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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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185
aio/code/automatic_test/do_current.py
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@ -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)