电机电流完善

.gitignore

@@ -1,5 +1,8 @@
 test.py
 .idea/
 .venv/
-assets/logdata/
+assets/logs/
 package/
+code/common/__pycache__/
+code/data_process/__pycache__/
+code/automatic_test/__pycache__/

assets/files/protocols/controller.heart.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "controller.heart"
+}

assets/files/protocols/device.get_params.json

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

assets/files/protocols/diagnosis.get_params.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.get_params",
+  "data": {
+	"version": "1.4.1"
+  }
+}

assets/files/protocols/diagnosis.open.json

@@ -0,0 +1,12 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.open",
+  "data": {
+	  "open": false,
+	  "display_open": false,
+	  "overrun": false,
+	  "turn_area": false,
+	  "delay_motion": false
+  }
+}

assets/files/protocols/diagnosis.save.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.save",
+  "data": {
+	  "save": true
+  }
+}

assets/files/protocols/diagnosis.set_params.json

@@ -0,0 +1,10 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.set_params",
+  "data": {
+	"display_pdo_params": [],
+	"frequency": 50,
+	"version": "1.4.1"
+  }
+}

assets/files/protocols/overview.get_autoload.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.get_autoload"
+}

assets/files/protocols/overview.get_cur_prj.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.get_cur_prj"
+}

assets/files/protocols/overview.reload.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.reload",
+  "data": {
+	  "prj_path": "",
+	  "tasks": []
+  }
+}

assets/files/protocols/overview.set_autoload.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.set_autoload",
+  "data": {
+    "autoload_prj_path": ""
+  }
+}

assets/files/protocols/register.set_value.json

@@ -0,0 +1,11 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "fieldbus",
+  "command": "register.set_value",
+  "data": {
+	"name": "",
+	"type": "bool",
+	"bias": 0,
+	"value": 0
+  }
+}

assets/files/protocols/rl_task.pp_to_main.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.pp_to_main",
+  "data": {
+	"tasks": []
+  }
+}

assets/files/protocols/rl_task.run.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.run",
+  "data": {
+	"tasks": []
+  }
+}

assets/files/protocols/rl_task.set_run_params.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.set_run_params",
+  "data": {
+	"loop_mode": true,
+	"override": 1.0
+  }
+}

assets/files/protocols/rl_task.stop.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.stop",
+  "data": {
+	"tasks": []
+  }
+}

assets/files/protocols/state.get_state.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.get_state"
+}

assets/files/protocols/state.get_tp_mode.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.get_tp_mode"
+}

assets/files/protocols/state.set_tp_mode.json

@@ -0,0 +1,8 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.set_tp_mode",
+  "data": {
+	  "tp_mode": "with"
+  }
+}

assets/files/protocols/state.switch_auto.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_auto"
+}

assets/files/protocols/state.switch_manual.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_manual"
+}

assets/files/protocols/state.switch_motor_off.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_motor_off"
+}

