10,9 +9,6 @@ import selectors
 import time
 from common import clibs
 
-from os import listdir
-from pymodbus.payload import BinaryPayloadBuilder
-from pymodbus.constants import Endian
 import os.path
 from ctypes import *
 import hashlib
@@ -161,12 +157,12 @@ class ModbusRequest(object):
         clibs.insert_logdb("INFO", "openapi", f"modbus: 40102 将 {pon} 写入")
 
     def write_axis(self, axis):
-        result = self.__c.convert_to_registers(int(axis), self.__c.DATATYPE.INT32, word_order="little")
+        result = self.__c.convert_to_registers(int(axis), self.__c.DATATYPE.INT32, "little")
         self.__c.write_registers(40103, result)
         clibs.insert_logdb("INFO", "openapi", f"modbus: 40103 将 {axis} 写入")
 
     def write_speed_max(self, speed):
-        result = self.__c.convert_to_registers(float(speed), self.__c.DATATYPE.FLOAT32, word_order="little")
+        result = self.__c.convert_to_registers(float(speed), self.__c.DATATYPE.FLOAT32, "little")
         self.__c.write_registers(40105, result)
         clibs.insert_logdb("INFO", "openapi", f"modbus: 40105 将 {speed} 写入")
 
@@ -315,7 +311,7 @@ class ModbusRequest(object):
 
     def read_scenario_time(self):
         results = self.__c.read_holding_registers(40601, count=2)
-        result = self.__c.convert_from_registers(results.registers, data_type=self.__c.DATATYPE.FLOAT32, word_order="little")
+        result = self.__c.convert_from_registers(registers=results.registers, data_type=self.__c.DATATYPE.FLOAT32, word_order="little")
         return result
 
     def read_brake_done(self):
@@ -750,7 +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")
+            clibs.w2t(f"hr-execution: 暂不支持 {command} 功能，或确认该功能存在... {Err}", "red", "CommandError")
 
         if p_flag == 0:  # for old protocols
             match command:

code/data_process/brake.py

@@ -66,21 +66,21 @@ def get_configs(config_file, w2t):
     try:
         with open(config_file, mode="r", encoding="utf-8") as f_config:
             configs = json.load(f_config)
+
+        p_dir = config_file.split('/')[-2]
+        if not re.match("^[jJ][123]$", p_dir):
+            w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")
+        axis = int(p_dir[-1])
+
+        rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]]  # 减速比，rr for reduction ratio
+        avs = configs["MOTION"]["JOINT_MAX_SPEED"]
+        rr = rrs[axis-1]
+        av = avs[axis-1]
+
+        return av, rr
     except Exception as Err:
-        clibs.insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，获取配置文件参数错误 {Err}")
+        clibs.insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，或获取配置文件参数错误 {Err}")
-        w2t(f"无法打开 {config_file}", color="red", desc="OpenFileError")
+        w2t(f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查\n", color="red", desc="OpenFileError")
-
-    p_dir = config_file.split('/')[-2]
-    if not re.match("^[jJ][123]$", p_dir):
-        w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")
-    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):

code/data_process/current.py

@@ -32,8 +32,8 @@ def initialization(path, w2t, insert_logdb):
     return data_files, config_file
 
 
-def current_max(data_files, rcs, trq, w2t, insert_logdb):
+def current_max(data_files, rts, trq, w2t, insert_logdb):
-    insert_logdb("INFO", "current", "MAX: 正在处理最大电流值逻辑...")
+    insert_logdb("INFO", "current", "MAX: 正在处理最大转矩值逻辑...")
     current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
     for data_file in data_files:
         if data_file.endswith(".data"):
@@ -44,17 +44,17 @@ def current_max(data_files, rcs, trq, w2t, insert_logdb):
         insert_logdb("INFO", "current", f"MAX: 正在处理 {data_file}")
         cols = len(df.columns)
         axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
-        rca = rcs[axis-1]
+        rt = rts[axis-1]
-        insert_logdb("INFO", "current", f"MAX: 最大列数为 {cols}，{axis} 轴的额定电流为 {rca}")
+        insert_logdb("INFO", "current", f"MAX: 最大列数为 {cols}，{axis} 轴的额定转矩为 {rt}")
 
         col = df.columns.values[trq-1]  # 获取 "device_servo_trq_feedback"
         c_max = df[col].abs().max()
 
         scale = 1000
-        _ = abs(c_max/scale*rca)
+        _ = abs(c_max/scale*rt)
         current[axis].append(_)
-        w2t(f"{data_file}: {_:.4f}\n")
+        w2t(f"{data_file}: {_:.2f}\n")
-        insert_logdb("INFO", "current", f"MAX: 获取到的列名为 {col}，最大电流为 {_}")
+        insert_logdb("INFO", "current", f"MAX: 获取到的列名为 {col}，最大转矩为 {_}")
 
         with open(data_file, "a+") as f_data:
             csv_writer = csv.writer(f_data, delimiter="\t")
@@ -69,12 +69,12 @@ def current_max(data_files, rcs, trq, w2t, insert_logdb):
                 w2t(f"{value:.4f} ")
             w2t("\n")
     w2t("\n【MAX】数据处理完毕......")
-    insert_logdb("INFO", "current", f"MAX: 获取最大电流值结束 current_max = {current}")
+    insert_logdb("INFO", "current", f"MAX: 获取最大转矩值结束 current_max = {current}")
     return current
 
