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完善耐久采集

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gitea
2025-04-07 10:38:59 +08:00
parent 671db5b1db
commit 6e547ca6a3
16 changed files with 341 additions and 387 deletions
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53
codes/autotest/do_brake.py
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@ -15,14 +15,13 @@ class DoBrakeTest(QThread):
self.dir_path = dir_path
self.tool = tool
self.idx = 4
self.logger = clibs.logger
def initialization(self, data_dirs, data_files):
def check_files():
msg = "初始路径下不允许有文件夹，只能存在如下五个文件，且文件为关闭状态，确认后重新运行！<br>"
msg += "1. configs.xlsx<br>2. reach33/reach66/reach100_xxxx.xlsx<br>3. xxxx.zip"
if len(data_dirs) != 0 or len(data_files) != 5:
self.logger("ERROR", "do_brake", msg, "red")
clibs.logger("ERROR", "do_brake", msg, "red")
config_file, reach33_file, reach66_file, reach100_file, prj_file, result_dirs = None, None, None, None, None, []
for data_file in data_files:
@ -38,7 +37,7 @@ class DoBrakeTest(QThread):
elif filename.endswith(".zip"):
prj_file = data_file
else:
self.logger("ERROR", "do_brake", msg, "red")
clibs.logger("ERROR", "do_brake", msg, "red")
if config_file and reach33_file and reach66_file and reach100_file and prj_file:
os.mkdir(f"{self.dir_path}/j1")
@ -57,7 +56,7 @@ class DoBrakeTest(QThread):
return config_file, prj_file, result_dirs
else:
self.logger("ERROR", "do_brake", msg, "red")
clibs.logger("ERROR", "do_brake", msg, "red")
def get_configs():
robot_type = None
@ -74,19 +73,19 @@ class DoBrakeTest(QThread):
with open(local_file, mode="r", encoding="utf-8") as f_config:
configs = json.load(f_config)
except Exception as Err:
self.logger("ERROR", "do_brake", f"无法打开 {local_file}<br>{Err}", "red")
clibs.logger("ERROR", "do_brake", f"无法打开 {local_file}<br>{Err}", "red")
# 最大角速度，额定电流，减速比，额定转速
version = configs["VERSION"]
avs = configs["MOTION"]["JOINT_MAX_SPEED"]
self.logger("INFO", "do_brake", f"get_configs: 机型文件版本 {robot_type}_{version}")
self.logger("INFO", "do_brake", f"get_configs: 各关节角速度 {avs}")
clibs.logger("INFO", "do_brake", f"get_configs: 机型文件版本 {robot_type}_{version}")
clibs.logger("INFO", "do_brake", f"get_configs: 各关节角速度 {avs}")
return avs
self.logger("INFO", "do_brake", "正在做初始化校验和配置，这可能需要一点时间......", "green")
clibs.logger("INFO", "do_brake", "正在做初始化校验和配置，这可能需要一点时间......", "green")
_config_file, _prj_file, _result_dirs = check_files()
_avs = get_configs()
self.logger("INFO", "do_brake", "数据目录合规性检查结束，未发现问题......", "green")
clibs.logger("INFO", "do_brake", "数据目录合规性检查结束，未发现问题......", "green")
return _config_file, _prj_file, _result_dirs, _avs
def gen_result_file(self, axis, end_time, reach, load, speed, speed_max, rounds):
@ -118,13 +117,13 @@ class DoBrakeTest(QThread):
av_estop = abs(sum(d_vel[idx - 20:idx])/20 * clibs.RADIAN)
if av_estop / speed_max < threshold:
self.logger("WARNING", "do_brake", f"[av_estop: {av_estop:.2f} | shouldbe: {speed_max:.2f}] 处理数据时，本次触发 ESTOP 时未采集到指定百分比的最大速度，即将重试！", "#8A2BE2")
clibs.logger("WARNING", "do_brake", f"[av_estop: {av_estop:.2f} | shouldbe: {speed_max:.2f}] 处理数据时，本次触发 ESTOP 时未采集到指定百分比的最大速度，即将重试！", "#8A2BE2")