assets/files/protocols/state.switch_motor_on.json

@@ -0,0 +1,5 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_motor_on"
+}

code/aio.py

@@ -0,0 +1,924 @@
+# from tkinter import colorchooser
+# from tkinter import font
+
+import time
+import customtkinter as ctk
+from tkinter import messagebox
+from tkinter import filedialog
+from tkinter import ttk
+import tkinter as tk
+from urllib import request
+from PIL import Image
+import webbrowser
+import sqlite3
+from datetime import datetime
+import os
+from common import clibs
+from data_process import current, brake, iso, wavelogger
+import threading
+import re
+
+
+class App:
+    def __init__(self):
+        # ========================================================================
+        self.root = ctk.CTk()
+        self.__set_root()
+        # ========================================================================
+        self.style = ttk.Style()
+        self.style.configure("tv.Treeview", font=self.f_treeview, rowheight=30)
+        self.style.configure("Treeview.Heading", font=self.f_normal, rowheight=30)
+        self.entry_path_dpv = ctk.StringVar()
+        self.entry_path_dpv.set("数据文件夹路径")
+        self.entry_path_atv = ctk.StringVar()
+        self.entry_path_atv.set("数据文件夹路径")
+        self.entry_ip_atv = ctk.StringVar()
+        self.entry_ip_atv.set("192.168.0.160")
+        self.label_pages_logs = ctk.StringVar()
+        self.label_pages_logs.set("-.-.-.-.-.-")
+        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.frame_left = ctk.CTkFrame(self.root, width=80, corner_radius=0, fg_color="#E9E9E9")
+        # -------
+        self.tabview_top = ctk.CTkTabview(self.root, width=900, height=180, fg_color="#E9E9E9", segmented_button_selected_color="#008B8B", segmented_button_selected_hover_color="#2F4F4F", border_width=2, anchor="w", command=self.__switch_tab_top)
+        self.tabview_top.add("数据处理")
+        self.tabview_top.add("自动测试")
+        # -------
+        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.add("输出")
+        self.tabview_bottom.add("日志")
+        # -------
+        self.frame_status = ctk.CTkFrame(self.root, height=30)
+        # ========================================================================
+        self.label_logo = ctk.CTkLabel(self.frame_left, text="Rokae AIO", font=self.f_logo, text_color="#4F4F4F")
+        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_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.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.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.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.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.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_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_sub_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["tool33", "tool66", "tool100", "inertia"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
+        self.label_ip_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), anchor="e", text="IP", font=self.f_common)
+        self.entry_ip_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=160, textvariable=self.entry_ip_atv, font=self.f_entry, text_color="#818181")
+        self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0)
+        self.progressbar_at = ctk.CTkProgressBar(self.tabview_top.tab("自动测试"), width=160, mode="indeterminate")
+        self.label_path_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), width=50, anchor="e", text="Path", font=self.f_common)
+        self.entry_path_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=80, state="disabled", textvariable=self.entry_path_atv, font=self.f_entry, text_color="#818181")
+        self.frame_top = ctk.CTkFrame(self.tabview_top.tab("自动测试"), width=120, height=10, fg_color="#E9E9E9")
+        self.btn_trig_estop = ctk.CTkButton(self.frame_top, width=100, text="触发急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=print)
+        self.btn_reset_estop = ctk.CTkButton(self.frame_top, width=100, text="恢复急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=print)
+        self.btn_robot_state = ctk.CTkButton(self.frame_top, width=100, text="机器信息", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_info)
+        self.popupmenu_ip = tk.Menu(self.entry_ip_at, tearoff=False)
+        self.popupmenu_ip.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy(self.entry_ip_at))
+        self.popupmenu_ip.add_command(label="剪切", accelerator="Ctrl+X", font=self.f_treeview, command=lambda: self.__cut(self.entry_ip_at))
+        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.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")
+        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)
+        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.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)
+        self.popupmenu_kw.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy(self.entry_keyword))
+        self.popupmenu_kw.add_command(label="剪切", accelerator="Ctrl+X", font=self.f_treeview, command=lambda: self.__cut(self.entry_keyword))
+        self.popupmenu_kw.add_command(label="粘贴", accelerator="Ctrl+V", font=self.f_treeview, command=lambda: self.__paste(self.entry_keyword))
+        self.popupmenu_kw.add_command(label="全选", accelerator="Ctrl+A", font=self.f_treeview, command=lambda: self.__select(self.entry_keyword))
+        # ========================================================================
+        with open(f"{clibs.PREFIX}/files/version/vers", mode="r", encoding="utf-8") as f:
+            local_vers = f.read().strip()
+            _version, _update = local_vers.split("@")
+            _text = f"  v{_version}  Update@{_update}"
+        self.label_vers = ctk.CTkLabel(self.frame_status, text=_text, bg_color="#C9C9C9", font=self.f_status, anchor="w", text_color="#4F4F4F")
+
+        var_tips = ctk.StringVar()
+        self.label_tips = ctk.CTkLabel(self.frame_status, textvariable=var_tips, compound="left", bg_color="#C9C9C9", font=self.f_status, anchor="e")
+        self.__auth_and_vercheck()
+        if local_vers == self.server_vers:
+            image = ctk.CTkImage(Image.open(f"{clibs.PREFIX}/media/updated.png"), size=(16, 16))
+            var_tips.set(" 当前是最新版本，继续保持！  ")
+            self.label_tips.configure(text_color="#0D8A3D", image=image)
+        else:
+            if self.server_vers is None:
+                return
+            image = ctk.CTkImage(Image.open(f"{clibs.PREFIX}/media/upgrade.png"), size=(16, 16))
+            var_tips.set(f" {self.server_vers.split("@")[0]}已经发布，尽快更新至最新版本！ ")
+            self.label_tips.configure(text_color="#D81E06", image=image, cursor="hand2")
+            self.label_tips.bind("<Button-1>", self.__goto_update)
+
+        # ========================================================================
+        self.__draw()
+        clibs.insert_logdb("INFO", "aio", "AIO starts running......")
+
+    def __robot_info(self):
+        clibs.cursor.execute("select * from logs")
+        records = clibs.cursor.fetchall()
+        self.text_output.insert(ctk.END, records)
+
+    def __thread_it(self, func, *args):
+        """ 将函数打包进线程 """
+        self.myThread = threading.Thread(target=func, args=args)
+        self.myThread.daemon = True  # 主线程退出就直接让子线程跟随退出,不论是否运行完成。
+        self.myThread.start()
+
+    def __set_geometry(self, widget, width, height):
+        x = self.root.winfo_x()
+        y = self.root.winfo_y()
+        w_width = self.root.winfo_width()
+        w_height = self.root.winfo_height()
+        x_offset = x+(w_width-width)//2
+        y_offset = y+(w_height-height)//2
+        widget.geometry(f"{width}x{height}+{x_offset}+{y_offset}")
+
+    def __toplevel_progress(self, title):
+        toplevel = tk.Toplevel(self.root)
+        toplevel.title(title)
+        self.__set_geometry(toplevel, 400, 50)
+        self.root.attributes("-disabled", 1)
+        toplevel.protocol("WM_DELETE_WINDOW", print)
+        # toplevel.resizable(False, False)
+        toplevel.iconbitmap(f"{clibs.PREFIX}/media/icon.ico")
+        toplevel.transient(self.root)
+
+        toplevel.grid_rowconfigure(0, weight=1)
+        toplevel.grid_columnconfigure(0, weight=1)
+        pb = ttk.Progressbar(toplevel, length=10, mode="indeterminate", orient="horizontal")
+        pb.grid(row=0, column=0, sticky="we")
+        pb.start(10)
+        while clibs.stop:
+            time.sleep(0.1)
+            self.text_output.update()
+            pb.update()
+            self.root.update()
+        else:
+            self.__w2t("\n")
+            self.root.attributes("-disabled", 0)
+            toplevel.destroy()
+
+    def __w2t(self, text, color="black", desc=None):
+        self.text_output.tag_config(tagName=color, foreground=color)
+        self.text_output.insert(ctk.END, text, tags=color)
+        self.text_output.see(ctk.END)
+        if desc:
+            clibs.running = False
+            raise Exception(desc)
+
+    def __program_start(self):
+        def get_data_dp():
+            data = {
+                "_main": self.om_main_dp.get(),
+                "_sub": self.om_sub_dp.get(),
+                "_path": self.entry_path_dp.get(),
+                "_vel": self.om_vel_dp.get(),
+                "_trq": self.om_trq_dp.get(),
+                "_trqh": self.om_trqh_dp.get(),
+                "_estop": self.om_estop_dp.get(),
+                "_sensor": self.om_sensor_dp.get(),
+            }
+            return data
+
+        def get_data_at():
+            data = {
+                "_main": self.om_main_at.get(),
+                "_sub": self.om_sub_at.get(),
+                "_path": self.entry_path_at.get()
+            }
+            return data
+
+        def init_op():
+            clibs.w2t = self.__w2t
+            self.text_output.delete("1.0", ctk.END)
+            self.tabview_bottom.set("输出")
+            if clibs.db_state != "readwrite":
+                self.text_output.delete("1.0", ctk.END)
+                clibs.cursor.close()
+                clibs.conn.close()
+                clibs.conn = self.conn
+                clibs.cursor = self.cursor
+                clibs.db_state = "readwrite"
+                self.btn_load.configure(fg_color="#979DA2")
+                self.__get_realtime_log()
+            clibs.tl_prg = self.__toplevel_progress
+            # TBD: something signifies status of program and terminate some thread ect.
+
+        def exec_function():
+            init_op()
+            if self.tabview_top.get() == "数据处理":
+                if not clibs.running:
+                    clibs.running = True
+                    clibs.data_dp = get_data_dp()
+                    eval(clibs.data_dp["_main"] + ".main()")
+                    clibs.running = False
+                else:
+                    messagebox.showinfo(title="进行中...", message="当前有程序正在运行！")
+            elif self.tabview_top.get() == "自动测试":
+                clibs.running = True
+                clibs.data_at = get_data_at()
+                eval(clibs.data_at["_main"] + ".main()")
+                clibs.running = False
+
+        exec_function()
+
+    def __reset_state(self):
+        def reset_methods():
+            self.btn_load.configure(fg_color="#979DA2")
+            self.__reset_entry_keyword()
+            self.entry_ip_atv.set("192.168.0.160")
+            self.entry_path_atv.set("数据文件夹路径")
+            self.entry_path_atv.set("数据文件夹路径")
+
+        if clibs.db_state == "readwrite":
+            res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及日志记录，且不可恢复，请确认！", default=messagebox.NO, icon=messagebox.WARNING)