 
-def current_avg(data_files, rcs, trqh, w2t, insert_logdb):
+def current_avg(data_files, rts, trqh, w2t, insert_logdb):
-    insert_logdb("INFO", "current", "AVG: 正在处理平均电流值逻辑...")
+    insert_logdb("INFO", "current", "AVG: 正在处理平均转矩值逻辑...")
     current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
     for data_file in data_files:
         if data_file.endswith(".data"):
@@ -85,19 +85,19 @@ def current_avg(data_files, rcs, trqh, w2t, insert_logdb):
         insert_logdb("INFO", "current", f"AVG: 正在处理 {data_file}")
         cols = len(df.columns)
         axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
-        rca = rcs[axis-1]
+        rt = rts[axis-1]
-        insert_logdb("INFO", "current", f"AVG: 最大列数为 {cols}，{axis} 轴的额定电流为 {rca}")
+        insert_logdb("INFO", "current", f"AVG: 最大列数为 {cols}，{axis} 轴的额定转矩为 {rt}")
 
         col = df.columns.values[trqh-1]
         c_std = df[col].std()
         c_avg = df[col].mean()
 
         scale = 1000
-        _ = (abs(c_avg)+c_std*3)/scale*rca
+        _ = (abs(c_avg)+c_std*3)/scale*rt
         current[axis].append(_)
-        w2t(f"{data_file}: {_:.4f}\n")
+        w2t(f"{data_file}: {_:.2f}\n")
 
-        insert_logdb("INFO", "current", f"AVG: 获取到的列名为 {col}，平均电流为 {_}")
+        insert_logdb("INFO", "current", f"AVG: 获取到的列名为 {col}，平均转矩为 {_}")
         with open(data_file, "a+") as f_data:
             csv_writer = csv.writer(f_data, delimiter="\t")
             csv_writer.writerow([""] * (cols-1) + [_])
@@ -111,11 +111,11 @@ def current_avg(data_files, rcs, trqh, w2t, insert_logdb):
                 w2t(f"{value:.4f} ")
             w2t("\n")
     w2t("\n【AVG】数据处理完毕......\n")
-    insert_logdb("INFO", "current", f"AVG: 获取平均电流值结束 current_avg = {current}")
+    insert_logdb("INFO", "current", f"AVG: 获取平均转矩值结束 current_avg = {current}")
     return current
 
 
-def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb):
+def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rts, params, w2t, insert_logdb):
     result, hold, single, scenario, dur_time = None, [], [], [], 0
     for data_file in data_files:
         filename = data_file.split("/")[-1]
@@ -137,16 +137,17 @@ def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, ins
     wb = openpyxl.load_workbook(result)
 
     ws = wb["统计"]
-    for idx in range(len(params)):
+    for idx in range(len(params)-1):
         row = idx + 2
         for col in range(2, 8):
             ws.cell(row=row, column=col).value = params[idx][col-2]
+    ws.cell(row=1, column=1).value = params[-1]
 
     if hold:
-        avg = current_avg(hold, rcs, trqh, w2t, insert_logdb)
+        avg = current_avg(hold, rts, trqh, w2t, insert_logdb)
         for axis, cur_value in avg.items():
             sht_name = f"J{axis}"
-            wb[sht_name]["O4"].value = float(cur_value[0])
+            wb[sht_name]["P4"].value = float(cur_value[0])
 
     if dur_time == 0:
         p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb)
@@ -303,29 +304,31 @@ def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb):
         if abs(row_end+row_start-2*row_middle) > 1000:
             insert_logdb("WARNING", "current", f"{axis} 轴数据占空比异常！")
 
-        data, first_c, second_c, third_c = [], vel-1, trq-1, sensor-1
+        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):
             data.append(df_origin.iloc[row, first_c])
             data.append(df_origin.iloc[row, second_c])
             data.append(df_origin.iloc[row, third_c])
+            data.append(df_origin.iloc[row, fourth_c])
 
         i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=4):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=5):
             for cell in row:
                 try:
-                    if i % 3 == 0:
+                    if i % 4 == 0:
-                        ws.cell((i//3)+2, 1).value = float(((i//3)+1)/1000)
+                        ws.cell((i//4)+2, 1).value = float(((i//4)+1)/1000)
                     _ = f"{data[i]:.2f}"
                     cell.value = float(_)
                     i += 1
                 except Exception:
-                    if i % 3 == 0:
+                    if i % 4 == 0:
-                        ws.cell((i//3)+2, 1).value = None
+                        ws.cell((i//4)+2, 1).value = None
                     cell.value = None
                     i += 1
 
 
 def p_scenario(wb, scenario, vel, trq, sensor, rrs, dur_time, w2t):
+    w2t(f"本次处理的是电机电流场景数据，场景运动周期为 {dur_time}s\n", "blue")
     for data_file in scenario:
         cycle = 0.001
         axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
@@ -344,64 +347,60 @@ def p_scenario(wb, scenario, vel, trq, sensor, rrs, dur_time, w2t):
         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")
 