clibs.count += 1
if clibs.count < 3:
return "retry"
else:
clibs.count = 0
self.logger("WARNING", "do_brake", f"尝试三次后仍无法获取正确数据，本次数据无效，继续执行...", "red")
clibs.logger("WARNING", "do_brake", f"尝试三次后仍无法获取正确数据，本次数据无效，继续执行...", "red")
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
@ -154,14 +153,14 @@ class DoBrakeTest(QThread):
io_name = ws.cell(row=5, column=2).value.upper().strip()
wb.close()
msg = f"基本参数配置：get_init_speed = {get_init_speed}, single_brake = {single_brake}, pon = {pon}, IO = {io_name}"
self.logger("INFO", "do_brake", msg)
clibs.logger("INFO", "do_brake", msg)
if pon == "positive":
clibs.c_md.write_pon(1)
elif pon == "negative":
clibs.c_md.write_pon(0)
else:
self.logger("ERROR", "do_brake", "configs.xlsx 中 Target 页面 B5 单元格填写不正确，检查后重新运行...", "red")
clibs.logger("ERROR", "do_brake", "configs.xlsx 中 Target 页面 B5 单元格填写不正确，检查后重新运行...", "red")
self.change_curve_state(True)
for condition in result_dirs:
@ -183,18 +182,18 @@ class DoBrakeTest(QThread):
continue
clibs.c_md.write_axis(axis)
self.logger("INFO", "brake", "-" * 90, "purple")
clibs.logger("INFO", "brake", "-" * 90, "purple")
speed_max = 0
for rounds in range(1, 4):
if clibs.stop_flag:
self.logger("ERROR", "do_brake", "后台数据清零完成，现在可以重新运行其他程序。", "green")
clibs.logger("ERROR", "do_brake", "后台数据清零完成，现在可以重新运行其他程序。", "green")
count += 1
_ = 3 if count % 3 == 0 else count % 3
this_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
prj_path = f"{prj_name}/_build/{prj_name}.prj"
msg = f"[{this_time} | {count}/{total}] 正在执行 {axis} 轴 {condition} 的第 {_} 次制动测试..."
self.logger("INFO", "do_brake", msg)
clibs.logger("INFO", "do_brake", msg)
# 1. 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
clibs.c_md.r_soft_estop(0)
@ -243,7 +242,7 @@ class DoBrakeTest(QThread):
else:
time.sleep(1)
if (time.time() - t_start) > 15:
self.logger("ERROR", "do_brake", "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")
clibs.logger("ERROR", "do_brake", "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")
# 4. 找出最大速度，传递给RL程序，最后清除相关记录
time.sleep(5) # 消除前 5s 的不稳定数据
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
@ -270,14 +269,14 @@ class DoBrakeTest(QThread):
speed_max = abs(get_speed_max())
speed_target = avs[axis-1] * float(speed) / 100
self.logger("INFO", "do_brake", f"axis = {axis}, direction = {pon}, max speed = {speed_max}")
clibs.logger("INFO", "do_brake", f"axis = {axis}, direction = {pon}, max speed = {speed_max}")
if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
self.logger("WARNING", "do_brake", f"Axis: {axis}-{count} | 采集获取最大 Speed: {speed_max} | Shouldbe: {speed_target}", "indigo")
clibs.logger("WARNING", "do_brake", f"Axis: {axis}-{count} | 采集获取最大 Speed: {speed_max} | Shouldbe: {speed_target}", "indigo")
clibs.c_md.write_speed_max(speed_max)
if speed_max < 10:
clibs.c_md.r_clear_alarm()
self.logger("WARNING", "do_brake", f"未获取到正确的速度，即将重新获取...", "red")
clibs.logger("WARNING", "do_brake", f"未获取到正确的速度，即将重新获取...", "red")
continue
else:
break
@ -301,7 +300,7 @@ class DoBrakeTest(QThread):
else:
time.sleep(2)
if time.time() - t_start > 60:
self.logger("ERROR", "do_brake", "60s 内程序未能正常执行，需检查...", "red")