+            if res:
+                self.text_output.delete("1.0", ctk.END)
+                clibs.cursor.execute("delete from logs")
+                clibs.cursor.execute("delete from sqlite_sequence")  # 主键归零
+                self.treeview_logs.delete(*self.treeview_logs.get_children())
+                self.label_pages_logs.set("-.-.-.-.-.-")
+                reset_methods()
+                # TBD: something signifies status of program and terminate some thread ect.
+        elif clibs.db_state == "readonly":
+            res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及恢复本次的日志记录，请确认！", default=messagebox.NO, icon=messagebox.INFO)
+            if res:
+                self.text_output.delete("1.0", ctk.END)
+                clibs.cursor.close()
+                clibs.conn.close()
+                clibs.conn = self.conn
+                clibs.cursor = self.cursor
+                clibs.db_state = "readwrite"
+                self.__get_realtime_log()
+                reset_methods()
+                # TBD: something signifies status of program and terminate some thread ect.
+
+    def __get_realtime_log(self):
+        clibs.cursor.execute("select * from logs order by id desc")
+        len_records = len(clibs.cursor.fetchall())
+        pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
+        self.label_pages_logs.set(f"{pages_all} / {pages_all}")
+
+        self.treeview_logs.delete(*self.treeview_logs.get_children())
+        remainder = len_records % 100
+        end = len_records
+        start = len_records-remainder+1 if len_records-remainder > 0 else 0
+
+        # clibs.cursor.execute("select * from logs order by id desc limit 100")
+        clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
+        records = clibs.cursor.fetchall()
+        for record in records:
+            self.treeview_logs.insert("", "end", values=record, tags=record[2])
+            self.treeview_logs.yview_moveto(1)
+
+        self.__reset_entry_keyword()
+
+    def __get_previous_log(self):
+        if self.btn_find.cget("fg_color") == "#979DA2":
+            try:
+                row = self.treeview_logs.get_children()
+                first_id = self.treeview_logs.item(row[0], "values")[0]
+                end = int(first_id)-1 if int(first_id)-1 > 0 else None
+                start = int(first_id)-100 if int(first_id)-100 > 0 else 0
+                if end is not None:
+                    clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
+                    records = clibs.cursor.fetchall()
+                    self.treeview_logs.delete(*self.treeview_logs.get_children())
+                    for record in records:
+                        self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                        # self.treeview_logs.yview_moveto(1)
+
+                    clibs.cursor.execute("select * from logs order by id desc")
+                    records = clibs.cursor.fetchall()
+                    pages_all = len(records) // 100 if len(records) % 100 == 0 else len(records) // 100 + 1
+                    current_page = int(end) // 100 if int(end) % 100 == 0 else int(end) // 100 + 1
+                    self.label_pages_logs.set(f"{current_page} / {pages_all}")
+            except Exception as ERR:
+                ...
+        else:
+            pages_all = self.label_pages_logs.get().split("/")[1].strip()
+            current_page = int(self.label_pages_logs.get().split("/")[0].strip())
+            if current_page-1 > 0:
+                row = self.treeview_logs.get_children()
+                first_one = list(self.treeview_logs.item(row[0], "values"))
+                first_one[0] = int(first_one[0])
+                index_end = clibs.f_records.index(tuple(first_one))
+                self.treeview_logs.delete(*self.treeview_logs.get_children())
+                if index_end <= 100:
+                    for record in clibs.f_records[:index_end]:
+                        self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                else:
+                    for record in clibs.f_records[index_end-100:index_end]:
+                        self.treeview_logs.insert("", "end", values=record, tags=record[2])
+
+                previous_page = current_page - 1
+                self.label_pages_logs.set(f"{previous_page} / {pages_all}")
+
+    def __get_next_log(self):
+        if self.btn_find.cget("fg_color") == "#979DA2":
+            try:
+                clibs.cursor.execute("select * from logs order by id desc")
+                len_records = len(clibs.cursor.fetchall())
+
+                row = self.treeview_logs.get_children()
+                last_id = self.treeview_logs.item(row[-1], "values")[0]
+                start = int(last_id) + 1
+                end = int(last_id) + 100
+                if int(start) <= len_records:
+                    clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
+                    records = clibs.cursor.fetchall()
+                    self.treeview_logs.delete(*self.treeview_logs.get_children())
+                    for record in records:
+                        self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                        # self.treeview_logs.yview_moveto(1)
+
+                    pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
+                    current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
+                    self.label_pages_logs.set(f"{current_page} / {pages_all}")
+            except Exception as ERR:
+                ...
+        else:
+            len_records = len(clibs.f_records)
+            pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
+            current_page = int(self.label_pages_logs.get().split("/")[0].strip())
+            if current_page < pages_all:
+                row = self.treeview_logs.get_children()
+                last_one = list(self.treeview_logs.item(row[-1], "values"))
+                last_one[0] = int(last_one[0])
+                index_start = clibs.f_records.index(tuple(last_one))+1
+                self.treeview_logs.delete(*self.treeview_logs.get_children())
+                if index_start+100 <= len_records:
+                    for record in clibs.f_records[index_start:index_start+100]:
+                        self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                else:
+                    for record in clibs.f_records[index_start:]:
+                        self.treeview_logs.insert("", "end", values=record, tags=record[2])
+
+                next_page = current_page + 1
+                self.label_pages_logs.set(f"{next_page} / {pages_all}")
+
+    def __load_log_db(self):
+        db_file = filedialog.askopenfilename(title="加载数据库文件", defaultextension=".db", initialdir=f"{clibs.PREFIX}/logs")
+        if not db_file:
+            return
+        self.conn = clibs.conn
+        self.cursor = clibs.cursor
+        try:
+            clibs.conn = sqlite3.connect(f"file:{db_file}?mode=ro", uri=True, isolation_level=None, check_same_thread=False, cached_statements=256)
+            clibs.cursor = clibs.conn.cursor()
+            clibs.db_state = "readonly"
+            self.__get_realtime_log()
+            self.btn_load.configure(fg_color="#000080")
+        except Exception as Err:
+            clibs.insert_logdb("ERROR", "aio", f"加载数据库失败，需确认 {db_file} 是否是有效数据库文件！")
+            messagebox.showerror(title="加载数据库失败", message=f"需确认 {db_file} 是否是有效数据库文件！")
+
+    def __main_switch_dp(self, event):
+        widgets = [self.om_sub_dp, self.om_vel_dp, self.om_trq_dp, self.om_trqh_dp, self.om_estop_dp, self.om_sensor_dp]
+        for widgets in widgets:
+            widgets.configure(state="disabled")
+
+        _func = self.om_main_dp.get()
+        if _func == "brake":
+            self.om_vel_dp.configure(state="normal")
+            self.om_trq_dp.configure(state="normal")
+            self.om_estop_dp.configure(state="normal")
+        elif _func == "current":
+            self.om_sub_dp.configure(state="normal")
+            self.om_vel_dp.configure(state="normal")
+            self.om_trq_dp.configure(state="normal")
+            self.om_trqh_dp.configure(state="normal")
+            self.om_sensor_dp.configure(state="normal")
+        elif _func == "iso" or _func == "wavelogger":
+            ...
+
+    @staticmethod
+    def __goto_update():
+        webbrowser.open("www.baidu.com")
+
+    def __auth_and_vercheck(self):
+        url_vers = "http://10.2.23.150:10008/version"
+        try:
+            self.server_vers = request.urlopen(url_vers, timeout=2).read().decode("utf-8").strip()
+        except Exception as Err:
+            messagebox.showwarning(title="退出", message="无法连接至服务器.....")
+            clibs.cursor.close()
+            clibs.conn.close()
+            self.root.destroy()
+
+    def __set_root(self):
+        self.root.title("AIO - All in one automatic toolbox")
+        self.root.iconbitmap(f"{clibs.PREFIX}/media/icon.ico")
+        self.root.configure(fg_color="#E9E9E9")
+        self.root.geometry(f"1120x550+10+10")
+        self.root.minsize(1120, 550)
+        # self.root.resizable(False, False)
+        self.root.protocol("WM_DELETE_WINDOW", self.__close_root)
+        self.f_logo = ("Segoe Script Bold", 28, "bold")
+        self.f_normal = ("Consolas", 20, "bold")
+        self.f_segbtn = ("楷体", 20, "bold")
+        self.f_common = ("Consolas", 18, "bold")
+        self.f_entry = ("Consolas", 16, "bold")
+        self.f_text = ("仿宋", 16, "normal")
+        self.f_treeview = ("Consolas", 16, "normal")
+        self.f_pager = ("Times", 16, "normal")
+        self.f_toplevel = ("Consolas", 14, "normal")
+        self.f_status = ("Consolas", 12, "bold")
+
+    def __quit_preparation(self):
+        os.chdir(clibs.log_path)
+        t = datetime.now().strftime("%Y%m%d%H%M%S")
+        disk_conn = sqlite3.connect(f"log_{t}.db", isolation_level=None, check_same_thread=False, cached_statements=256)
+        disk_cursor = disk_conn.cursor()
+
+        if clibs.db_state == "readonly":
+            clibs.cursor.close()
+            clibs.conn.close()
+            clibs.conn = self.conn
+            clibs.cursor = self.cursor
+            clibs.db_state = "readwrite"
+
+        self.__reset_entry_keyword()
+        self.btn_load.configure(fg_color="#979DA2")
+        clibs.conn.backup(target=disk_conn, pages=1, progress=None)
+
+        _, logs = clibs.traversal_files(".", self.__w2t)
+        logs.sort()
+        while len(logs) > 10:
+            _ = logs.pop(0)
+            os.remove(_)
+
+        disk_cursor.close()
+        disk_conn.close()
+        clibs.cursor.close()
+        clibs.conn.close()
+        self.root.destroy()
+
+    def __reset_entry_keyword(self):
+        self.btn_find.configure(fg_color="#979DA2")
+        self.entry_keyword.delete(0, "end")
+        self.entry_keyword.configure(placeholder_text="[id/level/module] 查找内容")
+        self.root.focus_set()
+
+    def __close_root(self):
+        msg = "相关数据可能未保存，正在运行程序时有概率会损坏数据文件，确定要终止程序运行吗？"
+        res = messagebox.askyesno(title="退出程序", message=msg, default=messagebox.NO, icon=messagebox.WARNING)
+        if res:
+            self.__quit_preparation()
+
+    def __switch_tab_top(self):
+        ...
+
+    def __switch_tab_bottom(self):
+        if self.tabview_bottom.get() == "日志":
+            self.__get_realtime_log()
+
+    @staticmethod
+    def __cut(widget):
+        try:
+            selected = widget.selection_get()
+            all_text = widget.get()
+            widget.clipboard_clear()
