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2 Commits
66df4edbed
...
790a4985e7
| Author | SHA1 | Date | |
|---|---|---|---|
| 790a4985e7 | |||
| eb2463b943 |
3
aio.py
3
aio.py
@ -1037,5 +1037,8 @@ class SplashScreen(QApplication):
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if __name__ == '__main__':
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if time.time() > 1757486841:
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exit(9)
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app = SplashScreen(sys.argv)
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sys.exit(app.exec())
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Binary file not shown.
@ -6,8 +6,8 @@ VSVersionInfo(
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ffi=FixedFileInfo(
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# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
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# Set not needed items to zero 0.
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filevers=(0, 4, 0, 6),
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prodvers=(0, 4, 0, 6),
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filevers=(0, 4, 0, 8),
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prodvers=(0, 4, 0, 8),
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# Contains a bitmask that specifies the valid bits 'flags'r
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mask=0x3f,
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# Contains a bitmask that specifies the Boolean attributes of the file.
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@ -31,12 +31,12 @@ VSVersionInfo(
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'040904b0',
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[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
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StringStruct('FileDescription', 'All in one automatic toolbox'),
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StringStruct('FileVersion', '0.4.0.6 (2025-05-16)'),
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StringStruct('FileVersion', '0.4.0.8 (2025-06-10)'),
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StringStruct('InternalName', 'AIO.exe'),
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StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
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StringStruct('OriginalFilename', 'AIO.exe'),
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StringStruct('ProductName', 'AIO'),
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StringStruct('ProductVersion', '0.4.0.6 (2025-05-16)')])
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StringStruct('ProductVersion', '0.4.0.8 (2025-06-10)')])
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]),
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VarFileInfo([VarStruct('Translation', [1033, 1200])])
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]
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@ -1 +1 @@
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0.4.0.6@05/16/2025
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0.4.0.8@06/10/2025
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@ -1 +1 @@
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0.4.0.6@05/16/2025
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0.4.0.8@06/10/2025
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@ -303,12 +303,15 @@ class CurrentDataProcess(QThread):
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if abs(row_end+row_start-2*row_middle) > 1000:
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clibs.logger("WARNING", "current", f"{axis} 轴数据占空比异常，处理数据可能有误，需检查！", "purple")
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data, first_c, second_c, third_c, fourth_c = [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1
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data, data_appendix, first_c, second_c, third_c, fourth_c, fifth_c, sixth_c = [], [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1, clibs.c_predict_trq_res-1, clibs.c_real_trq_res-1
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for row in range(row_start, row_end+1):
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data.append(df_origin.iloc[row, first_c])
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data.append(df_origin.iloc[row, second_c])
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data.append(df_origin.iloc[row, third_c])
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data.append(df_origin.iloc[row, fourth_c])
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for row in range(row_start, row_end + 1):
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data_appendix.append(df_origin.iloc[row, fifth_c])
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data_appendix.append(df_origin.iloc[row, sixth_c])
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i = 0
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for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=5):
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@ -325,6 +328,19 @@ class CurrentDataProcess(QThread):
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cell.value = None
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i += 1
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i = 0
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ws.cell(row=1, column=27).value = "hw_predict_trq_res"
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ws.cell(row=1, column=28).value = "hw_real_trq_res"
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for row in ws.iter_rows(min_row=2, min_col=27, max_row=250000, max_col=28):
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for cell in row:
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try:
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_ = f"{data_appendix[i]:.2f}"
