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v0.2.0.5(2024/07/31)

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此版本改动较大，公共部分做了规整，放置到新建文件夹 commons 当中，并所有自定义模块引入 logging 模块，记录重要信息
1. [t_change_ui: clibs.py]
   - 调整代码组织结构，新增模块，将公共函数以及类合并入此
   - 将一些常量放入该模块
   - 引入logging/concurrent_log_handler模块，并作初始化操作，供其他模块使用，按50M切割，最多保留10份
   - prj_to_xcore函数设置工程名部分重写，修复了多个prj工程可能不能执行的问题
2. [t_change_ui: openapi.py]
   - 完全重写了 get_from_id 函数，使更精准
   - 在 msg_storage 函数中，增加 logger，保留所有响应消息
   - 删除 heartbeat 函数中的日志保存功能部分
   - 心跳再次修改为 2s...
3. [t_change_ui: aio.py]
   - 增加了日志初始化部分
   - detect_network 函数中修改重新实例化HR间隔为 4s，对应心跳
4. [t_change_ui: do_brake.py]
   - 使用一直打开曲线的方法规避解决了 OOM 的问题，同时修改数据处理方式，只取最后 12s
5. [t_change_ui: do_current.py]
   - 保持电流，只取最后 15s
6. [t_change_ui: all the part]: 引入 commons 包，并定制了 logging 输出，后续持续优化
This commit is contained in:
gitea
2024-07-31 08:05:36 +08:00
parent af68f19d53
commit 04bd1238d2
20 changed files with 424 additions and 586 deletions
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1
aio/code/automatic_test/__init__.py
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@ -1 +0,0 @@
__all__ = ['btn_functions', 'do_brake', 'do_current']

35
aio/code/automatic_test/btn_functions.py
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@ -1,61 +1,54 @@
from json import loads
from sys import argv
from logging import getLogger
from commons import clibs
def execution(cmd, hr, w2t, **kwargs):
_id = hr.execution(cmd, **kwargs)
_msg = hr.get_from_id(_id)
if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
else:
_response = loads(_msg)
if not _response:
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
return _response
tab_name = clibs.tab_names['at']
logger = getLogger(__file__)
def trigger_estop(md, w2t):
md.trigger_estop()
w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
def reset_estop(md, w2t):
md.reset_estop()
w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
def get_state(hr, w2t):
# 获取机器状态
_response = execution('state.get_state', hr, w2t)
_response = clibs.execution('state.get_state', hr, w2t, tab_name)
stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
for component, state in _response['data'].items():
w2t(f"{stat_desc[component]}: {state}", tab_name='Automatic Test')
w2t(f"{stat_desc[component]}: {state}", tab_name=tab_name)
# 获取设备伺服信息
_response = execution('device.get_params', hr, w2t)
_response = clibs.execution('device.get_params', hr, w2t, tab_name)
dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'}
dev_vers = {}
for device in _response['data']['devices']:
dev_vers[device['type']] = device['version']
for i in sorted(dev_desc.keys()):
w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name='Automatic Test')
w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name=tab_name)
# 设置示教器模式
_response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
_response = clibs.execution('state.set_tp_mode', hr, w2t, tab_name, tp_mode='without')
def warning_info(hr, w2t):
for msg in hr.c_msg:
if 'alarm' in msg.lower():
w2t(str(loads(msg)), tab_name='Automatic Test')
w2t(str(loads(msg)), tab_name=tab_name)
for msg in hr.c_msg_xs:
if 'alarm' in msg.lower():
w2t(str(loads(msg)), tab_name='Automatic Test')
w2t(str(loads(msg)), tab_name=tab_name)
def main(hr, md, func, w2t):
if hr is None:
w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test')
w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name)
# func: get_state/
match func:
case 'trigger_estop':

123
aio/code/automatic_test/do_brake.py
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@ -1,30 +1,15 @@
from time import sleep, time, strftime, localtime
from sys import argv
from os import scandir, mkdir
from os.path import exists
from os import mkdir
from paramiko import SSHClient, AutoAddPolicy
from json import loads
from openpyxl import load_workbook
import pandas
from pandas import DataFrame, concat
from logging import getLogger
from commons import clibs
RADIAN = 57.3 # 180 / 3.1415926
tab_name = 'Automatic Test'
def traversal_files(path, w2t):
if not exists(path):
msg = f'数据文件夹{path}不存在，请确认后重试......'