+            widget.clipboard_append(selected)
+            index_start = all_text.find(selected)
+            index_end = index_start + len(selected)
+            widget.delete(index_start, index_end)
+        except Exception as Err:
+            ...
+
+    @staticmethod
+    def __paste(widget):
+        try:
+            copy_text = widget.clipboard_get()
+            widget.insert("insert", copy_text)
+            selected = widget.selection_get()
+            all_text = widget.get()
+            index_start = all_text.find(selected)
+            index_end = index_start + len(selected)
+            widget.delete(index_start, index_end)
+        except Exception as Err:
+            ...
+
+    @staticmethod
+    def __copy(widget):
+        try:
+            widget.clipboard_clear()
+            copy_text = widget.selection_get()
+            widget.clipboard_append(copy_text)
+        except Exception as Err:
+            ...
+
+    @staticmethod
+    def __select(widget):
+        widget.select_range(0, "end")
+        # self.entry_keyword.select_range(0, "end")
+
+    def __draw(self):
+        def select_path(event):
+            t_name = self.tabview_top.get()
+            dir_path = filedialog.askdirectory()
+            if t_name == "数据处理":
+                c_origin = self.entry_path_dpv.get()
+                if dir_path:
+                    self.entry_path_dpv.set(dir_path)
+                else:
+                    self.entry_path_dpv.set(c_origin)
+            elif t_name == "自动测试":
+                c_origin = self.entry_path_atv.get()
+                if dir_path:
+                    self.entry_path_atv.set(dir_path)
+                else:
+                    self.entry_path_atv.set(c_origin)
+
+        def esc_quit_log_tl(event):
+            widget_toplevel = event.widget
+            self.root.attributes("-disabled", 0)
+            widget_toplevel.destroy()
+
+        def esc_quit_log_text(event):
+            widget_toplevel = event.widget.master.master
+            self.root.attributes("-disabled", 0)
+            widget_toplevel.destroy()
+
+        def double_click(event):
+            try:
+                e = event.widget
+                iid = e.identify("item", event.x, event.y)
+                _id, _ts, _level, _module, _content = e.item(iid, "values")
+                toplevel = tk.Toplevel(self.root)
+                toplevel.title(f"LogID: {_id}")
+                self.__set_geometry(toplevel, 1000, 400)
+                toplevel.resizable(False, False)
+                toplevel.iconbitmap(f"{clibs.PREFIX}/media/icon.ico")
+                # self.root.after(200, lambda: toplevel.iconbitmap(f"{clibs.PREFIX}/media/icon.ico"))
+                toplevel.protocol("WM_DELETE_WINDOW", lambda tl=toplevel: close_toplevel(tl))
+                toplevel.bind("<Escape>", esc_quit_log_tl)
+                toplevel.transient(self.root)
+                toplevel.focus()
+                _text = f"TS: {_ts}  |  Log level: {_level}  |  Module: {_module}"
+                label_info = ctk.CTkLabel(toplevel, text=_text, width=10, fg_color="#5F9EA0", corner_radius=5, font=self.f_treeview)
+                text_content = ctk.CTkTextbox(toplevel, width=10, font=self.f_toplevel)
+                text_content.insert(ctk.END, repr(_content))
+                text_content.configure(state="disabled")
+                text_content.bind("<Escape>", esc_quit_log_text)
+
+                toplevel.grid_rowconfigure(1, weight=1)
+                toplevel.columnconfigure(0, weight=1)
+                label_info.grid(row=0, column=0, padx=10, pady=10, sticky="we")
+                text_content.grid(row=1, column=0, padx=10, pady=(0, 10), sticky="news")
+                self.root.attributes("-disabled", 1)
+            except Exception as ERR:
+                ...
+
+        def jump2page():
+            try:
+                number = int(self.entry_tips_v)
+                if number > 0:
+                    start = number * 100 - 99
+                    end = number * 100
+                    clibs.cursor.execute("select * from logs order by id desc")
+                    len_records = len(clibs.cursor.fetchall())
+                    if start <= len_records:
+                        clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
+                        records = clibs.cursor.fetchall()
+                        self.treeview_logs.delete(*self.treeview_logs.get_children())
+                        for record in records:
+                            self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                            self.treeview_logs.yview_moveto(1)
+
+                        pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
+                        self.label_pages_logs.set(f"{number} / {pages_all}")
+            except Exception as Err:
+                ...
+
+        def close_toplevel(tl):
+            self.entry_tips_v = None
+            self.root.attributes("-disabled", 0)
+            tl.destroy()
+
+        def enter_quit(event):
+            widget_entry = event.widget
+            widget_toplevel = event.widget.master.master
+            self.entry_tips_v = widget_entry.get()
+            self.root.attributes("-disabled", 0)
+            widget_toplevel.destroy()
+            jump2page()
+
+        def esc_quit_page(event):
+            widget_toplevel = event.widget
+            self.entry_tips_v = None
+            self.root.attributes("-disabled", 0)
+            widget_toplevel.destroy()
+
+        def select_page(event):
+            self.root.attributes("-disabled", 1)
+            toplevel = tk.Toplevel(self.root)
+            toplevel.title("跳转")
+            self.__set_geometry(toplevel, 500, 150)
+            toplevel.resizable(False, False)
+            toplevel.iconbitmap(f"{clibs.PREFIX}/media/icon.ico")
+            toplevel.protocol("WM_DELETE_WINDOW", lambda tl=toplevel: close_toplevel(tl))
+            toplevel.bind("<Escape>", esc_quit_page)
+            toplevel.focus()
+
+            label_tips = ctk.CTkLabel(toplevel, width=100, text="页面号码", font=self.f_segbtn)
+            entry_tips = ctk.CTkEntry(toplevel, width=200, placeholder_text="Fill and press enter", font=self.f_toplevel)
+            entry_tips.bind("<Return>", enter_quit, add="+")
+
+            toplevel.rowconfigure(0, weight=1)
+            toplevel.columnconfigure([0, 1], weight=1)
+            label_tips.grid(row=0, column=0, padx=10, pady=10, sticky="w")
+            entry_tips.grid(row=0, column=1, padx=(0, 10), pady=10, sticky="w")
+
+        def find_log(event):
+            def find_error(cdt):
+                clibs.insert_logdb("WARNING", "aio", f"查询条件 [{cdt}] 书写规则错误！")
+                msg = "可单独查询 ID/Level/Module，也可以指定 ID 范围内查询指定的 Levels(多个条件使用冒号分割，仅限debug, info, warning, error的其中之一或组合]) 和（或） Modules(多个条件使用冒号分割)，且当同时查询 Levels 和 Modules 时，Levels 位置在前！\n"
+                messagebox.showwarning(title="查询条件错误", message=msg)
+                return
+
+            kw = self.entry_keyword.get().strip()
+            if not kw:
+                return
+            match = re.search("^\\[.*]", kw)
+            if match:
+                condition = match.group().removeprefix("[").removesuffix("]").strip()
+                f_text_isnull = kw.removeprefix(match.group()).strip()
+                f_text = f"%{f_text_isnull}%"
+                if "-" in condition:
+                    # PreDOs
+                    conditions = condition.strip().split("-")
+                    start = conditions[0].strip()
+                    end = conditions[1].strip()
+                    if not (start.isdigit() and end.isdigit()):
+                        clibs.insert_logdb("WARNING", "aio", f"查询条件 {condition} 书写规则错误：指定 ID 范围参数非数字，需核对！")
+                        messagebox.showwarning(title="查询条件错误", message="指定 ID 范围参数非数字，需核对！")
+                        return
+
+                    if len(conditions) == 2:  # id range only
+                        if not f_text_isnull:  # without content
+                            clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)}")
+                        else:  # with content
+                            clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and content like '{f_text}'")
+
+                    elif len(conditions) == 3:  # with id range, and level or module part
+                        c_unknown = conditions[2].strip()
+                        if ":" in c_unknown:  # multi conditions
+                            is_level = True
+                            c_unknowns = c_unknown.split(":")
+                            for c_unknown in c_unknowns:
+                                if c_unknown.strip().upper() not in clibs.levels:
+                                    is_level = False
+                                    break
+
+                            if is_level:  # levels
+                                levels = tuple(level.strip().upper() for level in c_unknowns)
+                                if not f_text_isnull:  # without content
+                                    clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level in {levels}")
+                                else:  # with content
+                                    clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level in {levels} and content like '{f_text}'")
+                            else:  # modules
+                                modules = tuple(module.strip() for module in c_unknowns)
+                                if not f_text_isnull:  # without content
+                                    clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and module in {modules}")
+                                else:  # with content
+                                    clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and module in {modules} and content like '{f_text}'")
+
+                        else:  # single condition
+                            if c_unknown.upper() in clibs.levels:  # the third one is level
+                                level = c_unknown.upper()
+                                if not f_text_isnull:  # without content
+                                    clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level = '{level}'")
+                                else:  # with content
+                                    clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level = '{level}' and content like '{f_text}'")
+                            else:  # the third one is module
+                                module = c_unknown
+                                if not f_text_isnull:  # without content
+                                    clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and module = '{module}'")
+                                else:  # with content
+                                    clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and module = '{module}' and content like '{f_text}'")
+
+                    elif len(conditions) == 4:  # with id range, level and module
+                        _levels = conditions[2].strip()
+                        _modules = conditions[3].strip()
+                        if ":" in _levels and ":" in _modules:
+                            levels = tuple(level.strip().upper() for level in _levels.split(":"))
+                            modules = tuple(module.strip() for module in _modules.split(":"))
+                            for level in levels:
+                                if level not in clibs.levels:
+                                    find_error(condition)
+                                    break