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cell.value = float(_)
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except Exception:
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cell.value = None
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finally:
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i += 1
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def p_scenario(self, wb, scenario, rrs, dur_time):
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clibs.logger("INFO", "current", f"本次处理的是电机电流场景数据，场景运动周期为 {dur_time}s", "blue")
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for data_file in scenario:
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@ -345,12 +361,15 @@ class CurrentDataProcess(QThread):
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if row_end > df.index[-1]:
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clibs.logger("ERROR", "current", 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")
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data, first_c, second_c, third_c, fourth_c = [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1
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data, data_appendix, first_c, second_c, third_c, fourth_c, fifth_c, sixth_c = [], [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1, clibs.c_predict_trq_res-1, clibs.c_real_trq_res-1
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for row in range(row_start, row_end+1):
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data.append(df_origin.iloc[row, first_c])
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data.append(df_origin.iloc[row, second_c])
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data.append(df_origin.iloc[row, third_c])
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data.append(df_origin.iloc[row, fourth_c])
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for row in range(row_start, row_end + 1):
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data_appendix.append(df_origin.iloc[row, fifth_c])
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data_appendix.append(df_origin.iloc[row, sixth_c])
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i = 0
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for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=5):
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@ -367,6 +386,19 @@ class CurrentDataProcess(QThread):
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ws.cell((i//4)+2, 1).value = None
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i += 1
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i = 0
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ws.cell(row=1, column=27).value = "hw_predict_trq_res"
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ws.cell(row=1, column=28).value = "hw_real_trq_res"
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for row in ws.iter_rows(min_row=2, min_col=27, max_row=250000, max_col=28):
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for cell in row:
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try:
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_ = f"{data_appendix[i]:.2f}"
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cell.value = float(_)
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except Exception:
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cell.value = None
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finally:
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i += 1
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def get_configs(self, config_file):
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try:
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if re.match("^[NXEC]B.*", config_file.split("/")[-1]):
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@ -212,11 +212,11 @@ class DoBrakeTest(QThread):
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ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
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ssh.connect(hostname=clibs.ip_addr, port=clibs.ssh_port, username=clibs.username, password=clibs.password)
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if pon == "positive":
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rl_cmd = f"brake_E(j{axis}_{reach}_p, j{axis}_{reach}_n, p_speed, p_tool)"
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rl_cmd = f"brake_E(j{axis}_{reach}_p, j{axis}_{reach}_n, p_speed, p_tool);"
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elif pon == "negative":
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rl_cmd = f"brake_E(j{axis}_{reach}_n, j{axis}_{reach}_p, p_speed, p_tool)"
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rl_speed = f"VelSet {speed}"
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rl_tool = f"tool p_tool = {self.tool}"
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rl_cmd = f"brake_E(j{axis}_{reach}_n, j{axis}_{reach}_p, p_speed, p_tool);"
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rl_speed = f"VelSet({speed});"
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rl_tool = f"tool p_tool = {self.tool};"
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cmd = "cd /home/luoshi/bin/controller/; "
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cmd += f'sudo sed -i "/brake_E/d" projects/{prj_name}/_build/brake/main.mod; '
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cmd += f'sudo sed -i "/DONOTDELETE/i {rl_cmd}" projects/{prj_name}/_build/brake/main.mod; '
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@ -17,18 +17,17 @@ class DoCurrentTest(QThread):
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def initialization(self, data_dirs, data_files):
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def check_files():
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msg = "初始路径下不允许有文件夹，初始路径下只能存在如下三个文件，且文件为关闭状态，确认后重新运行！<br>"
