v0.2.0.5(2024/07/31)
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:
@ -1 +0,0 @@
|
||||
__all__ = ['factory_test']
|
||||
@ -1,7 +1,4 @@
|
||||
from sys import argv
|
||||
from os.path import exists, dirname
|
||||
from os import scandir
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from json import loads
|
||||
from time import sleep, time, strftime, localtime
|
||||
from pandas import DataFrame
|
||||
@ -9,11 +6,12 @@ from openpyxl import load_workbook
|
||||
from math import sqrt
|
||||
from numpy import power
|
||||
from csv import writer
|
||||
from logging import getLogger
|
||||
from commons import clibs
|
||||
|
||||
tab_name = 'Durable Action'
|
||||
logger = getLogger(__file__)
|
||||
tab_name = clibs.tab_names['da']
|
||||
count = 0
|
||||
durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx'
|
||||
durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx'
|
||||
display_pdo_params = [
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
@ -34,22 +32,6 @@ title = [
|
||||
]
|
||||
|
||||
|
||||
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=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
|
||||
|
||||
|
||||
def check_files(data_dirs, data_files, w2t):
|
||||
if len(data_dirs) != 0 or len(data_files) != 2:
|
||||
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文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, 10, 'red', tab_name)
|
||||
@ -63,50 +45,10 @@ def check_files(data_dirs, data_files, w2t):
|
||||
return data_files
|
||||
|
||||
|
||||
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=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=tab_name)
|
||||
return _response
|
||||
|
||||
|
||||
def run_rl(path, config_file, data_all, hr, md, w2t):
|
||||
# 1. 关闭诊断曲线，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，切手动模式并下电
|
||||
_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)
|
||||
md.trigger_estop()
|
||||
md.reset_estop()
|
||||
md.write_act(False)
|
||||
@ -114,13 +56,13 @@ def run_rl(path, config_file, data_all, hr, md, 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
|
||||
_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:
|
||||
@ -178,8 +120,8 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
|
||||
_data_list.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:]
|
||||
|
||||
# with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj:
|
||||
# for _ in _data_list:
|
||||
@ -253,8 +195,8 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
|
||||
while True:
|
||||
if not hr.durable_lock:
|
||||
hr.durable_lock = 1
|
||||
_df_1.to_excel(durable_data_current_xlsx, index=False)
|
||||
_df_2.to_excel(durable_data_current_max_xlsx, index=False)
|
||||
_df_1.to_excel(clibs.durable_data_current_xlsx, index=False)
|
||||
_df_2.to_excel(clibs.durable_data_current_max_xlsx, index=False)
|
||||
hr.durable_lock = 0
|
||||
break
|
||||
else:
|
||||
@ -272,28 +214,10 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
|
||||
|
||||
|
||||
def main(path, hr, md, w2t):
|
||||
durable_data_current = {
|
||||
'time': list(range(1, 19)),
|
||||
'axis1': [0 for _ in range(18)],
|
||||
'axis2': [0 for _ in range(18)],
|
||||
'axis3': [0 for _ in range(18)],
|
||||
'axis4': [0 for _ in range(18)],
|
||||
'axis5': [0 for _ in range(18)],
|
||||
'axis6': [0 for _ in range(18)],
|
||||
}
|
||||
durable_data_current_max = {
|
||||
'time': list(range(1, 19)),
|
||||
'axis1': [0 for _ in range(18)],
|
||||
'axis2': [0 for _ in range(18)],
|
||||
'axis3': [0 for _ in range(18)],
|
||||
'axis4': [0 for _ in range(18)],
|
||||
'axis5': [0 for _ in range(18)],
|
||||
'axis6': [0 for _ in range(18)],
|
||||
}
|
||||
data_all = [durable_data_current, durable_data_current_max]
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
data_all = [clibs.durable_data_current, clibs.durable_data_current_max]
|
||||
data_dirs, data_files = clibs.traversal_files(path, w2t)
|
||||
config_file, prj_file = check_files(data_dirs, data_files, w2t)
|
||||
prj_to_xcore(prj_file)
|
||||
clibs.prj_to_xcore(prj_file)
|
||||
run_rl(path, config_file, data_all, hr, md, w2t)
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user