-        data, first_c, second_c, third_c = [], vel-1, trq-1, sensor-1
+        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):
             data.append(df_origin.iloc[row, first_c])
             data.append(df_origin.iloc[row, second_c])
             data.append(df_origin.iloc[row, third_c])
+            data.append(df_origin.iloc[row, fourth_c])
 
         i = 0
-        for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=4):
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=5):
             for cell in row:
                 try:
-                    if i % 3 == 0:
+                    if i % 4 == 0:
-                        ws.cell((i//3)+2, 1).value = float(((i//3)+1)/1000)
+                        ws.cell((i//4)+2, 1).value = float(((i//4)+1)/1000)
                     _ = f"{data[i]:.2f}"
                     cell.value = float(_)
                     i += 1
                 except Exception:
                     cell.value = None
-                    if i % 3 == 0:
+                    if i % 4 == 0:
-                        ws.cell((i//3)+2, 1).value = None
+                        ws.cell((i//4)+2, 1).value = None
                     i += 1
 
 
 def get_configs(config_file, w2t, insert_logdb):
     try:
+        if re.match("^[NXEC]B.*", config_file.split("/")[-1]):
+            robot_type = "工业"
+        else:
+            robot_type = "协作"
+
         with open(config_file, mode="r", encoding="utf-8") as f_config:
             configs = json.load(f_config)
+
+        version = configs["VERSION"]
+        sc = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001]  # 采样周期，sc for sample cycle
+        r_rrs = configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]  # 减速比，rr for reduction ratio
+        m_avs = configs["MOTION"]["JOINT_MAX_SPEED"]
+        m_stall_ts = configs["MOTOR"]["STALL_TORQUE"]  # 电机堵转转矩
+        m_rts = configs["MOTOR"]["RATED_TORQUE"]  # 电机额定转矩rt for rated torque
+        m_max_ts = configs["MOTOR"]["PEAK_TORQUE"]  # 电机峰值转矩
+        m_r_rpms = configs["MOTOR"]["RATED_SPEED"]  # 电机额定转速
+        m_max_rpms = configs["MOTOR"]["MAX_SPEED"]  # 电机最大转速
+        r_max_sst = configs["TRANSMISSION"]["MAX_TORQUE_FOR_START_AND_STOP"]  # 减速器最大启停转矩，sst for start and stop torque
+        r_max_t = configs["TRANSMISSION"]["MAX_PEAK_TORQUE"]  # 减速器瞬时最大转矩
+        r_avg_t = configs["TRANSMISSION"]["MAX_AVERAGE_TORQUE"]  # 减速器平均负载转矩允许最大值
+
+        insert_logdb("INFO", "current", f"get_configs: 机型文件版本 {config_file}_{version}")
+        insert_logdb("INFO", "current", f"get_configs: 减速比 {r_rrs}")
+        insert_logdb("INFO", "current", f"get_configs: 额定转矩 {m_rts}")
+        insert_logdb("INFO", "current", f"get_configs: 最大角速度 {m_avs}")
+        return sc, r_rrs, m_avs, m_stall_ts, m_rts, m_max_ts, m_r_rpms, m_max_rpms, r_max_sst, r_max_t, r_avg_t, robot_type
     except Exception as Err:
-        insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，获取配置文件参数错误 {Err}")
+        insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，或获取配置文件参数错误 {Err}")
-        w2t(f"无法打开 {config_file}", color="red", desc="OpenFileError")
+        w2t(f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查\n", color="red", desc="OpenFileError")
-
-    # 最大角速度，额定电流，减速比，额定转速
-    version = configs["VERSION"]
-    m_rts = configs["MOTOR"]["RATED_TORQUE"]  # 电机额定转矩rt for rated torque
-    m_max_ts = configs["MOTOR"]["PEAK_TORQUE"]  # 电机峰值转矩
-    m_stall_ts = configs["MOTOR"]["STALL_TORQUE"]  # 电机堵转转矩
-    m_tcs = [1, 1, 1, 1, 1, 1]  # 电机转矩常数，tc for torque constant
-
-    m_rcs, m_max_cs, m_stall_cs = [], [], []
-    for i in range(len(m_tcs)):
-        m_rcs.append(m_rts[i]/m_tcs[i])  # 电机额定电流，rc for rated current
-        m_max_cs.append(m_max_ts[i]/m_tcs[i])  # 电机最大电流
-        m_stall_cs.append(m_stall_ts[i]/m_tcs[i])  # 电机堵转电流
-
-    m_r_rpms = configs["MOTOR"]["RATED_SPEED"]  # 电机额定转速
-    m_max_rpms = configs["MOTOR"]["MAX_SPEED"]  # 电机最大转速
-    r_rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]]  # 减速比，rr for reduction ratio
-    r_max_sst = configs["TRANSMISSION"]["MAX_TORQUE_FOR_START_AND_STOP"]  # 减速器最大启停转矩，sst for start and stop torque
-    r_max_t = configs["TRANSMISSION"]["MAX_PEAK_TORQUE"]  # 减速器瞬时最大转矩
-    sc = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001]  # 采样周期，sc for sample cycle
-    r_rts = [1, 1, 1, 1, 1, 1]  # 减速器额定转矩
-    r_r_rpms = [1, 1, 1, 1, 1, 1]  # 减速器额定转速
-    r_life_cycle = [10000, 10000, 10000, 10000, 10000, 10000]  # 减速器L10寿命
-    r_avg_t = configs["TRANSMISSION"]["MAX_AVERAGE_TORQUE"]  # 减速器平均负载转矩允许最大值
-
-    insert_logdb("INFO", "current", f"get_configs: 机型文件版本 {config_file}_{version}")
-    insert_logdb("INFO", "current", f"get_configs: 减速比 {r_rrs}")
-    insert_logdb("INFO", "current", f"get_configs: 额定电流 {m_rcs}")
-    return m_rcs, m_max_cs, m_stall_cs, m_rts, m_max_ts, m_r_rpms, m_max_rpms, m_tcs, r_rrs, r_max_sst, r_max_t, sc, r_rts, r_r_rpms, r_life_cycle, r_avg_t
 