w2t(msg, 0, 1, 'red', tab_name)
else:
dirs = []
files = []
for item in scandir(path):
if item.is_dir():
dirs.append(item.path)
elif item.is_file():
files.append(item.path)
return dirs, files
tab_name = clibs.tab_names['at']
logger = getLogger(__file__)
def check_files(path, loadsel, data_dirs, data_files, w2t):
@ -72,51 +57,11 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
def prj_to_xcore(prj_file):
ssh = SSHClient()
ssh.set_missing_host_key_policy(AutoAddPolicy())
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
sftp = ssh.open_sftp()
sftp.put(prj_file, '/tmp/target.zip')
cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
cmd += 'chmod 777 -R target/; rm target.zip'
ssh.exec_command(cmd)
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
stdin.write('luoshi2019' + '\n')
stdin.flush()
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
print(stderr.read().decode()) # 顺便也执行以下stderr
cmd = 'cd /home/luoshi/bin/controller/; '
cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
stdin.write('luoshi2019' + '\n')
stdin.flush()
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
print(stderr.read().decode()) # 顺便也执行以下stderr
ssh.close()
def execution(cmd, hr, w2t, **kwargs):
_id = hr.execution(cmd, **kwargs)
_msg = hr.get_from_id(_id)
if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name)
else:
_response = loads(_msg)
if not _response:
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name)
return _response
def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
_d2d_vel = {'hw_joint_vel_feedback': []}
_d2d_trq = {'device_servo_trq_feedback': []}
_d2d_stop = {'device_safety_estop': []}
for data in curve_data:
for data in curve_data[-240:]:
dict_results = data['data']
for item in dict_results:
try:
@ -129,13 +74,11 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop':
_d2d_stop['device_safety_estop'].extend(item['value'])
if len(_d2d_trq['device_servo_trq_feedback']) / 1000 > 10:
break
df1 = pandas.DataFrame.from_dict(_d2d_vel)
df2 = pandas.DataFrame.from_dict(_d2d_trq)
df3 = pandas.DataFrame.from_dict(_d2d_stop)
df = pandas.concat([df1, df2, df3], axis=1)
df1 = DataFrame.from_dict(_d2d_vel)
df2 = DataFrame.from_dict(_d2d_trq)
df3 = DataFrame.from_dict(_d2d_stop)
df = concat([df1, df2, df3], axis=1)
_filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data"
df.to_csv(_filename, sep='\t', index=False)
@ -168,14 +111,13 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
else:
w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name)
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
for condition in result_dirs:
_reach = condition.split('_')[0].removeprefix('reach')
_load = condition.split('_')[1].removeprefix('load')
_speed = condition.split('_')[2].removeprefix('speed')
# if _speed != '100' or _reach != '100':
# continue
for axis in range(1, 4):
md.write_axis(axis)
speed_max = 0
@ -224,11 +166,11 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
print(stderr.read().decode()) # 顺便也执行以下stderr
# 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
_response = execution('state.switch_auto', hr, w2t)
_response = execution('state.switch_motor_on', hr, w2t)
_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
clibs.execution('state.switch_auto', hr, w2t, tab_name)
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
_t_start = time()
while True:
if md.read_ready_to_go() == 1:
@ -241,8 +183,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
sleep(1)
# 4. 打开诊断曲线，并执行采集，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
sleep(get_init_speed) # 获取实际最大速度，可通过configs.xlsx配置
_response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
# sleep(1)
clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['brake'])
# 找出最大速度
_c_msg = hr.c_msg.copy()
for _msg in _c_msg:
@ -250,7 +191,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
dict_results = loads(_msg)['data']
for item in dict_results:
if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
_ = RADIAN * sum(item['value']) / len(item['value'])
_ = clibs.RADIAN * sum(item['value']) / len(item['value'])