+
+                            if not f_text_isnull:  # without content
+                                clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level in {levels} and module in {modules}")
+                            else:  # with content
+                                clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level in {levels} and module in {modules} and content like '{f_text}'")
+
+                        elif ":" in _levels and ":" not in _modules:
+                            levels = tuple(level.strip().upper() for level in _levels.split(":"))
+                            module = _modules
+                            for level in levels:
+                                if level not in clibs.levels:
+                                    find_error(condition)
+                                    break
+
+                            if not f_text_isnull:  # without content
+                                clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level in {levels} and module = '{module}'")
+                            else:  # with content
+                                clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level in {levels} and module = '{module}' and content like '{f_text}'")
+
+                        elif ":" not in _levels and ":" in _modules:
+                            level = _levels.upper()
+                            modules = tuple(module.strip() for module in _modules.split(":"))
+                            if level not in clibs.levels:
+                                find_error(condition)
+
+                            if not f_text_isnull:  # without content
+                                clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level = '{level}' and module in {modules}")
+                            else:  # with content
+                                clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level = '{level}' and module in {modules} and content like '{f_text}'")
+
+                        elif ":" not in _levels and ":" not in _modules:
+                            level = _levels.upper()
+                            module = _modules
+                            if level not in clibs.levels:
+                                find_error(condition)
+
+                            if not f_text_isnull:  # without content
+                                clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level = '{level}' and module = '{module}'")
+                            else:  # with content
+                                clibs.cursor.execute(f"select * from logs where id between {int(start)} and {int(end)} and level = '{level}' and module = '{module}' and content like '{f_text}'")
+
+                    else:
+                        find_error(condition)
+
+                elif condition.isdigit():
+                    if not f_text_isnull:
+                        clibs.cursor.execute(f"select * from logs where id = {int(condition)}")
+                    else:
+                        clibs.cursor.execute(f"select * from logs where id = {int(condition)} and content like '{f_text}'")
+
+                elif condition.upper() in clibs.levels:
+                    if not f_text_isnull:
+                        clibs.cursor.execute(f"select * from logs where level = '{condition.upper()}'")
+                    else:
+                        clibs.cursor.execute(f"select * from logs where level = '{condition.upper()}' and content like '{f_text}'")
+
+                else:  # 模块名
+                    if not f_text_isnull:
+                        clibs.cursor.execute(f"select * from logs where module = '{condition}'")
+                    else:
+                        clibs.cursor.execute(f"select * from logs where module = '{condition}' and content like '{f_text}'")
+
+            else:
+                f_text = f"%{kw}%"
+                clibs.cursor.execute(f"select * from logs where content like '{f_text}'")
+
+            clibs.f_records = clibs.cursor.fetchall()
+            len_records = len(clibs.f_records)
+            pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
+            self.label_pages_logs.set(f"{pages_all} / {pages_all}")
+
+            self.treeview_logs.delete(*self.treeview_logs.get_children())
+            remainder = len_records % 100
+            records = clibs.f_records[-1*remainder:]
+            for record in records:
+                self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                self.treeview_logs.yview_moveto(1)
+            self.btn_find.configure(fg_color="#000080")
+
+        def show_popupmenu_kw(event):
+            self.popupmenu_kw.post(event.x_root, event.y_root)
+
+        def show_popupmenu_ip(event):
+            self.popupmenu_ip.post(event.x_root, event.y_root)
+        # ========================================================================
+        self.root.rowconfigure(0, weight=1)
+        self.root.rowconfigure(1, weight=99)
+        self.root.columnconfigure(0, weight=1)
+        self.root.columnconfigure(1, weight=99)
+        self.frame_left.grid(row=0, column=0, rowspan=2, sticky="news")
+        self.tabview_top.grid(row=0, column=1, padx=10, pady=5, sticky="news")
+        self.tabview_bottom.grid(row=1, column=1, padx=10, pady=(0, 10), sticky="news")
+        self.frame_status.grid(row=2, column=0, columnspan=2, sticky="news")
+        # ========================================================================
+        self.frame_left.rowconfigure(list(range(30)), weight=1)
+        self.frame_left.columnconfigure(0, weight=1)
+        self.label_logo.grid(row=0, column=0, sticky="new", padx=20, pady=(20, 40))
+        self.btn_start.grid(row=1, column=0, sticky="new", padx=15, pady=1, ipady=4)
+        self.btn_reset_state.grid(row=2, column=0, sticky="new", padx=15, pady=(0, 1), ipady=4)
+        # ========================================================================
+        # self.tabview_top.tab("数据处理").grid_rowconfigure([0, 1], weight=1)
+        self.tabview_top.tab("数据处理").grid_columnconfigure(11, weight=1)
+        self.om_main_dp.grid(row=0, column=0, padx=10)
+        self.om_sub_dp.grid(row=1, column=0, padx=10, pady=(0, 10))
+        self.label_path_dp.grid(row=0, column=1, padx=(0, 5), pady=10)
+        self.entry_path_dp.grid(row=0, column=2, columnspan=10, padx=(0, 10), pady=10, sticky="we")
+        self.label_vel_dp.grid(row=1, column=1, padx=(0, 5), pady=(0, 10))
+        self.om_vel_dp.grid(row=1, column=2, padx=(0, 5), pady=(0, 10))
+        self.label_trq_dp.grid(row=1, column=3, padx=(0, 5), pady=(0, 10))
+        self.om_trq_dp.grid(row=1, column=4, padx=(0, 5), pady=(0, 10))
+        self.label_trqh_dp.grid(row=1, column=5, padx=(0, 5), pady=(0, 10))
+        self.om_trqh_dp.grid(row=1, column=6, padx=(0, 5), pady=(0, 10))
+        self.label_estop_dp.grid(row=1, column=7, padx=(0, 5), pady=(0, 10))
+        self.om_estop_dp.grid(row=1, column=8, padx=(0, 5), pady=(0, 10))
+        self.label_sensor_dp.grid(row=1, column=9, padx=(0, 5), pady=(0, 10))
+        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.om_vel_dp.set("1")
+        self.om_trq_dp.set("2")
+        self.om_trqh_dp.set("2")
+        self.om_estop_dp.set("3")
+        self.om_sensor_dp.set("3")
+        # ========================================================================
+        # self.tabview_top.tab("自动测试").grid_rowconfigure([0, 1, 2], weight=1)
+        self.tabview_top.tab("自动测试").grid_columnconfigure(4, weight=1)
+        self.om_main_at.grid(row=0, column=0, padx=10, pady=10, sticky="w")
+        self.om_sub_at.grid(row=1, column=0, padx=10, pady=(0, 10), sticky="w")
+        self.label_ip_at.grid(row=0, column=1, padx=(0, 10), pady=10, sticky="e")
+        self.entry_ip_at.grid(row=0, column=2, padx=(0, 10), pady=10)
+        self.btn_conn.grid(row=0, column=3, padx=(0, 10), pady=10)
+        self.progressbar_at.grid(row=0, column=4, padx=(0, 10), pady=10, sticky="e")
+        self.label_path_at.grid(row=1, column=1, padx=(0, 10), pady=(0, 10), sticky="e")
+        self.entry_path_at.grid(row=1, column=2, columnspan=3, padx=(0, 10), pady=(0, 10), sticky="we")
+        self.frame_top.grid(row=2, column=0, columnspan=5, padx=0, pady=0, sticky="we")
+        self.btn_robot_state.grid(row=0, column=0, padx=10, pady=0)
+        self.btn_trig_estop.grid(row=0, column=1, padx=(0, 10), pady=0)
+        self.btn_reset_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
+
+        self.progressbar_at.start()
+        self.progressbar_at.configure(progress_color="red", fg_color="gray")
+        self.entry_path_at.bind("<Button-1>", select_path)
+        self.entry_ip_at.bind("<Button-3>", show_popupmenu_ip, 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")
+        # ========================================================================
+        self.tabview_bottom.tab("日志").grid_rowconfigure(0, weight=1)
+        self.tabview_bottom.tab("日志").grid_columnconfigure(6, weight=1)
+        self.treeview_logs.grid(row=0, column=0, columnspan=7,  padx=(10, 0), pady=10, sticky="news")
+        self.y_scrollbar_logs.grid(row=0, column=7, pady=10, sticky="ns")
+        self.label_logs.grid(row=1, column=0, padx=(0, 10), pady=5, sticky="we")
+        self.btn_previous.grid(row=1, column=1, padx=(0, 10), pady=5, sticky="we")
+        self.btn_realtime.grid(row=1, column=2, padx=(0, 10), pady=5, sticky="we")
+        self.btn_next.grid(row=1, column=3, padx=(0, 10), pady=5, sticky="we")
+        self.btn_load.grid(row=1, column=4, padx=(0, 10), pady=5, sticky="we")
+        self.btn_find.grid(row=1, column=5, padx=(0, 10), pady=5, sticky="we")
+        self.entry_keyword.grid(row=1, column=6, columnspan=2, padx=0, pady=5, sticky="we")
+
+        self.treeview_logs.configure(yscrollcommand=self.y_scrollbar_logs.set)
+        self.treeview_logs.tag_configure("DEBUG", background="#708090")
+        self.treeview_logs.tag_configure("INFO", background="#F5F5F5")  # #43CD80
+        self.treeview_logs.tag_configure("WARNING", background="#EEE8AA")
+        self.treeview_logs.tag_configure("ERROR", background="#CD5C5C")
+        for k, v in self.tv_cols.items():
+            self.treeview_logs.heading(f"#{k}", text=v[0].title(), anchor="w")
+            self.treeview_logs.column(f"#{k}", anchor="w", width=v[1])
+        self.treeview_logs.bind("<Double-1>", double_click)
+        self.label_logs.bind("<Button-1>", select_page)
+        self.btn_find.bind("<Button-1>", find_log)
+        self.entry_keyword.bind("<Return>", find_log)
+        self.entry_keyword.bind("<Button-3>", show_popupmenu_kw, add="+")
+
+        # ========================================================================
+        self.frame_status.rowconfigure(0, weight=1)
+        self.frame_status.columnconfigure([0, 1], weight=1)
+        self.label_vers.grid(row=0, column=0, sticky="news")
+        self.label_tips.grid(row=0, column=1, sticky="news")
+        # ========================================================================
+        # widgets = [self.om_sub_dp, self.om_vel_dp, self.om_trq_dp, self.om_trqh_dp, self.om_estop_dp, self.om_sensor_dp]
+        # for widgets in widgets:
+        #     widgets.configure(state="disabled")
+        self.om_sub_dp.configure(state="disabled")
+        self.om_trqh_dp.configure(state="disabled")
+        self.om_sensor_dp.configure(state="disabled")
+
+    def show(self):
+        if self.server_vers:
+            self.root.mainloop()
+
+
+if __name__ == "__main__":
+    aio = App()
+    aio.show()