 
 def main():
@@ -418,13 +417,13 @@ def main():
 
     data_files, config_file = initialization(path, w2t, insert_logdb)
     params = get_configs(config_file, w2t, insert_logdb)
-    rcs, rrs = params[0], params[8]
+    rts, rrs = params[4], params[1]
     if sub == "max":
-        current_max(data_files, rcs, trq, w2t, insert_logdb)
+        current_max(data_files, rts, trq, w2t, insert_logdb)
     elif sub == "avg":
-        current_avg(data_files, rcs, trqh, w2t, insert_logdb)
+        current_avg(data_files, rts, trqh, w2t, insert_logdb)
     elif sub == "cycle":
-        current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb)
+        current_cycle(data_files, vel, trq, trqh, sensor, rrs, rts, params, w2t, insert_logdb)
 
     w2t("-"*60 + "\n全部处理完毕\n")
     time_end = time.time()

code/data_process/wavelogger.py

@@ -1,6 +1,7 @@
 import pandas
 import csv
 import openpyxl
+import chardet
 from common import clibs
 
 
@@ -9,7 +10,7 @@ def find_point(bof, step, margin, threshold, pos, data_file, flag, df, row, w2t)
     # pos: used for debug
     # flag: greater than or lower than
     row_target = None
-    row_origin = df.index[-1] - margin + 1
+    row_origin = len(df) - margin + 1
     if flag == "gt":
         while 0 < row < row_origin:
             value = float(df.iloc[row, 2])
@@ -22,7 +23,7 @@ def find_point(bof, step, margin, threshold, pos, data_file, flag, df, row, w2t)
         else:
             if bof == "backward":
                 clibs.insert_logdb("ERROR", "wavelogger", f"find_point-gt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...")
-                w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red", "DataError")
+                w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...\n", "red", "DataError")
             elif bof == "forward":
                 row_target = row + margin  # to end while loop in function `single_file_proc`
     elif flag == "lt":
@@ -37,7 +38,7 @@ def find_point(bof, step, margin, threshold, pos, data_file, flag, df, row, w2t)
         else:
             if bof == "backward":
                 clibs.insert_logdb("ERROR", "wavelogger", f"find_point-lt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...")
-                w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red", "DataError")
+                w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...\n", "red", "DataError")
             elif bof == "forward":
                 row_target = row + margin  # to end while loop in function `single_file_proc`
     return row_target
@@ -49,10 +50,14 @@ def get_cycle_info(data_file, step, margin, threshold, w2t):
     # 1. 从最后读取数据，无论是大于1还是小于1，都舍弃，找到相反的值的起始点
     # 2. 从起始点，继续往前寻找，找到与之数值相反的中间点
     # 3. 从中间点，继续往前寻找，找到与之数值相反的结束点，至此，得到了高低数值的时间区间以及一轮的周期时间
-    csv_reader = csv.reader(open(data_file))
+    with open(data_file, "rb") as f:
+        raw_data = f.read(1000)
+        result = chardet.detect(raw_data)
+        encoding = result['encoding']
+    csv_reader = csv.reader(open(data_file, encoding=encoding))
     begin = int(next(csv_reader)[1])
-    df = pandas.read_csv(data_file, sep=",", encoding="gbk", skip_blank_lines=False, header=begin - 1, on_bad_lines="skip")
+    df = pandas.read_csv(data_file, sep=",", encoding=encoding, skip_blank_lines=False, header=begin - 1, on_bad_lines="skip")
-    row = df.index[-1] - margin
+    row = len(df) - margin
     if float(df.iloc[row, 2]) < threshold:
         row = find_point("backward", step, margin, threshold, "a1", data_file, "lt", df, row, w2t)
 