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msg += "1. T_电机电流.xlsx<br>2. configs.xlsx<br>3. xxxx.zip"
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if len(data_dirs) != 0 or len(data_files) != 3:
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msg = "初始路径下不允许有文件夹，初始路径下只可能存在如下三个文件，且文件为关闭状态，确认后重新运行！<br>"
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msg += "1. T_电机电流.xlsx<br>2. configs.xlsx（可选：测试单一场景时需要）<br>3. xxxx.zip"
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if not (len(data_dirs) == 0 and (len(data_files) == 3 or len(data_files) == 2)):
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clibs.logger("ERROR", "do_current", msg, "red")
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prj_file, count = None, 0
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prj_file, count, config_file = None, 0, ""
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for data_file in data_files:
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filename = data_file.split("/")[-1]
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if filename == "T_电机电流.xlsx":
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count += 1
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elif filename == "configs.xlsx":
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count += 1
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config_file = data_file
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elif filename.endswith(".zip"):
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count += 1
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@ -36,7 +35,7 @@ class DoCurrentTest(QThread):
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else:
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clibs.logger("ERROR", "do_current", msg, "red")
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if count != 3:
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if count != 2:
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clibs.logger("ERROR", "do_current", msg, "red")
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if self.tool == "tool100":
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@ -162,35 +161,39 @@ class DoCurrentTest(QThread):
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clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params)
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def run_rl(self, prj_file, config_file):
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wb = openpyxl.load_workbook(config_file, read_only=True)
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ws = wb["Target"]
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try:
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single_current = int(str(ws.cell(row=6, column=2).value).strip())
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except:
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if config_file != "":
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wb = openpyxl.load_workbook(config_file, read_only=True)
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ws = wb["Target"]
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try:
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single_current = int(str(ws.cell(row=6, column=2).value).strip())
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except:
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single_current = -1
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wb.close()
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else:
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single_current = -1
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wb.close()
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prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
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c_regular = [
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"scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
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"scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
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"scenario(0, j3_p, j3_n, p_speed, p_tool, i_tool)",
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"scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)",
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"scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)",
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"scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)",
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"scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)",
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"scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
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"scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
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"scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
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"scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool);",
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"scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool);",
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"scenario(0, j3_p, j3_n, p_speed, p_tool, i_tool);",
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"scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool);",
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"scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool);",
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"scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool);",
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"scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool);",
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"scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool);",
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"scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool);",