clibs.logger("ERROR", "do_brake", "60s 内程序未能正常执行，需检查...", "red")
for i in range(16):
if clibs.c_md.read_ready_to_go() == 1:
@ -310,14 +309,14 @@ class DoBrakeTest(QThread):
else:
time.sleep(1)
else:
self.logger("ERROR", "do_brake", "16s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...", "red")
clibs.logger("ERROR", "do_brake", "16s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...", "red")
def exec_brake():
flag, start, data, record = True, time.time(), None, None
while flag:
time.sleep(0.05)
if time.time() - start > 20:
self.logger("ERROR", "do_brake", "20s 内未触发急停，需排查......", "red")
clibs.logger("ERROR", "do_brake", "20s 内未触发急停，需排查......", "red")
try:
clibs.lock.acquire(True)
@ -352,20 +351,20 @@ class DoBrakeTest(QThread):
time.sleep(clibs.INTERVAL*2)
self.change_curve_state(False)
msg = f"<br>{self.tool.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行"
self.logger("INFO", "do_brake", msg, "green")
clibs.logger("INFO", "do_brake", msg, "green")
def processing(self):
time_start = time.time()
clibs.running[self.idx] = 1
if clibs.status["hmi"] != 1 or clibs.status["md"] != 1 or clibs.status["ec"] != 1:
self.logger("ERROR", "do_brake", "processing: 需要在网络设置中连接HMI，Modbus通信以及外部通信！", "red")
clibs.logger("ERROR", "do_brake", "processing: 需要在网络设置中连接HMI，Modbus通信以及外部通信！", "red")
data_dirs, data_files = clibs.traversal_files(self.dir_path)
config_file, prj_file, result_dirs, avs = self.initialization(data_dirs, data_files)
clibs.c_pd.push_prj_to_server(prj_file)
self.run_rl(config_file, prj_file, result_dirs, avs)
self.logger("INFO", "do_brake", "-"*60 + "<br>全部处理完毕<br>", "purple")
clibs.logger("INFO", "do_brake", "-"*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", "do_brake", msg)
clibs.logger("INFO", "do_brake", msg)

33
codes/autotest/do_current.py
View File

@ -13,14 +13,13 @@ class DoCurrentTest(QThread):
self.dir_path = dir_path
self.tool = tool
self.idx = 5
self.logger = clibs.logger
def initialization(self, data_dirs, data_files):
def check_files():
msg = "初始路径下不允许有文件夹，初始路径下只能存在如下两个文件，且文件为关闭状态，确认后重新运行！<br>"
msg += "1. T_电机电流.xlsx<br>2. xxxx.zip"
if len(data_dirs) != 0 or len(data_files) != 2:
self.logger("ERROR", "do_current", msg, "red")
clibs.logger("ERROR", "do_current", msg, "red")
prj_file, count = None, 0
for data_file in data_files:
@ -31,10 +30,10 @@ class DoCurrentTest(QThread):
count += 1
prj_file = data_file
else:
self.logger("ERROR", "do_current", msg, "red")
clibs.logger("ERROR", "do_current", msg, "red")
if count != 2:
self.logger("ERROR", "do_current", msg, "red")
clibs.logger("ERROR", "do_current", msg, "red")
if self.tool == "tool100":
os.mkdir(f"{self.dir_path}/single")
@ -44,7 +43,7 @@ class DoCurrentTest(QThread):
elif self.tool == "inertia":
os.mkdir(f"{self.dir_path}/inertia")
else:
self.logger("ERROR", "do_current", "负载选择错误，电机电流测试只能选择 tool100/inertia 规格！", "red")
clibs.logger("ERROR", "do_current", "负载选择错误，电机电流测试只能选择 tool100/inertia 规格！", "red")
return prj_file
@ -59,10 +58,10 @@ class DoCurrentTest(QThread):
local_file = self.dir_path + f"/{robot_type}.cfg"
clibs.c_pd.pull_file_from_server(server_file, local_file)
self.logger("INFO", "do_current", "正在做初始化校验和配置，这可能需要一点时间......", "green")