@@ -73,7 +78,7 @@ def initialization(path, w2t):
     for data_file in data_files:
         if not data_file.lower().endswith(".csv"):
             clibs.insert_logdb("ERROR", "wavelogger", f"init: {data_file} 文件后缀错误，只允许 .csv 文件，需要确认！")
-            w2t(f"{data_file} 文件后缀错误，只允许 .csv 文件，需要确认！", "red", "FileTypeError")
+            w2t(f"{data_file} 文件后缀错误，只允许 .csv 文件，需要确认！\n", "red", "FileTypeError")
 
     return data_files
 
@@ -88,7 +93,7 @@ def preparation(data_file, step, margin, threshold, wb, w2t):
 
 def single_file_proc(ws, data_file, step, threshold, margin, data_length, df, cycle, w2t):
     row, row_lt, row_gt, count, count_i, data = 1, 1, 1, 1, 1, {}
-    row_max = df.index[-1] - margin
+    row_max = len(df) - margin
     while row < row_max:
         if count not in data.keys():
             data[count] = []
@@ -98,9 +103,9 @@ def single_file_proc(ws, data_file, step, threshold, margin, data_length, df, cy
             row_lt = find_point("forward", step, margin, threshold, "c"+str(row), data_file, "lt", df, row, w2t)
             start = int(row_gt + (row_lt - row_gt - data_length) / 2)
             end = start + data_length
-            value = df.iloc[start:end, 2].mean() + 3 * df.iloc[start:end, 2].std()
+            value = df.iloc[start:end, 2].astype(float).mean() + 3 * df.iloc[start:end, 2].astype(float).std()
             if value > 1:
-                msg = f"{data_file} 文件第 {count} 轮 第 {count_i} 个数据可能有问题，需人工手动确认，确认有问题可删除，无问题则保留"
+                msg = f"{data_file} 文件第 {count} 轮 第 {count_i} 个数据可能有问题，需人工手动确认，确认有问题可删除，无问题则保留\n"
                 clibs.insert_logdb("WARNING", "wavelogger", msg)
                 w2t(msg, "orange")
             data[count].append(value)

code/durable_docs/create_plot.py

@@ -0,0 +1,82 @@
+import os.path
+import matplotlib.pyplot as plt
+import pandas
+from matplotlib.widgets import Slider
+from common import clibs
+
+
+def initialization():
+    path, curves = None, None
+    try:
+        path = clibs.data_dd["path"]
+        curves = clibs.data_dd["curves"]
+    except Exception:
+        clibs.w2t("程序未开始运行，暂无数据可以展示......\n", "red")
+        return None, None
+
+    for curve in curves:
+        if not os.path.exists(f"{path}/{curve}.csv"):
+            clibs.w2t(f"{curve}曲线数据暂未生成，稍后再试......\n", "orange")
+            return None, None
+
+    return path, curves
+
+
+def data_plot(path, curve):
+    titles = {"hw_joint_vel_feedback": "各关节最大速度曲线", "device_servo_trq_feedback": "各关节平均有效转矩曲线"}
+    ylabels = {"hw_joint_vel_feedback": "速度(rad/s)", "device_servo_trq_feedback": "转矩(Nm)"}
+
+    fig, axes = plt.subplots(figsize=(10, 4.5), dpi=100)
+    cols = [f"{curve}_{i}" for i in range(6)]
+    cols.insert(0, "time")
+    df = pandas.read_csv(f"{path}/{curve}.csv")
+    plt.plot(df[cols[1]], label="一轴")
+    plt.plot(df[cols[2]], label="二轴")
+    plt.plot(df[cols[3]], label="三轴")
+    plt.plot(df[cols[4]], label="四轴")
+    plt.plot(df[cols[5]], label="五轴")
+    plt.plot(df[cols[6]], label="六轴")
+    axes.set_title(titles[curve])
+    axes.set_ylabel(ylabels[curve])
+    axes.legend(loc="upper right")
+
+    slider_position = plt.axes((0.1, 0.01, 0.8, 0.05), facecolor="blue")  # (left, bottom, width, height)
+    scrollbar = Slider(slider_position, 'Time', 1, int(len(df)), valstep=1)
+
+    def update(val):
+        pos = scrollbar.val
+        axes.set_xlim([pos, pos + 10])
+        fig.canvas.draw_idle()
+
+    scrollbar.on_changed(update)
+    fig.tight_layout(rect=(0, 0.02, 0.96, 1))  # tuple (left, bottom, right, top)
+
+
+def main():
+    path, curves = initialization()
+    if not path or not curves:
+        return
+
+    for curve in curves:
+        data_plot(path, curve)
+
+    plt.rcParams['font.sans-serif'] = ['SimHei']
+    plt.rcParams['axes.unicode_minus'] = False
+    plt.rcParams['figure.dpi'] = 100
+    plt.rcParams['font.size'] = 14
+    plt.rcParams['lines.marker'] = 'o'
+    plt.rcParams["figure.autolayout"] = True
+    plt.show()
+
+    # threads = [threading.Thread(target=data_plot, args=(path, curve)) for curve in curves]
+    # for t in threads:
+    #     t.daemon = True
+    #     t.start()
+    # for curve in curves:
+    #     t = threading.Thread(target=data_plot, args=(path, curve))
+    #     t.daemon = True
+    #     t.start()
+
+
+if __name__ == '__main__':
+    main()