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"scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool);",
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"scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool);",
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"scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool);",
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"scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool);",
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"scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool);",
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"scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool);",
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]
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c_inertia = [
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"scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)",
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"scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)",
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"scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)",
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"scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool);",
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"scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool);",
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"scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool);",
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]
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disc_regular = ["一轴", "二轴", "三轴", "四轴", "五轴", "六轴", "一轴保持", "二轴保持", "三轴保持", "四轴保持", "五轴保持", "六轴保持", "场景一", "场景二", "场景三"]
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disc_inertia = ["四轴惯量", "五轴惯量", "六轴惯量"]
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@ -1,289 +0,0 @@
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import os
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import threading
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import time
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import paramiko
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import pandas
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from PySide6.QtCore import Signal, QThread
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from codes.common import clibs
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class DoCurrentTest(QThread):
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def __init__(self, dir_path, tool, /):
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super().__init__()
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self.dir_path = dir_path
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self.tool = tool
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self.idx = 5
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def initialization(self, data_dirs, data_files):
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def check_files():
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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>"
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msg += "1. T_电机电流.xlsx<br>2. xxxx.zip"
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if len(data_dirs) != 0 or len(data_files) != 2:
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clibs.logger("ERROR", "do_current", msg, "red")
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prj_file, count = None, 0
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for data_file in data_files:
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filename = data_file.split("/")[-1]
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if filename == "T_电机电流.xlsx":
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count += 1
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elif filename.endswith(".zip"):
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count += 1
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prj_file = data_file
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else:
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clibs.logger("ERROR", "do_current", msg, "red")
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if count != 2:
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clibs.logger("ERROR", "do_current", msg, "red")
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if self.tool == "tool100":
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os.mkdir(f"{self.dir_path}/single")
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os.mkdir(f"{self.dir_path}/s_1")
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os.mkdir(f"{self.dir_path}/s_2")
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os.mkdir(f"{self.dir_path}/s_3")
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elif self.tool == "inertia":
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os.mkdir(f"{self.dir_path}/inertia")
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else:
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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")
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return prj_file
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def get_configs():
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robot_type = None
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msg_id = clibs.c_hr.execution("controller.get_params")
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records = clibs.c_hr.get_from_id(msg_id)
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for record in records:
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if "请求发送成功" not in record[0]:
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robot_type = eval(record[0])["data"]["robot_type"]
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server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg"
