290 lines
15 KiB
Python
290 lines
15 KiB
Python
import os
|
||
import threading
|
||
import time
|
||
import paramiko
|
||
import pandas
|
||
from PySide6.QtCore import Signal, QThread
|
||
from codes.common import clibs
|
||
|
||
|
||
class DoCurrentTest(QThread):
|
||
output = Signal(str, str)
|
||
|
||
def __init__(self, dir_path, tool, /):
|
||
super().__init__()
|
||
self.dir_path = dir_path
|
||
self.tool = tool
|
||
self.idx = 5
|
||
|
||
def logger(self, level, module, content, color="black", error="", flag="both"):
|
||
flag = "cursor" if level.upper() == "DEBUG" else "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):
|
||
@clibs.handle_exception
|
||
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", "InitFileError")
|
||
|
||
prj_file, count = None, 0
|
||
for data_file in data_files:
|
||
filename = data_file.split("/")[-1]
|
||
if filename == "T_电机电流.xlsx":
|
||
count += 1
|
||
elif filename.endswith(".zip"):
|
||
count += 1
|
||
prj_file = data_file
|
||
else:
|
||
self.logger("ERROR", "do_current", msg, "red", "InitFileError")
|
||
|
||
if count != 2:
|
||
self.logger("ERROR", "do_current", msg, "red", "InitFileError")
|
||
|
||
if self.tool == "tool100":
|
||
os.mkdir(f"{self.dir_path}/single")
|
||
os.mkdir(f"{self.dir_path}/s_1")
|
||
os.mkdir(f"{self.dir_path}/s_2")
|
||
os.mkdir(f"{self.dir_path}/s_3")
|
||
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", "LoadSelectError")
|
||
|
||
return prj_file
|
||
|
||
@clibs.handle_exception
|
||
def get_configs():
|
||
robot_type = None
|
||
msg_id = clibs.c_hr.execution("controller.get_params")
|
||
records = clibs.c_hr.get_from_id(msg_id)
|
||
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)
|
||
|
||
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")
|
||
_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")
|
||
return _prj_file
|
||
|
||
@clibs.handle_exception
|
||
def single_axis_proc(self, records, number):
|
||
text = "single" if number < 6 else "hold"
|
||
number = number if number < 6 else number - 6
|
||
d_vel, d_trq, d_sensor, d_trans = [], [], [], []
|
||
for record in records:
|
||
data = eval(record[0])["data"]
|
||
for item in data:
|
||
d_item = reversed(item["value"])
|
||
if item.get("channel", None) == number and item.get("name", None) == "hw_joint_vel_feedback":
|
||
d_vel.extend(d_item)
|
||
elif item.get("channel", None) == number and item.get("name", None) == "device_servo_trq_feedback":
|
||
d_trq.extend(d_item)
|
||
elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback":
|
||
d_sensor.extend(d_item)
|
||
elif item.get("channel", None) == number and item.get("name", None) == "hw_estimate_trans_trq_res":
|
||
d_trans.extend(d_item)
|
||
|
||
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
|
||
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
|
||
df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
|
||
df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans})
|
||
df = pandas.concat([df1, df2, df3, df4], axis=1)
|
||
filename = f"{self.dir_path}/single/j{number + 1}_{text}_{time.time()}.data"
|
||
df.to_csv(filename, sep="\t", index=False)
|
||
|
||
@clibs.handle_exception
|
||
def scenario_proc(self, records, number, scenario_time):
|
||
d_vel, d_trq, d_sensor, d_trans = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
|
||
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)
|
||
|
||
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]})
|
||
df = pandas.concat([df1, df2, df3, df4], 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)
|
||
|
||
@clibs.handle_exception
|
||
def gen_result_file(self, number, start_time, end_time, scenario_time):
|
||
@clibs.handle_exception
|
||
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
|
||
@clibs.handle_exception
|
||
def change_curve_state(stat):
|
||
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)
|
||
|
||
@clibs.handle_exception
|
||
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:
|
||
number = conditions.index(condition)
|
||
# for testing
|
||
# if number < 12:
|
||
# continue
|
||
self.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:
|
||
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", "ReadySignalTimeoutError")
|
||
|
||
# 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:
|
||
self.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", "GetScenarioTimeError")
|
||
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":
|
||
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")
|
||
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.handle_exception
|
||
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", "NetworkError")
|
||
|
||
data_dirs, data_files = clibs.traversal_files(self.dir_path, self.output)
|
||
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")
|
||
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)
|