code/durable_docs/factory_test.py

@@ -0,0 +1,271 @@
+import json
+import threading
+import time
+import pandas
+import math
+import csv
+import numpy
+from common import clibs
+
+
+def initialization(path, hr, data_dirs, data_files, interval, curves, w2t):
+    def check_files():
+        nonlocal interval
+        if interval == "":
+            interval = 300
+        elif interval.isdigit():
+            if int(interval) < 300:
+                w2t(f"输入时间间隔 {interval} < 300，使用默认时间间隔 300s ......\n", "orange")
+                interval = 300
+            else:
+                interval = int(interval)
+        else:
+            w2t(f"{interval} 不是有效的输入，时间间隔必须是一个大于 300 的正整数！\n", "red", "NotIntegerError")
+
+        if len(curves) == 0:
+            w2t("未查询到需要记录数据的曲线，至少选择一个！\n", "red", "CurveNameError")
+
+        if len(data_dirs) != 0 or len(data_files) != 1:
+            w2t("初始路径下不允许有文件夹，且初始路径下只能存在一个工程文件 —— *.zip，确认后重新运行！\n", "red", "InitFileError")
+
+        if not data_files[0].endswith(".zip"):
+            w2t(f"{data_files[0]} 不是一个有效的工程文件，需确认！\n", "red", "ProjectFileError")
+
+        return data_files[0], interval
+
+    def get_configs():
+        robot_type, records = None, None
+        try:
+            msg_id, state = hr.execution("controller.get_params")
+            records = hr.get_from_id(msg_id, state)
+        except Exception:
+            w2t("网络不可达，需要先连接xCore！\n", "red", "NetworkError")
+        for record in records:
+            if "请求发送成功" not in record[0]:
+                robot_type = eval(record[0])["data"]["robot_type"]
+        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)
+
+        try:
+            with open(local_file, mode="r", encoding="utf-8") as f_config:
+                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}\n", color="red", desc="OpenFileError")
+
+        # 最大角速度，额定电流，减速比，额定转速
+        version = configs["VERSION"]
+        m_avs = configs["MOTION"]["JOINT_MAX_SPEED"]
+        m_rts = configs["MOTOR"]["RATED_TORQUE"]  # 电机额定转矩rt for rated torque
+        m_tcs = [1, 1, 1, 1, 1, 1]  # 电机转矩常数，tc for torque constant
+        m_rcs = []
+        for i in range(len(m_tcs)):
+            m_rcs.append(m_rts[i] / m_tcs[i])  # 电机额定电流，rc for rated current
+        clibs.insert_logdb("INFO", "do_brake", f"get_configs: 机型文件版本 {robot_type}_{version}")
+        clibs.insert_logdb("INFO", "do_brake", f"get_configs: 各关节角速度 {m_avs}")
+        clibs.insert_logdb("INFO", "do_brake", f"get_configs: 各关节额定电流 {m_rcs}")
+        return m_avs, m_rcs
+
+    prj_file, interval = check_files()
+    avs, rcs = get_configs()
+    params = {
+        "prj_file": prj_file,
+        "interval": interval,
+        "avs": avs,
+        "rcs": rcs,
+    }
+    return params
+
+
+def change_curve_state(hr, curves, stat_1, stat_2):
+    display_pdo_params = [{"name": name, "channel": chl} for name in curves for chl in range(6)]
+    hr.execution("diagnosis.open", open=stat_1, display_open=stat_2, 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")
+
+
+def run_rl(path, params, curves, hr, md, w2t):
+    prj_file, interval = params["prj_file"], params["interval"]
+    # 1. 关闭诊断曲线，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，切手动模式并下电
+    change_curve_state(hr, curves, False, False)
+    md.r_soft_estop(0)
+    md.r_soft_estop(1)
+    md.r_clear_alarm()
+    md.write_act(False)
+    time.sleep(1)  # 让曲线彻底关闭
+
+    # 2. reload工程后，pp2main，并且自动模式和上电
+    prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
+    prj_path = f"{prj_name}/_build/{prj_name}.prj"
+    hr.execution("overview.reload", prj_path=prj_path, tasks=["factory"])
+    hr.execution("rl_task.pp_to_main", tasks=["factory"])
+    hr.execution("state.switch_auto")
+    hr.execution("state.switch_motor_on")
+
+    # 3. 开始运行程序
+    hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
+    hr.execution("rl_task.run", tasks=["factory"])
+    t_start = time.time()
+    while True:
+        if md.read_ready_to_go() == 1:
+            md.write_act(True)
+            break
+        else:
+            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...\n", "red", "ReadySignalTimeoutError")
+            else:
+                time.sleep(1)
+
+    # 4. 获取初始数据，周期时间，首次的各轴平均电流值，打开诊断曲线，并执行采集
+    time.sleep(10)  # 等待 RL 程序中 scenario_time 初始化
+    t_start = time.time()
+    while True:
+        scenario_time = float(f"{float(md.read_scenario_time()):.2f}")
+        if scenario_time != 0:
+            w2t(f"耐久工程的周期时间：{scenario_time}s | 单轮次执行时间：{scenario_time+interval}\n")
+            break
+        else:
+            time.sleep(1)
+            if (time.time() - t_start) > 300:
+                w2t(f"300s 内未收到耐久工程的周期时间，需要确认RL程序和工具通信交互是否正常执行...\n", "red", "GetScenarioTimeError")
+
+    # 6. 准备数据保存文件
+    for curve in curves:
+        with open(f"{path}/{curve}.csv", mode="a+", newline="") as f_csv:
+            titles = [f"{curve}_{i}" for i in range(6)]
+            titles.insert(0, "time")
+            csv_writer = csv.writer(f_csv)
+            csv_writer.writerow(titles)