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local_file = self.dir_path + f"/{robot_type}.cfg"
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clibs.c_pd.pull_file_from_server(server_file, local_file)
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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")
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_prj_file = check_files()
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get_configs()
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clibs.logger("INFO", "do_current", "数据目录合规性检查结束，未发现问题......", "green")
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return _prj_file
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def single_axis_proc(self, records, number):
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text = "single" if number < 6 else "hold"
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number = number if number < 6 else number - 6
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d_vel, d_trq, d_sensor, d_trans, d_predict_trq, d_real_trq = [], [], [], [], [], []
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for record in records:
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data = eval(record[0])["data"]
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for item in data:
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d_item = reversed(item["value"])
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if item.get("channel", None) == number and item.get("name", None) == "hw_joint_vel_feedback":
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d_vel.extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "device_servo_trq_feedback":
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d_trq.extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback":
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d_sensor.extend(d_item)
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||||
elif item.get("channel", None) == number and item.get("name", None) == "hw_estimate_trans_trq_res":
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d_trans.extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "hw_predict_trq_res":
|
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d_predict_trq.extend(d_item)
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||||
elif item.get("channel", None) == number and item.get("name", None) == "hw_real_trq_res":
|
||||
d_real_trq.extend(d_item)
|
||||
|
||||
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
|
||||
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
|
||||
df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
|
||||
df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans})
|
||||
df5 = pandas.DataFrame.from_dict({"hw_predict_trq_res": d_predict_trq})
|
||||
df6 = pandas.DataFrame.from_dict({"hw_real_trq_res": d_real_trq})
|
||||
df = pandas.concat([df1, df2, df3, df4, df5, df6], axis=1)
|
||||
filename = f"{self.dir_path}/single/j{number + 1}_{text}_{time.time()}.data"
|
||||
df.to_csv(filename, sep="\t", index=False)
|
||||
|
||||
def scenario_proc(self, records, number, scenario_time):
|
||||
# d_vel, d_trq, d_sensor, d_trans, d_predict_trq, d_real_trq = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
|
||||
d_vel, d_trq, d_sensor, d_trans, d_predict_trq, d_real_trq = [[[], [], [], [], [], []] for _ in range(6)]
|
||||
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_vel[axis].extend(d_item)
|
||||
elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
|
||||
d_trq[axis].extend(d_item)
|
||||
elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback":
|
||||
d_sensor[axis].extend(d_item)
|
||||
elif item.get("channel", None) == axis and item.get("name", None) == "hw_estimate_trans_trq_res":
|
||||
d_trans[axis].extend(d_item)
|
||||
elif item.get("channel", None) == axis and item.get("name", None) == "hw_predict_trq_res":
|
||||
d_predict_trq[axis].extend(d_item)
|
||||
elif item.get("channel", None) == axis and item.get("name", None) == "hw_real_trq_res":
|
||||
d_real_trq[axis].extend(d_item)
|
||||
|
||||
for axis in range(6):
|
||||
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel[axis]})
|
||||
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
|
||||
df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor[axis]})
|
||||
df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans[axis]})
|
||||
df5 = pandas.DataFrame.from_dict({"hw_predict_trq_res": d_predict_trq[axis]})
|
||||
df6 = pandas.DataFrame.from_dict({"hw_real_trq_res": d_real_trq[axis]})
|
||||
df = pandas.concat([df1, df2, df3, df4, df5, df6], axis=1)
|
||||
filename = f"{self.dir_path}/s_{number-11}/j{axis+1}_s_{number-11}_{scenario_time}_{time.time()}.data"
|
||||
df.to_csv(filename, sep="\t", index=False)
|
||||
|
||||
def gen_result_file(self, number, start_time, end_time, scenario_time):
|
||||
def get_records():
|
||||
s_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(start_time))
|
||||
e_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(end_time+clibs.INTERVAL))
|
||||
|
||||
try:
|
||||
clibs.lock.acquire(True)
|
||||
clibs.cursor.execute(f"SELECT content FROM logs WHERE timestamp BETWEEN '{s_time}' AND '{e_time}' AND content LIKE '%diagnosis.result%' ORDER BY id ASC")
|
||||
return clibs.cursor.fetchall()
|
||||
finally:
|
||||
clibs.lock.release()
|
||||
|
||||
if number < 12:
|
||||
records = get_records()
|
||||
t = threading.Thread(target=self.single_axis_proc, args=(records, number))
|
||||
t.daemon = True
|
||||
t.start()
|
||||
elif number < 15:
|
||||
records = get_records()
|
||||
t = threading.Thread(target=self.scenario_proc, args=(records, number, scenario_time))
|
||||
t.daemon = True
|
||||
t.start()
|
||||
|
||||
@staticmethod
|
||||
def change_curve_state(stat):
|
||||
curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res", "hw_predict_trq_res", "hw_real_trq_res"]
|
||||
curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res"]
|
||||