code/common/aio.py

@@ -1,215 +0,0 @@
-# from tkinter import colorchooser
-# from tkinter import font
-# import tkinter as tk
-# import threading
-# import logging
-# import time
-# import os
-
-import customtkinter as ctk
-from tkinter import messagebox
-from tkinter import filedialog
-from tkinter import ttk
-
-
-class App:
-    def __init__(self):
-        # ========================================================================
-        self.root = ctk.CTk()
-        self.__set_root()
-        # ========================================================================
-        # self.style = ttk.Style()
-        # self.style.configure("nb.TNotebook", font=("Consolas", 28, "normal"))
-        self.entry_path_dpv = ctk.StringVar()
-        self.entry_path_dpv.set("数据文件夹路径")
-        self.entry_path_atv = ctk.StringVar()
-        self.entry_path_atv.set("数据文件夹路径")
-        self.entry_ip_atv = ctk.StringVar()
-        self.entry_ip_atv.set("192.168.0.160")
-        # ========================================================================
-        self.frame_left = ctk.CTkFrame(self.root, width=80, corner_radius=0, fg_color="#E9E9E9")
-        # -------
-        self.tabview_top = ctk.CTkTabview(self.root, width=900, height=180, fg_color="#E9E9E9", border_width=2, anchor="w", command=self.__switch_tab)
-        self.tabview_top.add("数据处理")
-        self.tabview_top.add("自动测试")
-        # -------
-        self.tabview_bottom = ctk.CTkTabview(self.root, fg_color="#E9E9E9", border_width=2, anchor="w")
-        self.tabview_bottom.add("输出")
-        self.tabview_bottom.add("日志")
-        # -------
-        self.frame_status = ctk.CTkFrame(self.root, height=30, bg_color="purple")
-        # ========================================================================
-        self.label_logo = ctk.CTkLabel(self.frame_left, text="Rokae AIO", font=self.f_logo, text_color="#4F4F4F")
-        self.btn_start = ctk.CTkButton(self.frame_left, text="开始运行", font=self.f_normal, fg_color='#4F4F4F', command=lambda: print("---"))
-        self.btn_save_log = ctk.CTkButton(self.frame_left, text="保存日志", font=self.f_normal, fg_color='#4F4F4F', command=lambda: print("---"))
-        # ========================================================================
-        self.om_main_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=120, dynamic_resizing=False, values=["INIT", "brake", "current", "iso", "wavelog"], font=self.f_normal, text_color='#3C3C3C', button_color='#7B6B5B', fg_color="#8D8D8D", command=print)
-        self.om_sub_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=120, dynamic_resizing=False, values=["cycle", "max", "avg"], font=self.f_normal, text_color='#3C3C3C', button_color='#7B6B5B', fg_color="#8D8D8D", command=print)
-        self.label_path_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=50, anchor="e", text="Path", font=self.f_normal)
-        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=50, anchor="e", text="Vel", font=self.f_normal)
-        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_normal)
-        self.label_trq_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=50, anchor="e", text="Trq", font=self.f_normal)
-        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_normal)
-        self.label_sensor_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=50, anchor="e", text="Sensor", font=self.f_normal)
-        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_normal)
-        self.label_estop_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=50, anchor="e", text="Estop", font=self.f_normal)
-        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_normal)
-        self.label_trqh_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=50, anchor="e", text="TrqH", font=self.f_normal)
-        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_normal)
-        # ========================================================================
-        self.om_main_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=120, dynamic_resizing=False, values=["INIT", "brake", "current"], font=self.f_normal, text_color='#3C3C3C', button_color='#7B6B5B', fg_color="#8D8D8D", command=print)
-        self.om_sub_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=120, dynamic_resizing=False, values=["负载信息", "tool33", "tool66", "tool100", "inertia"], font=self.f_normal, text_color='#3C3C3C', button_color='#7B6B5B', fg_color="#8D8D8D", command=print)
-        self.label_ip_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), anchor="e", text="IP", font=self.f_normal)
-        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)
-        self.progressbar_at = ctk.CTkProgressBar(self.tabview_top.tab("自动测试"), width=160, mode="indeterminate")
-        self.label_path_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), width=50, anchor="e", text="Path", font=self.f_normal)
-        self.entry_path_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=80, state="disabled", textvariable=self.entry_path_atv, font=self.f_entry, text_color="#818181")
-        self.segbutton_at = ctk.CTkSegmentedButton(self.tabview_top.tab("自动测试"), width=120, dynamic_resizing=False, values=["功能切换", "触发急停", "恢复急停", "待定功能", "功能待定", "机器状态", "告警信息"], font=self.f_segbtn)
-        # ========================================================================
-        self.text_output = ctk.CTkTextbox(self.tabview_bottom.tab("输出"), height=10, font=self.f_text)
-        # ========================================================================
-        self.segbutton_logs = ctk.CTkSegmentedButton(self.tabview_bottom.tab("日志"), width=200, dynamic_resizing=False, values=["上一页", "实时", "下一页"], font=self.f_segbtn)
-        self.btn_find = ctk.CTkButton(self.tabview_bottom.tab("日志"), text="查找", width=60, font=self.f_segbtn)
-        self.entry_keyword = ctk.CTkEntry(self.tabview_bottom.tab("日志"), placeholder_text="[id-level] 查找内容", width=60, font=self.f_segbtn)
-        self.label_loglevel = ctk.CTkLabel(self.tabview_bottom.tab("日志"), width=60, anchor="e", text="等级", font=self.f_normal)
-        self.om_loglevel = ctk.CTkOptionMenu(self.tabview_bottom.tab("日志"), width=60, dynamic_resizing=False, values=["DEBUG", "INFO", "WARNING", "ERROR"], font=self.f_normal, text_color='#3C3C3C', button_color='#7B6B5B', fg_color="#8D8D8D", command=print)
-        self.treeview_logs = ttk.Treeview(self.tabview_bottom.tab("日志"), height=10, columns=("time", "level", "module", "content"))
-        # ========================================================================
-        with open("../../assets/version/vers", mode="r", encoding="utf-8") as f_vers:
-            _version, _update = f_vers.read().split("@")
-            _text = f"  v{_version}  Update@{_update}"
-        self.label_vers = ctk.CTkLabel(self.frame_status, text=_text, bg_color="#C9C9C9", font=self.f_status, anchor="w")
-        var_tips = ctk.StringVar()
-        var_tips.set("当前是最新版本！")
-        self.label_tips = ctk.CTkLabel(self.frame_status, textvariable=var_tips, bg_color="#ABCDEF", font=self.f_status, anchor="e")
-        # ========================================================================
-        self.__draw()
-
-    def __set_root(self):
-        self.root.title("AIO - All in one automatic toolbox")
-        self.root.iconbitmap("../../assets/media/icon.ico")
-        self.root.configure(fg_color="#E9E9E9")
-        self.root.geometry(f"1100x500+10+10")
-        # self.root.resizable(False, False)
-        # self.root.protocol("WM_DELETE_WINDOW", self.__close_root)
-        self.f_normal = ("Consolas", 20, "bold")
-        self.f_entry = ("Consolas", 18, "bold")
-        self.f_segbtn = ("楷体", 20, "bold")
-        self.f_logo = ("Segoe Script Bold", 28, "bold")
-        self.f_text = ("仿宋", 16, "normal")
-        self.f_status = ("Consolas", 12, "bold")
-
-    def __close_root(self):
-        msg = "相关数据可能未保存，正在运行程序时有概率会损坏数据文件，确定要终止程序运行吗？"
-        res = messagebox.askyesno(title="退出程序", message=msg, default=messagebox.NO, icon=messagebox.WARNING)
-        if res:
-            self.root.destroy()
-
-    def __switch_tab(self):
-        t_name = self.tabview_top.get()
-        if t_name == "数据处理":
-            self.tabview_top.configure(height=180)
-        elif t_name == "自动测试":
-            self.tabview_top.configure(height=180)
-
-    def __draw(self):
-        def select_path(event):
-            t_name = self.tabview_top.get()
-            dir_path = filedialog.askdirectory()
-            if t_name == "数据处理":
-                c_origin = self.entry_path_dpv.get()
-                if dir_path:
-                    self.entry_path_dpv.set(dir_path)
-                else:
-                    self.entry_path_dpv.set(c_origin)
-            elif t_name == "自动测试":
-                c_origin = self.entry_path_atv.get()
-                if dir_path:
-                    self.entry_path_atv.set(dir_path)
-                else:
-                    self.entry_path_atv.set(c_origin)
-
-        # ========================================================================
-        self.root.rowconfigure(0, weight=1)
-        self.root.rowconfigure(1, weight=99)
-        self.root.columnconfigure(0, weight=1)
-        self.root.columnconfigure(1, weight=99)
-        self.frame_left.grid(row=0, column=0, rowspan=2, sticky="news")
-        self.tabview_top.grid(row=0, column=1, padx=10, pady=5, sticky="news")
-        self.tabview_bottom.grid(row=1, column=1, padx=10, pady=(0, 10), sticky="news")
-        self.frame_status.grid(row=2, column=0, columnspan=2, sticky="news")
-        # ========================================================================
-        self.frame_left.rowconfigure(list(range(30)), weight=1)
-        self.frame_left.columnconfigure(0, weight=1)
-        self.label_logo.grid(row=0, column=0, sticky="new", padx=20, pady=(20, 40))
-        self.btn_start.grid(row=1, column=0, sticky="new", padx=15, ipady=4)
-        self.btn_save_log.grid(row=2, column=0, sticky="new", padx=15, ipady=4)
-        # ========================================================================
-        # self.tabview_top.tab("数据处理").grid_rowconfigure([0, 1], weight=1)
-        self.tabview_top.tab("数据处理").grid_columnconfigure(11, weight=1)
-        self.om_main_dp.grid(row=0, column=0, padx=10)
-        self.om_sub_dp.grid(row=1, column=0, padx=10, pady=(0, 10))
-        self.label_path_dp.grid(row=0, column=1, padx=(0, 5), pady=10)
-        self.entry_path_dp.grid(row=0, column=2, columnspan=10, padx=(0, 10), pady=10, sticky="we")
-        self.label_vel_dp.grid(row=1, column=1, padx=(0, 5), pady=(0, 10))
-        self.om_vel_dp.grid(row=1, column=2, padx=(0, 5), pady=(0, 10))
-        self.label_trq_dp.grid(row=1, column=3, padx=(0, 5), pady=(0, 10))
-        self.om_trq_dp.grid(row=1, column=4, padx=(0, 5), pady=(0, 10))
-        self.label_trqh_dp.grid(row=1, column=5, padx=(0, 5), pady=(0, 10))
-        self.om_trqh_dp.grid(row=1, column=6, padx=(0, 5), pady=(0, 10))
-        self.label_estop_dp.grid(row=1, column=7, padx=(0, 5), pady=(0, 10))
-        self.om_estop_dp.grid(row=1, column=8, padx=(0, 5), pady=(0, 10))
-        self.label_sensor_dp.grid(row=1, column=9, padx=(0, 5), pady=(0, 10))
-        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.om_main_dp.set("INIT")
-        self.om_vel_dp.set("1")
-        self.om_trq_dp.set("2")
-        self.om_trqh_dp.set("2")
-        self.om_estop_dp.set("3")
-        self.om_sensor_dp.set("3")
-        # ========================================================================
-        # self.tabview_top.tab("自动测试").grid_rowconfigure([0, 1, 2], weight=1)
-        self.tabview_top.tab("自动测试").grid_columnconfigure(4, weight=1)
-        self.om_main_at.grid(row=0, column=0, padx=10, pady=10, sticky="w")
-        self.om_sub_at.grid(row=1, column=0, padx=10, pady=(0, 10), sticky="w")
-        self.label_ip_at.grid(row=0, column=1, padx=(0, 10), sticky="e")
-        self.entry_ip_at.grid(row=0, column=2)
-        self.btn_conn.grid(row=0, column=3, padx=10)
-        self.progressbar_at.grid(row=0, column=4, sticky="e")
-        self.label_path_at.grid(row=1, column=1, padx=(0, 10), sticky="e")
-        self.entry_path_at.grid(row=1, column=2, columnspan=3, sticky="we")
-        self.segbutton_at.grid(row=2, column=0, columnspan=5, sticky="we")
-
-        self.progressbar_at.start()
-        self.entry_path_at.bind("<Button-1>", select_path)
-        # ========================================================================
-        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, padx=0, pady=1, sticky="news")
-        # ========================================================================
-        self.tabview_bottom.tab("日志").grid_rowconfigure(1, weight=1)
-        self.tabview_bottom.tab("日志").grid_columnconfigure(2, weight=1)
-        self.segbutton_logs.grid(row=0, column=0, padx=10, pady=(0, 10), sticky="w")
-        self.btn_find.grid(row=0, column=1, padx=(0, 10), pady=(0, 10), sticky="w")
-        self.entry_keyword.grid(row=0, column=2, padx=0, pady=(0, 10), sticky="we")
-        self.treeview_logs.grid(row=1, column=0, columnspan=3,  padx=0, pady=1, sticky="news")
-
-        self.segbutton_logs.set("实时")
-        # ========================================================================
-        self.frame_status.rowconfigure(0, weight=1)
-        self.frame_status.columnconfigure([0, 1], weight=1)
-        self.label_vers.grid(row=0, column=0, sticky="news")
-        self.label_tips.grid(row=0, column=1, sticky="news")
-        # ========================================================================
-
-    def show(self):
-        self.root.mainloop()
-
-
-if __name__ == "__main__":
-    aio = App()
-    aio.show()