+
+    # 7. 开始采集
+    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")
+            exit()
+
+        this_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
+        next_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()+scenario_time+interval+1))
+        w2t(f"[{this_time}] 当前次数：{count:09d}  |  预计下次数据更新时间：{next_time}\n", "#008B8B")
+        count += 1
+        # 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线
+        time.sleep(interval)
+        change_curve_state(hr, curves, True, True)
+        time.sleep(scenario_time)
+        end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
+        start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()-scenario_time))
+        change_curve_state(hr, curves, False, False)
+        # 保留数据并处理输出
+        gen_results(params, curves, start_time, end_time, w2t)
+
+
+def gen_results(params, curves, start_time, end_time, w2t):
+    try:
+        clibs.lock.acquire(True)
+        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()
+    finally:
+        clibs.lock.release()
+    data_proc(records, params, curves, w2t)
+
+
+def data_proc(records, params, curves, w2t):
+    for curve in curves:
+        if curve == "device_servo_trq_feedback":
+            # proc_device_servo_trq_feedback(records, params, w2t)
+            t = threading.Thread(target=proc_device_servo_trq_feedback, args=(records, params, w2t))
+            t.daemon = True
+            t.start()
+        elif curve == "hw_joint_vel_feedback":
+            # proc_hw_joint_vel_feedback(records, params, w2t)
+            t = threading.Thread(target=proc_hw_joint_vel_feedback, args=(records, params, w2t))
+            t.daemon = True
+            t.start()
+
+
+def proc_device_servo_trq_feedback(records, params, w2t):
+    d_trq, rcs, results = [[], [], [], [], [], []], params["rcs"], [time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))]
+    for record in records:
+        data = eval(record[0])["data"]
+        for item in data:
+            d_item = reversed(item["value"])
+            for axis in range(6):
+                if item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
+                    d_trq[axis].extend(d_item)
+
+    for axis in range(6):
+        df = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
+        _ = math.sqrt(df.apply(lambda x: numpy.power((rcs[axis] * float(x.iloc[0]) / 1000), 2)).sum() / len(df))
+        results.append(_)
+
+    path = "/".join(params["prj_file"].split("/")[:-1])
+    with open(f"{path}/device_servo_trq_feedback.csv", mode="a+", newline="") as f_csv:
+        csv_writer = csv.writer(f_csv)
+        csv_writer.writerow(results)
+
+
+def proc_hw_joint_vel_feedback(records, params, w2t):
+    d_trq, rcs, results = [[], [], [], [], [], []], params["rcs"], [time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))]
+    for record in records:
+        data = eval(record[0])["data"]
+        for item in data:
+            d_item = reversed(item["value"])
+            for axis in range(6):
+                if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
+                    d_trq[axis].extend(d_item)
+
+    for axis in range(6):
+        df = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_trq[axis]})
+        _ = df.max().iloc[0]
+        results.append(_)
+
+    path = "/".join(params["prj_file"].split("/")[:-1])
+    with open(f"{path}/hw_joint_vel_feedback.csv", mode="a+", newline="") as f_csv:
+        csv_writer = csv.writer(f_csv)
+        csv_writer.writerow(results)
+
+
+def detect_db_size():
+    @clibs.db_lock
+    def release_memory():
+        line_number = 20000
+        leftover = 4000  # 200s
+        clibs.cursor.execute("select count(id) from logs")
+        len_records = clibs.cursor.fetchone()[0]
+        if len_records > line_number:
+            del_num = len_records - leftover + 1
+            clibs.cursor.execute(f"delete from logs where id < {del_num}")
+            clibs.cursor.execute(f"update logs set id=(id-{del_num-1}) where id > {del_num-1}")
+            clibs.cursor.execute(f"update sqlite_sequence set seq = {leftover+1} WHERE name = 'logs' ")
+            clibs.cursor.execute("vacuum")
+
+    while True:
+        release_memory()
+        time.sleep(1)
+
+
+def main():
+    t = threading.Thread(target=detect_db_size)
+    t.daemon = True
+    t.start()
+
+    path = clibs.data_dd["path"]
+    interval = clibs.data_dd["interval"].strip()
+    curves = clibs.data_dd["curves"]
+    hr = clibs.c_hr
+    md = clibs.c_md
+    w2t = clibs.w2t
+
+    data_dirs, data_files = clibs.traversal_files(path, w2t)
+    params = initialization(path, hr, data_dirs, data_files, interval, curves, w2t)
+    prj_file = params["prj_file"]
+    clibs.c_pd.push_prj_to_server(prj_file)
+    try:
+        run_rl(path, params, curves, hr, md, w2t)
+    except Exception as Err:
+        w2t(f"工厂耐久程序执行过程中出现异常，{Err}\n", "red")
+        change_curve_state(hr, curves, False, False)
+
+
+if __name__ == "__main__":
+    main()

