init commit

code/durable/create_plot.py

@@ -0,0 +1,85 @@
+import os.path
+import matplotlib.pyplot as plt
+import pandas
+from matplotlib.widgets import Slider
+from PySide6.QtCore import Signal, QThread
+from common import clibs
+
+
+# class DrawCurves(QThread):
+#     output = Signal(str, str)
+#
+#     def __init__(self, /):
+#         super().__init__()
+#
+#     @staticmethod
+#     def logger(level, module, content, color="black", error="", flag="both", signal=output):
+#         clibs.logger(level, module, content, color, flag, signal)
+#         if level.upper() == "ERROR":
+#             raise Exception(error)
+#
+#     def initialization(self):
+#         path, curves = None, None
+#         try:
+#             path = clibs.data_dd["path"]
+#             curves = clibs.data_dd["curves"]
+#         except Exception:
+#             clibs.w2t("程序未开始运行，暂无数据可以展示......\n", "red")
+#             return None, None
+#
+#         for curve in curves:
+#             if not os.path.exists(f"{path}/{curve}.csv"):
+#                 clibs.w2t(f"{curve}曲线数据暂未生成，稍后再试......\n", "orange")
+#                 return None, None
+#
+#         return path, curves
+#
+#
+#     def data_plot(path, curve):
+#         titles = {"hw_joint_vel_feedback": "各关节最大速度曲线", "device_servo_trq_feedback": "各关节平均有效转矩曲线"}
+#         ylabels = {"hw_joint_vel_feedback": "速度(rad/s)", "device_servo_trq_feedback": "转矩(Nm)"}
+#
+#         fig, axes = plt.subplots(figsize=(10, 4.5), dpi=100)
+#         cols = [f"{curve}_{i}" for i in range(6)]
+#         cols.insert(0, "time")
+#         df = pandas.read_csv(f"{path}/{curve}.csv")
+#         plt.plot(df[cols[1]], label="一轴")
+#         plt.plot(df[cols[2]], label="二轴")
+#         plt.plot(df[cols[3]], label="三轴")
+#         plt.plot(df[cols[4]], label="四轴")
+#         plt.plot(df[cols[5]], label="五轴")
+#         plt.plot(df[cols[6]], label="六轴")
+#         axes.set_title(titles[curve])
+#         axes.set_ylabel(ylabels[curve])
+#         axes.legend(loc="upper right")
+#
+#         slider_position = plt.axes((0.1, 0.01, 0.8, 0.05), facecolor="blue")  # (left, bottom, width, height)
+#         scrollbar = Slider(slider_position, 'Time', 1, int(len(df)), valstep=1)
+#
+#         def update(val):
+#             pos = scrollbar.val
+#             axes.set_xlim([pos, pos + 10])
+#             fig.canvas.draw_idle()
+#
+#         scrollbar.on_changed(update)
+#         fig.tight_layout(rect=(0, 0.02, 0.96, 1))  # tuple (left, bottom, right, top)
+#
+#
+#     def main():
+#         path, curves = initialization()
+#         if not path or not curves:
+#             return
+#
+#         for curve in curves:
+#             data_plot(path, curve)
+#
+#         plt.show()
+#
+#
+#     plt.rcParams['font.sans-serif'] = ['SimHei']
+#     plt.rcParams['axes.unicode_minus'] = False
+#     plt.rcParams['figure.dpi'] = 100
+#     plt.rcParams['font.size'] = 14
+#     plt.rcParams['lines.marker'] = 'o'
+#     plt.rcParams["figure.autolayout"] = True
+#

code/durable/factory_test.py

@@ -0,0 +1,239 @@
+import json
+import threading
+import time
+import pandas
+import numpy
+import math
+import csv
+from PySide6.QtCore import Signal, QThread
+from common import clibs
+
+
+class DoBrakeTest(QThread):
+    output = Signal(str, str)
+
+    def __init__(self, dir_path, interval, proc, /):
+        super().__init__()
+        self.dir_path = dir_path
+        self.interval = interval
+        self.proc = proc
+        self.idx = 6
+
+    def logger(self, level, module, content, color="black", error="", flag="both"):
+        clibs.logger(level, module, content, color, flag, signal=self.output)
+        if level.upper() == "ERROR":
+            raise Exception(f"{error} | {content}")
+
+    def initialization(self, data_dirs, data_files):
+        def check_files():
+            if len(curves) == 0:
+                self.logger("ERROR", "factory-check_files", "未查询到需要记录数据的曲线，至少选择一个！", "red", "CurveNameError")
+
+            if len(data_dirs) != 0 or len(data_files) != 1:
+                self.logger("ERROR", "factory-check_files", "初始路径下不允许有文件夹，且初始路径下只能存在一个工程文件 —— *.zip，确认后重新运行！", "red", "InitFileError")
+
+            if not data_files[0].endswith(".zip"):
+                self.logger("ERROR", "factory-check_files", f"{data_files[0]} 不是一个有效的工程文件，需确认！", "red", "ProjectFileError")
+
+            return data_files[0], interval
+
+        def get_configs():
+            robot_type, records = None, None
+            msg_id, state = clibs.c_hr.execution("controller.get_params")
+            records = clibs.c_hr.get_from_id(msg_id, state)
+            for record in records:
+                if "请求发送成功" not in record[0]:
+                    robot_type = eval(record[0])["data"]["robot_type"]
+            server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg"
+            local_file = self.dir_path + f"/{robot_type}.cfg"
+            clibs.c_pd.pull_file_from_server(server_file, local_file)
+
+            try:
+                with open(local_file, mode="r", encoding="utf-8") as f_config:
+                    configs = json.load(f_config)
+            except Exception as Err:
+                self.logger("ERROR", "factory-get_configs", f"无法打开 {local_file}<br>{Err}", "red", "OpenFileError")
+
+            # 最大角速度，额定电流，减速比，额定转速
+            version = configs["VERSION"]
+            m_avs = configs["MOTION"]["JOINT_MAX_SPEED"]
+            m_rts = configs["MOTOR"]["RATED_TORQUE"]  # 电机额定转矩rt for rated torque
+            m_tcs = [1, 1, 1, 1, 1, 1]  # 电机转矩常数，tc for torque constant
+            m_rcs = []
+            for i in range(len(m_tcs)):
+                m_rcs.append(m_rts[i] / m_tcs[i])  # 电机额定电流，rc for rated current
+            clibs.insert_logdb("INFO", "do_brake", f"get_configs: 机型文件版本 {robot_type}_{version}")
+            clibs.insert_logdb("INFO", "do_brake", f"get_configs: 各关节角速度 {m_avs}")
+            clibs.insert_logdb("INFO", "do_brake", f"get_configs: 各关节额定电流 {m_rcs}")
+            return m_avs, m_rcs
+
+        prj_file, interval = check_files()
+        avs, rcs = get_configs()
+        params = {
+            "prj_file": prj_file,
+            "interval": interval,
+            "avs": avs,
+            "rcs": rcs,
+        }
+        self.logger("INFO", "factory-initialization", "数据目录合规性检查结束，未发现问题......", "green")
+        return params
+
+    @staticmethod
+    def change_curve_state(curves, stat):
+        display_pdo_params = [{"name": name, "channel": chl} for name in curves for chl in range(6)]
+        clibs.c_hr.execution("diagnosis.open", open=stat, display_open=stat, overrun=True, turn_area=True, delay_motion=False)
+        clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
+
+    def run_rl(self, params, curves):
+        prj_file, interval = params["prj_file"], params["interval"]
+        # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
+        self.change_curve_state(curves, False)
+        clibs.c_md.r_soft_estop(0)
+        clibs.c_md.r_soft_estop(1)
+        clibs.c_md.r_clear_alarm()
+        clibs.c_md.write_act(False)
+        time.sleep(1)  # 让曲线彻底关闭
+
+        # 2. reload工程后，pp2main，并且自动模式和上电
+        prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
+        prj_path = f"{prj_name}/_build/{prj_name}.prj"
+        clibs.c_hr.execution("overview.reload", prj_path=prj_path, tasks=["factory"])
+        clibs.c_hr.execution("rl_task.pp_to_main", tasks=["factory"])
+        clibs.c_hr.execution("state.switch_auto")
+        clibs.c_hr.execution("state.switch_motor_on")
+
+        # 3. 开始运行程序
+        clibs.c_hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
+        clibs.c_hr.execution("rl_task.run", tasks=["factory"])
+        t_start = time.time()
+        while True:
+            if clibs.c_md.read_ready_to_go() == 1:
+                clibs.c_md.write_act(True)
+                break
+            else:
+                if (time.time() - t_start) > 15:
+                    self.logger("ERROR", "factory-run_rl", "15s 内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", "red", "ReadySignalTimeoutError")
+                else:
+                    time.sleep(1)
+
+        # 4. 获取初始数据，周期时间，首次的各轴平均电流值，打开诊断曲线，并执行采集
+        time.sleep(10)  # 等待 RL 程序中 scenario_time 初始化
+        t_start = time.time()
+        while True:
+            scenario_time = float(f"{float(clibs.c_md.read_scenario_time()):.2f}")
+            if scenario_time != 0:
+                self.logger("INFO", "factory-run_rl", f"耐久工程的周期时间：{scenario_time}s | 单轮次执行时间：{scenario_time+interval}~{scenario_time*2+interval}")
+                break
+            else:
+                time.sleep(1)
+                if (time.time() - t_start) > 900:
+                    self.logger("ERROR", "factory-run_rl", f"900s 内未收到耐久工程的周期时间，需要确认RL程序和工具通信交互是否正常执行...", "red", "GetScenarioTimeError")
+
+        # 6. 准备数据保存文件
+        for curve in curves:
+            with open(f"{self.dir_path}/{curve}.csv", mode="a+", newline="") as f_csv:
+                titles = [f"{curve}_{i}" for i in range(6)]
+                titles.insert(0, "time")
+                csv_writer = csv.writer(f_csv)
+                csv_writer.writerow(titles)
+
+        # 7. 开始采集
+        count = 0
+        while clibs.running:
+            this_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
+            next_time_1 = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()+scenario_time+interval+1))