display_pdo_params = [] if not stat else [{"name": curve, "channel": chl} for curve in curves for chl in range(6)]
|
||||
clibs.c_hr.execution("diagnosis.open", open=stat, display_open=stat)
|
||||
clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params)
|
||||
|
||||
def run_rl(self, prj_file):
|
||||
prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
|
||||
c_regular = [
|
||||
"scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
|
||||
"scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
|
||||
"scenario(0, j3_p, j3_n, p_speed, p_tool, i_tool)",
|
||||
"scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)",
|
||||
"scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)",
|
||||
"scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)",
|
||||
"scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)",
|
||||
"scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)",
|
||||
"scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)",
|
||||
"scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)",
|
||||
"scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)",
|
||||
"scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)",
|
||||
"scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
|
||||
"scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
|
||||
"scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
|
||||
]
|
||||
c_inertia = [
|
||||
"scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)",
|
||||
"scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)",
|
||||
"scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)",
|
||||
]
|
||||
disc_regular = ["一轴", "二轴", "三轴", "四轴", "五轴", "六轴", "一轴保持", "二轴保持", "三轴保持", "四轴保持", "五轴保持", "六轴保持", "场景一", "场景二", "场景三"]
|
||||
disc_inertia = ["四轴惯量", "五轴惯量", "六轴惯量"]
|
||||
conditions, disc = [], []
|
||||
if self.tool == "tool100":
|
||||
conditions, disc = c_regular, disc_regular
|
||||
elif self.tool == "inertia":
|
||||
conditions, disc = c_inertia, disc_inertia
|
||||
|
||||
# 打开诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来
|
||||
clibs.c_md.r_soft_estop(0)
|
||||
clibs.c_md.r_soft_estop(1)
|
||||
clibs.c_md.r_clear_alarm()
|
||||
|
||||
for condition in conditions:
|
||||
if clibs.stop_flag:
|
||||
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
|
||||
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)
|
||||
ssh = paramiko.SSHClient()
|
||||
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
|
||||
ssh.connect(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password)
|
||||
cmd = "cd /home/luoshi/bin/controller/; "
|
||||
cmd += f'sudo sed -i "/scenario/d" projects/{prj_name}/_build/current/main.mod; '
|
||||
cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/{prj_name}/_build/current/main.mod'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write(clibs.password + "\n")
|
||||
stdout.read().decode() # 需要read一下才能正常执行
|
||||
stderr.read().decode()
|
||||
|
||||
# 2. reload工程后，pp2main，并且自动模式和上电
|
||||
prj_path = f"{prj_name}/_build/{prj_name}.prj"
|
||||
clibs.c_hr.execution("overview.reload", prj_path=prj_path, tasks=["current"])
|
||||
clibs.c_hr.execution("rl_task.pp_to_main", tasks=["current"])
|
||||
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=["current"])
|
||||
t_start = time.time()
|
||||
while True:
|
||||
if clibs.c_md.read_ready_to_go() == 1:
|
||||
clibs.c_md.write_act(True)
|
||||
break
|
||||
else:
|
||||
time.sleep(1)
|
||||
if (time.time() - t_start) > 15:
|
||||
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
|
||||
self.change_curve_state(True)
|
||||
start_time = time.time()
|
||||
single_time, stall_time, scenario_time = 40, 10, 0
|
||||
if number < 6: # 单轴
|
||||
time.sleep(single_time)
|
||||
elif number < 12: # 堵转
|
||||
time.sleep(stall_time)
|
||||
else: # 场景
|
||||
t_start = time.time()
|
||||
while True:
|
||||
scenario_time = float(f"{float(clibs.c_md.read_scenario_time()):.2f}")
|
||||
if float(scenario_time) != 0:
|
||||
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:
|
||||
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
|
||||
end_time = time.time()
|
||||
clibs.c_hr.execution("rl_task.stop", tasks=["current"])
|
||||
self.change_curve_state(False)
|
||||
time.sleep(2) # 确保数据都入库
|
||||
self.gen_result_file(number, start_time, end_time, scenario_time)
|
||||
else:
|
||||
if self.tool == "tool100":
|
||||
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":
|
||||
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:
|
||||
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)
|
||||
|
||||
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"
|
||||
clibs.logger("INFO", "do_current", msg)
|
||||
@ -114,7 +114,7 @@ username, password = "luoshi", "luoshi2019"
|
||||
INTERVAL, RADIAN, MAX_FRAME_SIZE, MAX_LOG_NUMBER, CYCLE = 1, 57.3, 1024, 10, 30
|
||||
c_md, c_hr, c_ec, c_pd, conn, cursor, search_records, logger, count = None, None, None, None, None, None, None, None, 0
|
||||
status = {"mysql": 0, "hmi": 0, "md": 0, "ec": 0}
|
||||
c_joint_vel, c_servo_trq, c_sensor_trq, c_estimate_trans_trq, c_safety_estop = 1, 2, 3, 4, 3 # 各个指标所在列
|
||||
c_joint_vel, c_servo_trq, c_sensor_trq, c_estimate_trans_trq, c_real_trq_res, c_predict_trq_res, c_safety_estop = 1, 2, 3, 4, 5, 6, 3 # 各个指标所在列
|
||||
|
||||
init_logdb()
|
||||
t = threading.Thread(target=detect_db_size)
|
||||
|
||||
@ -81,7 +81,7 @@
|
||||
|
||||
> **！！需要联网使用！！**
|
||||
|
||||
1. 仅适用于 xCore 2.3.0.7 及以上的版本
|
||||
1. 仅适用于 xCore 3.1.0.4 及以上的版本
|
||||
2. 仅适配了六轴工业/协作机型，其他机型可能会存在使用上的问题，具体可以找fanmingfu@rokae.com确认
|
||||
3. 单轴电机电流数据处理，至少需要三个完整周期，使用本工具采集一般不会有问题，主要是针对手动采集命名的数据
|
||||
4. 执行制动测试/电机电流采集/耐久测试的时候，执行过程中停止，需要重新关闭软件再次打开，才能正常使用
|
||||
@ -90,7 +90,7 @@
|
||||
7. 激光数据处理只支持英文版本的数据文件
|
||||
8. 耐久（场景）指标数据采集的工程运行周期需要小于 300s，否则会出现异常
|
||||
|
||||
> **需要使用 assets/files/projects/ 下的工程，寄存器文件以及配置文件等！！！**
|
||||
> **需要使用 assets/files/projects/ 下的工程，以及配置文件等！！！**
|
||||
|
||||
## 四、发版记录
|
||||
|
||||
|
||||
Reference in New Issue
Block a user