readme.md

@@ -22,6 +22,13 @@
 
 ## 三、注意事项
 
+1. 仅适用于 xCore 2.3.0.7 及以上的版本
+2. 单轴电机电流数据处理，至少需要三个完整周期
+3. 执行制动测试/电机电流采集/耐久测试的时候，执行过程中停止，再次运行需要等待一分钟左右，输出框会有提示
+4. 其他使用方法和之前工具一致
+
+> **需要使用 assets/files/projects/ 下的工程，寄存器文件以及配置文件等！！！**
+
 ## 四、发版记录
 
 ## 五、其他
@@ -31,13 +38,24 @@
 打包时，只需要修改 clibs.py 中的 PREFIX 即可，调试时再修改回来
 
 ```
-pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory . --upx-dir "D:/Syncthing/common/A_Program/upx-4.2.4-win64/" --add-data "../.venv/Lib/site-packages/customtkinter;customtkinter/" --add-data "../assets:assets" --version-file ../assets/files/version/file_version_info.txt -i ../assets/media/icon.ico ../code/aio.py -p ../code/data_process/brake.py -p ../code/data_process/iso.py -p ../code/data_process/current.py -p ../code/data_process/wavelogger.py -p ../code/commons/clibs.py -p ../code/commons/openapi.py -p ../code/automatic_test/do_current.py -p ../code/automatic_test/do_brake.py --exclude-module=scipy --exclude-module=matplotlib
+pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory . --upx-dir "D:/Syncthing/common/A_Program/upx-4.2.4-win64/" --add-data "../.venv/Lib/site-packages/customtkinter;customtkinter/" --add-data "../assets:assets" --version-file ../assets/files/version/file_version_info.txt -i ../assets/media/icon.ico ../code/aio.py -p ../code/common/clibs.py -p ../code/commom/openapi.py -p ../code/data_process/brake.py -p ../code/data_process/iso.py -p ../code/data_process/current.py -p ../code/data_process/wavelogger.py -p ../code/automatic_test/do_current.py -p ../code/automatic_test/do_brake.py -p ../code/durable_docs/factory_test.py -p ../code/durable_docs/create_plot.py --exclude-module=scipy
 ```
 
 ### 2. tabview 组件字体修改
 
-customtkinter的tabview组件不支持修改字体大小，可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现：
+customtkinter的tabview组件不支持修改字体大小，解决方法可参考如下：
+
+Method 1：可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现：
+
 a. 运行 `pip show customtkinter`，获取到库的路径
 b. 修改.../windows/widgets/ctk_tabview.py
 c. 增加 from .font.ctk_font import CTkFont
 d. 在大概 78 行的位置，增加 font=CTkFont(family="Consolas", size=18, weight='bold')
+
+Method 2：
+
+self.tabview_bottom._segmented_button.configure(font=ctk.CTkFont(family="Consolas", size=18, weight="bold"))
+
+### 3. scroll frame 不支持修改高度和宽度
+
+https://github.com/TomSchimansky/CustomTkinter/pull/1765/files