clibs.logger("INFO", "do_current", "正在做初始化校验和配置，这可能需要一点时间......", "green")
_prj_file = check_files()
get_configs()
self.logger("INFO", "do_current", "数据目录合规性检查结束，未发现问题......", "green")
clibs.logger("INFO", "do_current", "数据目录合规性检查结束，未发现问题......", "green")
return _prj_file
def single_axis_proc(self, records, number):
@ -184,13 +183,13 @@ class DoCurrentTest(QThread):
for condition in conditions:
if clibs.stop_flag:
self.logger("ERROR", "do_current", "后台数据清零完成，现在可以重新运行其他程序。", "green")
clibs.logger("ERROR", "do_current", "后台数据清零完成，现在可以重新运行其他程序。", "green")
number = conditions.index(condition)
# for testing
# if number < 12:
# continue
self.logger("INFO", "do_current", f"正在执行{disc[number]}测试......")
clibs.logger("INFO", "do_current", f"正在执行{disc[number]}测试......")
# 1. 将act重置为False，并修改将要执行的场景
clibs.c_md.write_act(False)
@ -223,7 +222,7 @@ class DoCurrentTest(QThread):
else:
time.sleep(1)
if (time.time() - t_start) > 15:
self.logger("ERROR", "do_current", "15s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...", "red")
clibs.logger("ERROR", "do_current", "15s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...", "red")
# 4. 执行采集
time.sleep(10) # 消除前 10s 的不稳定数据
@ -239,12 +238,12 @@ class DoCurrentTest(QThread):
while True:
scenario_time = float(f"{float(clibs.c_md.read_scenario_time()):.2f}")
if float(scenario_time) != 0:
self.logger("INFO", "do_current", f"场景{number - 11}的周期时间：{scenario_time}")
clibs.logger("INFO", "do_current", f"场景{number - 11}的周期时间：{scenario_time}")
break
else:
time.sleep(1)
if (time.time()-t_start) > 180:
self.logger("ERROR", "do_current", f"180s 内未收到场景{number - 11}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")
clibs.logger("ERROR", "do_current", f"180s 内未收到场景{number - 11}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")
time.sleep(20)
# 5.停止程序运行，保留数据并处理输出
@ -255,22 +254,22 @@ class DoCurrentTest(QThread):
self.gen_result_file(number, start_time, end_time, scenario_time)
else:
if self.tool == "tool100":
self.logger("INFO", "do_current", "单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行", "green")
clibs.logger("INFO", "do_current", "单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行", "green")
elif self.tool == "inertia":
self.logger("INFO", "do_current", "惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行", "green")
clibs.logger("INFO", "do_current", "惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行", "green")
def processing(self):
time_start = time.time()
clibs.running[self.idx] = 1
if clibs.status["hmi"] != 1 or clibs.status["md"] != 1:
self.logger("ERROR", "do_current", "processing: 需要在网络设置中连接HMI以及Modbus通信！", "red")
clibs.logger("ERROR", "do_current", "processing: 需要在网络设置中连接HMI以及Modbus通信！", "red")
data_dirs, data_files = clibs.traversal_files(self.dir_path)
prj_file = self.initialization(data_dirs, data_files)
clibs.c_pd.push_prj_to_server(prj_file)
self.run_rl(prj_file)
self.logger("INFO", "do_current", "-" * 60 + "<br>全部处理完毕<br>", "purple")
clibs.logger("INFO", "do_current", "-" * 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", "do_current", msg)
clibs.logger("INFO", "do_current", msg)