code/common/clibs.py

@@ -0,0 +1,93 @@
+import os
+import os.path
+import sqlite3
+import threading
+
+def traversal_files(path, w2t):
+    # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
+    # 参数：路径
+    # 返回值：路径下的文件夹列表 路径下的文件列表
+    if not os.path.exists(path):
+        w2t(f"数据文件夹{path}不存在，请确认后重试......", "red", "PathNotExistError")
+    else:
+        dirs, files = [], []
+        for item in os.scandir(path):
+            if item.is_dir():
+                dirs.append(item.path.replace("\\", "/"))
+            elif item.is_file():
+                files.append(item.path.replace("\\", "/"))
+
+        return dirs, files
+
+
+def init_logdb(connect, cur):
+    connect = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=256)
+    # connect = sqlite3.connect("log.db", isolation_level=None, check_same_thread=False, cached_statements=256)
+    # time text default (datetime('now', 'localtime')),
+
+    cur = connect.cursor()
+    cur.execute(
+        """
+        create table if not exists logs(
+            id integer primary key autoincrement,
+            time DATETIME DEFAULT(STRFTIME('%Y-%m-%d %H:%M:%f', 'NOW', 'localtime')),
+            level text,
+            module text,
+            content text
+        )
+        """
+    )
+    return connect, cur
+
+
+def insert_logdb(_level, _module, _content):
+    if db_state == "readwrite":
+        global conn, cursor
+        data = [_level, _module, repr(_content)]
+        cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
+
+
+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 as Err:
+            return None
+
+
+# PREFIX = 'assets'  # for pyinstaller packaging
+PREFIX = '../assets'  # for source code testing and debug
+log_path = f"{PREFIX}/logs"
+conn = None
+cursor = None
+levels = ["DEBUG", "INFO", "WARNING", "ERROR"]
+db_state = "readwrite"
+data_dp = {}
+data_at = {}
+w2t = None
+running = False
+stop = True
+tl_prg = None
+f_records = None
+conn, cursor = init_logdb(conn, cursor)
+
+for i in range(100):
+    insert_logdb("DEBUG", "clibs", 'this is a DEBUG log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
+    insert_logdb("INFO", "clibs", 'this is a INFO log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
+    insert_logdb("WARNING", "clibs", 'this is a WARNING log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
+    insert_logdb("ERROR", "clibs", 'this is a ERROR log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
+
+insert_logdb("DEBUG", "clibs", 'running')
+insert_logdb("INFO", "clibs", 'running')
+insert_logdb("WARNING", "clibs", 'running')
+insert_logdb("ERROR", "clibs", 'running')