if ws.cell(row=1, column=1).value == 'positive':
speed_max = max(_, speed_max)
elif ws.cell(row=1, column=1).value == 'negative':
@ -264,8 +205,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
md.write_speed_max(speed_max)
hr.c_msg_xs.clear()
if len(hr.c_msg) > 240:
del hr.c_msg[240:]
if len(hr.c_msg) > 270:
del hr.c_msg[270:]
if speed_max < 10:
md.clear_alarm()
@ -278,11 +219,11 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
md.reset_estop() # 其实没必要
md.clear_alarm()
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
_response = execution('state.switch_auto', hr, w2t)
_response = execution('state.switch_motor_on', hr, w2t)
_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
clibs.execution('state.switch_auto', hr, w2t, tab_name)
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
for i in range(3):
if md.read_ready_to_go() == 1:
md.write_act(1)
@ -316,8 +257,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
curve_data.insert(0, loads(_msg))
else:
hr.c_msg_xs.clear()
if len(hr.c_msg) > 240:
del hr.c_msg[240:]
if len(hr.c_msg) > 270:
del hr.c_msg[270:]
gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
else:
w2t(f"\n{loadsel.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。", 0, 0, 'green', tab_name)
@ -325,9 +266,9 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
def main(path, hr, md, loadsel, w2t):
_s_time = time()
data_dirs, data_files = traversal_files(path, w2t)
data_dirs, data_files = clibs.traversal_files(path, w2t)
config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
prj_to_xcore(prj_file)
clibs.prj_to_xcore(prj_file)
run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t)
_e_time = time()
time_total = _e_time - _s_time

185
aio/code/automatic_test/do_current.py
View File

@ -1,12 +1,14 @@
import os
from os import mkdir
from time import sleep, time
from sys import argv
from os import scandir
from os.path import exists
from paramiko import SSHClient, AutoAddPolicy
from json import loads
import pandas
from pandas import DataFrame, concat
from logging import getLogger
from commons import clibs
logger = getLogger(__file__)
tab_name = clibs.tab_names['at']
display_pdo_params = [
{"name": "hw_joint_vel_feedback", "channel": 0},
{"name": "hw_joint_vel_feedback", "channel": 1},
@ -22,26 +24,11 @@ display_pdo_params = [
{"name": "device_servo_trq_feedback", "channel": 5},
]
def traversal_files(path, w2t):
if not exists(path):
msg = f'数据文件夹{path}不存在，请确认后重试......'
w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
else:
dirs = []
files = []
for item in scandir(path):
if item.is_dir():
dirs.append(item.path)
elif item.is_file():
files.append(item.path)
return dirs, files
def check_files(path, loadsel, data_dirs, data_files, w2t):
if len(data_dirs) != 0 or len(data_files) != 3:
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name)
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
config_file = current_file = prj_file = None
for data_file in data_files:
@ -53,62 +40,22 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
elif filename.endswith('.zip'):
prj_file = data_file
else:
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name)
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
if config_file and current_file and prj_file:
w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
w2t("数据目录合规性检查结束，未发现问题......", tab_name=tab_name)
if loadsel == 'tool100':
os.mkdir(f"{path}\\single")
os.mkdir(f"{path}\\s_1")
os.mkdir(f"{path}\\s_2")
os.mkdir(f"{path}\\s_3")
mkdir(f"{path}\\single")
mkdir(f"{path}\\s_1")
mkdir(f"{path}\\s_2")
mkdir(f"{path}\\s_3")
elif loadsel == 'inertia':
os.mkdir(f"{path}\\inertia")
mkdir(f"{path}\\inertia")
return config_file, current_file, prj_file
else:
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
def prj_to_xcore(prj_file):
ssh = SSHClient()
ssh.set_missing_host_key_policy(AutoAddPolicy())
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
sftp = ssh.open_sftp()
sftp.put(prj_file, '/tmp/target.zip')
cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
cmd += 'chmod 777 -R target/; rm target.zip'