+            next_time_2 = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()+scenario_time+interval+1+scenario_time))
+            self.logger("INFO", "factory-run_rl", f"[{this_time}] 当前次数：{count:09d}  |  预计下次数据更新时间：{next_time_1}~{next_time_2}", "#008B8B")
+            count += 1
+            # 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线
+            time.sleep(interval)
+            while True:
+                capture_start = clibs.c_md.read_capture_start()
+                if capture_start == 1:
+                    break
+                else:
+                    time.sleep(0.1)
+
+            self.change_curve_state(curves, True)
+            time.sleep(scenario_time)
+            end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
+            start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()-scenario_time))
+            self.change_curve_state(curves, False)
+            # 保留数据并处理输出
+            self.gen_results(params, curves, start_time, end_time)
+        else:
+            self.change_curve_state(curves, False)
+            self.logger("INFO", "factory", "后台数据清零完成，现在可以重新运行其他程序。", "green")
+
+    def gen_results(self, params, curves, start_time, end_time):
+        clibs.cursor.execute(f"select content from logs where time between '{start_time}' and '{end_time}' and content like '%diagnosis.result%' order by id asc")
+        records = clibs.cursor.fetchall()
+        self.data_proc(records, params, curves)
+
+    def data_proc(self, records, params, curves):
+        for curve in curves:
+            if curve == "device_servo_trq_feedback":
+                # proc_device_servo_trq_feedback(records, params, w2t)
+                t = threading.Thread(target=self.proc_device_servo_trq_feedback, args=(records, params))
+                t.daemon = True
+                t.start()
+            elif curve == "hw_joint_vel_feedback":
+                # proc_hw_joint_vel_feedback(records, params, w2t)
+                t = threading.Thread(target=self.proc_hw_joint_vel_feedback, args=(records, params))
+                t.daemon = True
+                t.start()
+
+    def proc_device_servo_trq_feedback(self, records, params):
+        d_trq, rcs, results = [[], [], [], [], [], []], params["rcs"], [time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))]
+        for record in records:
+            data = eval(record[0])["data"]
+            for item in data:
+                d_item = reversed(item["value"])
+                for axis in range(6):
+                    if item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
+                        d_trq[axis].extend(d_item)
+
+        for axis in range(6):
+            df = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
+            _ = math.sqrt(numpy.square(df[df.columns[0]].values * 1.27 / 1000).sum() / len(df))
+            results.append(_)
+
+        path = "/".join(params["prj_file"].split("/")[:-1])
+        with open(f"{path}/device_servo_trq_feedback.csv", mode="a+", newline="") as f_csv:
+            csv_writer = csv.writer(f_csv)
+            csv_writer.writerow(results)
+
+    def proc_hw_joint_vel_feedback(self, records, params):
+        d_trq, rcs, results = [[], [], [], [], [], []], params["rcs"], [time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))]
+        for record in records:
+            data = eval(record[0])["data"]
+            for item in data:
+                d_item = reversed(item["value"])
+                for axis in range(6):
+                    if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
+                        d_trq[axis].extend(d_item)
+
+        for axis in range(6):
+            df = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_trq[axis]})
+            _ = df.max().iloc[0]
+            results.append(_)
+
+        path = "/".join(params["prj_file"].split("/")[:-1])
+        with open(f"{path}/hw_joint_vel_feedback.csv", mode="a+", newline="") as f_csv:
+            csv_writer = csv.writer(f_csv)
+            csv_writer.writerow(results)
+
+    def processing(self):
+        time_start = time.time()
+        clibs.running[self.idx] = 1
+
+        data_dirs, data_files = clibs.traversal_files(self.dir_path, self.output)
+        params = self.initialization(data_dirs, data_files)
+        prj_file = params["prj_file"]
+        clibs.c_pd.push_prj_to_server(prj_file)
+        self.run_rl(params)
+
+        self.logger("INFO", "brake-processing", "-"*60 + "<br>全部处理完毕<br>", "purple")
+        time_total = time.time() - time_start
+        msg = f"处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
+        self.logger("INFO", "brake-processing", msg)