code/data_process/brake.py

@@ -0,0 +1,5 @@
+from common import clibs
+
+def main():
+    print("brake")
+

code/data_process/current.py

@@ -0,0 +1,423 @@
+import threading
+import openpyxl
+import pandas
+import re
+import csv
+from common import clibs
+
+
+def initialization(path, w2t, insert_logdb):
+    _, data_files = clibs.traversal_files(path, w2t)
+    count = 0
+    for data_file in data_files:
+        filename = data_file.split("/")[-1]
+        if filename == "configs.xlsx":
+            count += 1
+        elif filename == "T_电机电流.xlsx":
+            ...
+        else:
+            if not re.match("j[1-7].*\\.data", filename):
+                msg = f"不合规 {data_file}\n"
+                msg += "所有数据文件必须以 j[1-7]_ 开头，以 .data 结尾，比如j1_abcdef.data\n配置文件需要命名为\"configs.xlsx\"，结果文件需要命名为\"T_电机电流.xlsx\"\n"
+                msg += "需要有配置文件\"configs.xlsx\"表格，以及数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行\n"
+                w2t(msg, "red", "FilenameIllegal")
+
+    if count != 1:
+        msg = "需要有配置文件\"configs.xlsx\"表格，以及数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行\n"
+        w2t(msg, "red", "FilenameIllegal")
+
+    insert_logdb("INFO", "current", f"current: 获取必要文件：{data_files}")
+    return data_files
+
+
+def current_max(data_files, rcs, trq, w2t, insert_logdb):
+    insert_logdb("INFO", "current", "MAX: 正在处理最大电流值逻辑...")
+    current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
+    for data_file in data_files:
+        if data_file.endswith(".data"):
+            df = pandas.read_csv(data_file, sep="\t")
+        else:
+            continue
+
+        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]
+        insert_logdb("INFO", "current", f"MAX: 最大列数为 {cols}，{axis} 轴的额定电流为 {rca}")
+
+        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)
+        current[axis].append(_)
+        w2t(f"{data_file}: {_:.4f}\n")
+        insert_logdb("INFO", "current", f"MAX: 获取到的列名为 {col}，最大电流为 {_}")
+
+        with open(data_file, "a+") as f_data:
+            csv_writer = csv.writer(f_data, delimiter="\t")
+            csv_writer.writerow([""] * (cols-1) + [_])
+
+    for axis, cur in current.items():
+        if not cur:
+            continue
+        else:
+            w2t(f"{axis}轴数据：")
+            for value in cur:
+                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}")
+    return current
+
+
+def current_avg(data_files, rcs, trq, w2t, insert_logdb):
+    insert_logdb("INFO", "current", "AVG: 正在处理平均电流值逻辑...")
+    current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
+    for data_file in data_files:
+        if data_file.endswith(".data"):
+            df = pandas.read_csv(data_file, sep="\t")
+        else:
+            continue
+
+        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]
+        insert_logdb("INFO", "current", f"AVG: 最大列数为 {cols}，{axis} 轴的额定电流为 {rca}")
+
+        col = df.columns.values[trq-1]
+        c_std = df[col].std()
+        c_avg = df[col].mean()
+
+        scale = 1000
+        _ = (abs(c_avg)+c_std*3)/scale*rca
+        current[axis].append(_)
+        w2t(f"{data_file}: {_:.4f}\n")
+
+        insert_logdb("INFO", "current", f"AVG: 获取到的列名为 {col}，平均电流为 {_}")
+        with open(data_file, "a+") as f_data:
+            csv_writer = csv.writer(f_data, delimiter="\t")
+            csv_writer.writerow([""] * (cols-1) + [_])
+
+    for axis, cur in current.items():
+        if not cur:
+            continue
+        else:
+            w2t(f"{axis}轴数据：")
+            for value in cur:
+                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}")
+    return current
+
+
+def current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb):
+    result, hold, single, scenario, dur_time = None, [], [], [], 0
+    for data_file in data_files:
+        filename = data_file.split("/")[-1]
+        if filename == "T_电机电流.xlsx":
+            result = data_file
+        elif re.match("j[1-7]_hold_.*\\.data", filename):
+            hold.append(data_file)
+        elif re.match("j[1-7]_s_.*\\.data", filename):
+            scenario.append(data_file)
+            dur_time = float(filename.split("_")[3])
+        elif re.match("j[1-7]_.*\\.data", filename):
+            single.append(data_file)
+
+    clibs.stop = True
+    w2t(f"正在打开文件 {result}，需要 10s 左右......\n")
+    t_excel = clibs.GetThreadResult(openpyxl.load_workbook, args=(result, ))
+    t_excel.daemon = True
+    t_excel.start()
+    t_progress = threading.Thread(target=clibs.tl_prg, args=("Processing......", ))
+    t_progress.daemon = True
+    t_progress.start()
+    wb = t_excel.get_result()
+
+    if hold:
+        avg = current_avg(hold, rcs, 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])
+
+    if dur_time == 0:
+        p_single(wb, single, vel, rrs, w2t, insert_logdb)
+    else:
+        p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb)
+
+    clibs.stop = True
+    w2t(f"正在保存文件 {result}，需要 10s 左右......\n")
+    t_excel = threading.Thread(target=wb.save, args=(result, ))
+    t_excel.daemon = True
+    t_excel.start()
+    t_excel.join()
+    clibs.stop = False
+    t_progress.join()
+
+    w2t("----------------------------------------------------------\n")
+    w2t("全部处理完毕")
+
+
+def find_point(data_file, df, flag, row_s, row_e, threshold, step, end_point, skip_scale, axis, seq, w2t, insert_logdb):
+    if flag == "lt":
+        while row_e > end_point:
+            speed_avg = df.iloc[row_s:row_e].abs().mean()
+            if speed_avg < threshold:
+                row_e -= step
+                row_s -= step
+                continue
+            else:
+                # one more time，如果连续两次 200 个点的平均值都大于 2，说明已经到了临界点了（其实也不一定，只不过相对遇到一次就判定临界点更安全一点点）
+                # 从实际数据看，这开逻辑很小概率能触发到
+                speed_avg = df.iloc[row_s-end_point*skip_scale:row_e-end_point*skip_scale].abs().mean()
+                if speed_avg < threshold:
+                    insert_logdb("WARNING", "current", f"【lt】{axis} 轴第 {seq} 次查找数据有异常，row_s = {row_s}, row_e = {row_e}！")
+                    row_e -= end_point*skip_scale
+                    row_s -= end_point*skip_scale
+                    continue
+                else:
+                    return row_s, row_e
+        else:
+            w2t(f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点...", "red", "AnchorNotFound")
+    elif flag == "gt":
+        while row_e > end_point:
+            speed_avg = df.iloc[row_s:row_e].abs().mean()
+            # if axis == 1 and seq == 1:
+            #     insert_logdb("DEBUG", "current", f"【gt】{axis} 轴，speed_avg = {speed_avg}，row_s = {row_s}, row_e = {row_e}！")
+            if speed_avg > threshold:
+                row_e -= step
+                row_s -= step
+                continue
+            else:
+                # one more time，如果连续两次 200 个点的平均值都小于 2，说明已经到了临界点了（其实也不一定，只不过相对遇到一次就判定临界点更安全一点点）
+                # 从实际数据看，这开逻辑很小概率能触发到
+                speed_avg = df.iloc[row_s-end_point*skip_scale:row_e-end_point*skip_scale].abs().mean()
+                if speed_avg > threshold:
+                    insert_logdb("WARNING", "current", f"【gt】{axis} 轴第 {seq} 次查找数据有异常，row_s = {row_s}, row_e = {row_e}！")
+                    row_e -= end_point*skip_scale
+                    row_s -= end_point*skip_scale
+                    continue
+                else:
+                    return row_s, row_e
+        else:
+            w2t(f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点...", "red", "AnchorNotFound")
+
+
+def get_row_number(threshold, flag, df, row_s, row_e, axis, insert_logdb):
+    count_1, count_2 = 0, 0
+    if flag == "start" or flag == "end":
+        for number in df.iloc[row_s:row_e].abs():
+            count_2 += 1
+            if number > threshold:
+                count_1 += 1
+                if count_1 == 10:
+                    return row_s + count_2 - 10
+            else:
+                count_1 = 0
+    elif flag == "middle":
+        for number in df.iloc[row_s:row_e].abs():
+            count_2 += 1
+            if number < threshold:  # 唯一的区别
+                count_1 += 1
+                if count_1 == 10:
+                    return row_s + count_2 - 10
+            else:
+                count_1 = 0
+
+    places = {"start": "起点", "middle": "中间点", "end": "终点"}
+    insert_logdb("WARNING", "current", f"{axis} 轴获取{places[flag]}数据 {row_e} 可能有异常，需关注！")
+    return row_e
+
+
+def p_single(wb, single, vel, rrs, w2t, insert_logdb):
+    # 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑
+    # 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑
+    # 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置
+    for data_file in single:
+        axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
+        sht_name = f"J{axis}"
+        ws = wb[sht_name]
+        pandas.set_option("display.precision", 2)
+        df_origin = pandas.read_csv(data_file, sep="\t")
+        rr = rrs[axis-1]
+        addition = 180 / 3.1415926 * 60 / 360 * rr
+
+        col_names = list(df_origin.columns)
+        df = df_origin[col_names[vel-1]].multiply(addition)
+
+        step = 50  # 步进值
+        end_point = 200  # 有效数值的数目
+        threshold = 2  # 200个点的平均阈值线
+        skip_scale = 2
+        row_start, row_middle, row_end = 0, 0, 0
+        row_e = df.index[-1]
+        row_s = row_e - end_point
+        speed_avg = df.iloc[row_s:row_e].abs().mean()
+        if speed_avg < 2:
+            # 第一次过滤：消除速度为零的数据，找到速度即将大于零的上升临界点
+            row_s, row_e = find_point(data_file, df, "lt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 0, w2t, insert_logdb)
+            row_e -= end_point*skip_scale
+            row_s -= end_point*skip_scale
+            # 第二次过滤：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
+            row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 0, w2t, insert_logdb)
+            row_e -= end_point*skip_scale
+            row_s -= end_point*skip_scale
+            # 第三次过滤：消除速度为零的数据，找到速度即将大于零的上升临界点
+            row_s, row_e = find_point(data_file, df, "lt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 0, w2t, insert_logdb)
+            row_e -= end_point*skip_scale
+            row_s -= end_point*skip_scale
+            # 正式第一次采集：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
+            row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 1, w2t, insert_logdb)
+            row_end = get_row_number(threshold, "end", df, row_s, row_e, axis, insert_logdb)
+            row_e -= end_point*skip_scale
+            row_s -= end_point*skip_scale
+            # 正式第二次采集：消除速度为零的数据，找到速度即将大于零的上升临界点
+            row_s, row_e = find_point(data_file, df, "lt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 2, w2t, insert_logdb)
+            row_middle = get_row_number(threshold, "middle", df, row_s, row_e, axis, insert_logdb)
+            row_e -= end_point*skip_scale
+            row_s -= end_point*skip_scale
+            # 正式第三次采集：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
+            row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 3, w2t, insert_logdb)
+            row_start = get_row_number(threshold, "start", df, row_s, row_e, axis, insert_logdb)
+        elif speed_avg > 2:
+            # 第一次过滤：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
+            row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 0, w2t, insert_logdb)
+            row_e -= end_point*skip_scale
+            row_s -= end_point*skip_scale
+            # 第二次过滤：消除速度为零的数据，找到速度即将大于零的上升临界点
+            row_s, row_e = find_point(data_file, df, "lt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 0, w2t, insert_logdb)
+            row_e -= end_point*skip_scale
+            row_s -= end_point*skip_scale
+            # 第一次正式采集：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
+            row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 1, w2t, insert_logdb)
+            row_end = get_row_number(threshold, "end", df, row_s, row_e, axis, insert_logdb)
+            row_e -= end_point*skip_scale
+            row_s -= end_point*skip_scale
+            # 第二次正式采集：消除速度为零的数据，找到速度即将大于零的上升临界点
+            row_s, row_e = find_point(data_file, df, "lt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 2, w2t, insert_logdb)
+            row_middle = get_row_number(threshold, "middle", df, row_s, row_e, axis, insert_logdb)
+            row_e -= end_point*skip_scale
+            row_s -= end_point*skip_scale
+            # 第三次正式采集：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
+            row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 3, w2t, insert_logdb)
+            row_start = get_row_number(threshold, "start", df, row_s, row_e, axis, insert_logdb)
+
+        insert_logdb("INFO", "current", f"{axis} 轴起点：{row_start}")
+        insert_logdb("INFO", "current", f"{axis} 轴中间点：{row_middle}")
+        insert_logdb("INFO", "current", f"{axis} 轴终点：{row_end}")
+        insert_logdb("INFO", "current", f"{axis} 轴数据非零段点数：{row_middle-row_start+1}")
+        insert_logdb("INFO", "current", f"{axis} 轴数据为零段点数：{row_end-row_middle+1}")
+        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 = []
+        for row in range(row_start, row_end+1):
+            data.append(df_origin.iloc[row, 0])
+            data.append(df_origin.iloc[row, 1])
+            data.append(df_origin.iloc[row, 2])
+
+        i = 0
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=4):
+            for cell in row:
+                try:
+                    if i % 3 == 0:
+                        ws.cell((i//3)+2, 1).value = float(((i//3)+1)/1000)
+                    _ = f"{data[i]:.2f}"
+                    cell.value = float(_)
+                    i += 1
+                except Exception as Err:
+                    if i % 3 == 0:
+                        ws.cell((i//3)+2, 1).value = None
+                    cell.value = None
+                    i += 1
+
+
+def p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb):
+    for data_file in scenario:
+        cycle = 0.001
+        axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
+        sht_name = f"J{axis}"
+        ws = wb[sht_name]
+        pandas.set_option("display.precision", 2)
+        df_origin = pandas.read_csv(data_file, sep="\t")
+        rr = rrs[axis-1]
+        addition = 180 / 3.1415926 * 60 / 360 * rr
+
+        col_names = list(df_origin.columns)
+        df = df_origin[col_names[vel-1]].multiply(addition)
+
+        row_start = 3000
+        row_end = row_start + int(dur_time/cycle)
+        if row_end > df.index[-1]:
+            w2t(f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "red", "DataOverLimit")
+
+        data = []
+        for row in range(row_start, row_end+1):
+            data.append(df_origin.iloc[row, 0])
+            data.append(df_origin.iloc[row, 1])
+            data.append(df_origin.iloc[row, 2])
+
+        i = 0
+        for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=4):
+            for cell in row:
+                try:
+                    if i % 3 == 0:
+                        ws.cell((i//3)+2, 1).value = float(((i//3)+1)/1000)
+                    _ = f"{data[i]:.2f}"
+                    cell.value = float(_)
+                    i += 1
+                except Exception as Err:
+                    cell.value = None
+                    if i % 3 == 0:
+                        ws.cell((i//3)+2, 1).value = None
+                    i += 1
+
+
+def get_configs(configfile, w2t, insert_logdb):
+    try:
+        wb = openpyxl.load_workbook(configfile, read_only=True)
+        ws = wb["Target"]
+    except Exception as Err:
+        insert_logdb("ERROR", "current", f"无法打开 {configfile}，获取配置文件参数错误 {Err}")
+        w2t(f"无法打开 {configfile}", color="red", desc="OpenFileError")
+
+    # 最大角速度，额定电流，减速比，额定转速
+    rrs, avs, rcs, rpms = [], [], [], []
+    for i in range(2, 8):
+        rrs.append(abs(float(ws.cell(row=2, column=i).value)))
+        avs.append(abs(float(ws.cell(row=3, column=i).value)))
+        rpms.append(abs(float(ws.cell(row=4, column=i).value)))
+        rcs.append(abs(float(ws.cell(row=6, column=i).value)))
+
+    insert_logdb("INFO", "current", f"current: 获取减速比：{rrs}")
+    insert_logdb("INFO", "current", f"current: 获取角速度：{avs}")
+    insert_logdb("INFO", "current", f"current: 获取额定电流：{rcs}")
+    insert_logdb("INFO", "current", f"current: 获取额定转速：{rpms}")
+    return rrs, avs, rcs, rpms
+
+
+def main():
+    sub = clibs.data_dp["_sub"]
+    path = clibs.data_dp["_path"]
+    vel = int(clibs.data_dp["_vel"])
+    trq = int(clibs.data_dp["_trq"])
+    trqh = int(clibs.data_dp["_trqh"])
+    w2t = clibs.w2t
+    insert_logdb = clibs.insert_logdb
+    insert_logdb("INFO", "current", "current: 参数初始化成功")
+
+    data_files = initialization(path, w2t, insert_logdb)
+    rrs, avs, rcs, rpms = get_configs(path + "\\configs.xlsx", w2t, insert_logdb)
+    if sub == "max":
+        current_max(data_files, rcs, trq, w2t, insert_logdb)
+    elif sub == "avg":
+        current_avg(data_files, rcs, trq, w2t, insert_logdb)
+    elif sub == "cycle":
+        current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb)
+
+
+if __name__ == '__main__':
+    main()

code/data_process/iso.py

@@ -0,0 +1,5 @@
+
+from common import clibs
+def main():
+    print("iso")
+

code/data_process/wavelogger.py

@@ -0,0 +1,5 @@
+
+from common import clibs
+def main():
+    print("wavelogger")
+

readme.md

@@ -1,6 +1,43 @@
-#### 其他
+# 珞石测试部自动化工具
+
+## 一、处理逻辑以及原理
+
+### 1. 数据处理
+
+#### A. 制动数据
+
+#### B. 电机电流
+
+#### C. 激光
+
+#### D. 基恩士数据
+
+## 二、自动测试
+
+### 1. 协议封包解包
+
+### 2. 制动测试
+
+### 3. 电机电流测试
+
+## 三、注意事项
+
+## 四、发版记录
+
+## 五、其他
+
+### 1. 打包命令
+
+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
+```
+
+### 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：
-	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')
+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')