ssh.exec_command(cmd)
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
stdin.write('luoshi2019' + '\n')
stdin.flush()
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
print(stderr.read().decode()) # 顺便也执行以下stderr
cmd = 'cd /home/luoshi/bin/controller/; '
cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
stdin.write('luoshi2019' + '\n')
stdin.flush()
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
print(stderr.read().decode()) # 顺便也执行以下stderr
ssh.close()
def execution(cmd, hr, w2t, **kwargs):
_id = hr.execution(cmd, **kwargs)
_msg = hr.get_from_id(_id)
if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 7, 'red', tab_name='Automatic Test')
else:
_response = loads(_msg)
if not _response:
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
return _response
w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name)
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
def data_proc_regular(path, filename, channel, scenario_time):
@ -129,9 +76,9 @@ def data_proc_regular(path, filename, channel, scenario_time):
elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
df1 = pandas.DataFrame.from_dict(_d2d_vel)
df2 = pandas.DataFrame.from_dict(_d2d_trq)
df = pandas.concat([df1, df2], axis=1)
df1 = DataFrame.from_dict(_d2d_vel)
df2 = DataFrame.from_dict(_d2d_trq)
df = concat([df1, df2], axis=1)
_filename = f'{path}\\single\\j{channel+1}_single_{time()}.data'
df.to_csv(_filename, sep='\t', index=False)
elif channel in list(range(6, 9)):
@ -181,39 +128,39 @@ def data_proc_regular(path, filename, channel, scenario_time):
elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
df_01 = pandas.DataFrame.from_dict(_d2d_vel_0)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_0)
df = pandas.concat([df_01, df_02], axis=1)
df_01 = DataFrame.from_dict(_d2d_vel_0)
df_02 = DataFrame.from_dict(_d2d_trq_0)
df = concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_1)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_1)
df = pandas.concat([df_01, df_02], axis=1)
df_01 = DataFrame.from_dict(_d2d_vel_1)
df_02 = DataFrame.from_dict(_d2d_trq_1)
df = concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_2)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_2)
df = pandas.concat([df_01, df_02], axis=1)
df_01 = DataFrame.from_dict(_d2d_vel_2)
df_02 = DataFrame.from_dict(_d2d_trq_2)
df = concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_3)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_3)
df = pandas.concat([df_01, df_02], axis=1)
df_01 = DataFrame.from_dict(_d2d_vel_3)
df_02 = DataFrame.from_dict(_d2d_trq_3)
df = concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_4)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_4)
df = pandas.concat([df_01, df_02], axis=1)
df_01 = DataFrame.from_dict(_d2d_vel_4)
df_02 = DataFrame.from_dict(_d2d_trq_4)
df = concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
df.to_csv(_filename, sep='\t', index=False)
df_01 = pandas.DataFrame.from_dict(_d2d_vel_5)
df_02 = pandas.DataFrame.from_dict(_d2d_trq_5)
df = pandas.concat([df_01, df_02], axis=1)
df_01 = DataFrame.from_dict(_d2d_vel_5)
df_02 = DataFrame.from_dict(_d2d_trq_5)
df = concat([df_01, df_02], axis=1)
_filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data'
df.to_csv(_filename, sep='\t', index=False)
elif channel in list(range(9, 15)):
@ -221,7 +168,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
lines = f_obj.readlines()
_d2d_vel = {'hw_joint_vel_feedback': []}
_d2d_trq = {'device_servo_trq_feedback': []}
for line in lines:
for line in lines[-300:]:
data = eval(line.strip())['data']
for item in data:
try:
@ -233,9 +180,9 @@ def data_proc_regular(path, filename, channel, scenario_time):
elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
df1 = pandas.DataFrame.from_dict(_d2d_vel)
df2 = pandas.DataFrame.from_dict(_d2d_trq)
df = pandas.concat([df1, df2], axis=1)
df1 = DataFrame.from_dict(_d2d_vel)
df2 = DataFrame.from_dict(_d2d_trq)
df = concat([df1, df2], axis=1)
_filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
df.to_csv(_filename, sep='\t', index=False)
@ -257,9 +204,9 @@ def data_proc_inertia(path, filename, channel):
elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
df1 = pandas.DataFrame.from_dict(_d2d_vel)
df2 = pandas.DataFrame.from_dict(_d2d_trq)
df = pandas.concat([df1, df2], axis=1)
df1 = DataFrame.from_dict(_d2d_vel)
df2 = DataFrame.from_dict(_d2d_trq)
df = concat([df1, df2], axis=1)
_filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
df.to_csv(_filename, sep='\t', index=False)
@ -313,21 +260,21 @@ def run_rl(path, hr, md, loadsel, w2t):
disc = disc_inertia
# preparation 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
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
# _response = execution('diagnosis.save', hr, w2t, save=True) # 这条命令有问题
clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
# clibs.execution('diagnosis.save', hr, w2t, tab_name, save=True) # 这条命令有问题
md.trigger_estop()
md.reset_estop()
for condition in conditions:
number = conditions.index(condition)
w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test')
w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', tab_name)
# 1. 将act重置为False，并修改未要执行的场景
md.write_act(False)
ssh = SSHClient()
ssh.set_missing_host_key_policy(AutoAddPolicy())
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
ssh.connect(clibs.ip_addr, 22, username='luoshi', password='luoshi2019')
cmd = 'cd /home/luoshi/bin/controller/; '
cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; '
cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod'
@ -339,13 +286,13 @@ def run_rl(path, hr, md, loadsel, w2t):
# 2. reload工程后，pp2main，并且自动模式和上电
prj_path = 'target/_build/target.prj'
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
_response = execution('state.switch_auto', hr, w2t)
_response = execution('state.switch_motor_on', hr, w2t)
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
clibs.execution('state.switch_auto', hr, w2t, tab_name)
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
# 3. 开始运行程序，单轴运行35s
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
_t_start = time()
while True:
if md.read_ready_to_go() == 1:
@ -353,7 +300,7 @@ def run_rl(path, hr, md, loadsel, w2t):
break
else:
if (time() - _t_start) // 20 > 1:
w2t("20s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...", 0, 111, 'red', 'Automatic Test')
w2t("20s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...", 0, 111, 'red', tab_name)
else:
sleep(1)
@ -369,11 +316,11 @@ def run_rl(path, hr, md, loadsel, w2t):
while True:
scenario_time = md.read_scenario_time()
if float(scenario_time) > 1:
w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', 'Automatic Test')
w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
break
else:
if (time()-_t_start)//60 > 3:
w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
else:
sleep(5)
sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
@ -381,27 +328,27 @@ def run_rl(path, hr, md, loadsel, w2t):
sleep(float(scenario_time)*0.2) # 再运行周期的20%即可
# 5.停止程序运行，保留数据并处理输出
_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['current'])
_c_msg = hr.c_msg.copy()
for _msg in _c_msg:
if 'diagnosis.result' in _msg:
disc[number][1].insert(0, loads(_msg))
else:
hr.c_msg_xs.clear()
if len(hr.c_msg) > 240:
del hr.c_msg[240:]
if len(hr.c_msg) > 270:
del hr.c_msg[270:]
gen_result_file(path, loadsel, disc, number, scenario_time)
else:
if loadsel == 'tool100':
w2t("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。", 0, 0, 'green', 'Automatic Test')
w2t("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。", 0, 0, 'green', tab_name)
elif loadsel == 'inertia':
w2t("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。", 0, 0, 'green', 'Automatic Test')
w2t("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。", 0, 0, 'green', tab_name)
def main(path, hr, md, loadsel, w2t):
data_dirs, data_files = traversal_files(path, w2t)
data_dirs, data_files = clibs.traversal_files(path, w2t)
config_file, current_file, prj_file = check_files(path, loadsel, data_dirs, data_files, w2t)
prj_to_xcore(prj_file)
clibs.prj_to_xcore(prj_file)
run_rl(path, hr, md, loadsel, w2t)