gitea/aio_first_edtion
Archived
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

minor modifications

Browse Source
This commit is contained in:
gitea 2024-07-18 14:59:20 +08:00
parent dd0873637f
commit 1cefe4a16b
5 changed files with 37 additions and 48 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
aio/assets/templates/durable/durable_data_current.xlsx
View File

Binary file not shown.

BIN
aio/assets/templates/durable/durable_data_current_max.xlsx Normal file
View File

Binary file not shown.

BIN
aio/assets/templates/durable/durable_data_velocity.xlsx
View File

Binary file not shown.

32
aio/code/aio.py
View File

@ -13,13 +13,13 @@ from automatic_test import *
from durable_action import * from durable_action import *
import openapi import openapi
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
import matplotlib from matplotlib import use
import pandas as pd from pandas import DataFrame, read_excel
matplotlib.use('Agg') use('Agg')
heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat' heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat'
durable_data_current_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current.xlsx' durable_data_current_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current.xlsx'
durable_data_velocity_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_velocity.xlsx' durable_data_current_max_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current_max.xlsx'
customtkinter.set_appearance_mode("System") # Modes: "System" (standard), "Dark", "Light" customtkinter.set_appearance_mode("System") # Modes: "System" (standard), "Dark", "Light"
customtkinter.set_default_color_theme("blue") # Themes: "blue" (standard), "green", "dark-blue" customtkinter.set_default_color_theme("blue") # Themes: "blue" (standard), "green", "dark-blue"
customtkinter.set_widget_scaling(1.1) # widget dimensions and text size customtkinter.set_widget_scaling(1.1) # widget dimensions and text size
@ -35,7 +35,7 @@ durable_data_current = {
'axis5': [0 for _ in range(25)], 'axis5': [0 for _ in range(25)],
'axis6': [0 for _ in range(25)], 'axis6': [0 for _ in range(25)],
} }
durable_data_velocity = { durable_data_current_max = {
'time': list(range(1, 26)), 'time': list(range(1, 26)),
'axis1': [0 for _ in range(25)], 'axis1': [0 for _ in range(25)],
'axis2': [0 for _ in range(25)], 'axis2': [0 for _ in range(25)],
@ -64,7 +64,7 @@ widgits_at = {
} }
widgits_da = { widgits_da = {
'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'}, 'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '曲线选择'}, 'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '指标选择'},
} }
@ -185,7 +185,7 @@ class App(customtkinter.CTk):
widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font) widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font)
widgits_da[widgit]['entry'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we') widgits_da[widgit]['entry'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we')
elif widgit in ['curvesel']: elif widgit in ['curvesel']:
widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=["device_servo_trq_feedback", "hw_joint_vel_feedback"], font=self.my_font) widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=['device_servo_trq_feedback', '[max] device_servo_trq_feedback'], font=self.my_font)
widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we') widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we')
widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text']) widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
# For durable_action tab END ===================================================================== # For durable_action tab END =====================================================================
@ -224,14 +224,14 @@ class App(customtkinter.CTk):
if not self.hr.durable_lock: if not self.hr.durable_lock:
self.hr.durable_lock = 1 self.hr.durable_lock = 1
if curvesel == 'device_servo_trq_feedback': if curvesel == 'device_servo_trq_feedback':
df = pd.read_excel(durable_data_current_xlsx) df = read_excel(durable_data_current_xlsx)
_title = 'device_servo_trq_feedback' _title = 'device_servo_trq_feedback'
elif curvesel == 'hw_joint_vel_feedback': elif curvesel == '[max] device_servo_trq_feedback':
_title = 'hw_joint_vel_feedback' _title = '[max] device_servo_trq_feedback'
df = pd.read_excel(durable_data_velocity_xlsx) df = read_excel(durable_data_current_max_xlsx)
else: else:
_title = 'device_servo_trq_feedback' _title = 'device_servo_trq_feedback'
df = pd.read_excel(durable_data_current_xlsx) df = read_excel(durable_data_current_xlsx)
self.hr.durable_lock = 0 self.hr.durable_lock = 0
break break
else: else:
@ -281,10 +281,10 @@ class App(customtkinter.CTk):
# self.tabview.configure(state='normal') # self.tabview.configure(state='normal')
def detect_network(self): def detect_network(self):
df = pd.DataFrame(durable_data_current) df = DataFrame(durable_data_current)
df.to_excel(durable_data_current_xlsx, index=False) df.to_excel(durable_data_current_xlsx, index=False)
df = pd.DataFrame(durable_data_velocity) df = DataFrame(durable_data_current_max)
df.to_excel(durable_data_velocity_xlsx, index=False) df.to_excel(durable_data_current_max_xlsx, index=False)
with open(heartbeat, "w", encoding='utf-8') as f_hb: with open(heartbeat, "w", encoding='utf-8') as f_hb:
f_hb.write('0') f_hb.write('0')
@ -578,7 +578,7 @@ class App(customtkinter.CTk):
path = widgits_da['path']['entry'].get().strip() path = widgits_da['path']['entry'].get().strip()
curvesel = widgits_da['curvesel']['optionmenu'].get() curvesel = widgits_da['curvesel']['optionmenu'].get()
c1 = exists(path) c1 = exists(path)
c2 = curvesel in ['device_servo_trq_feedback', 'hw_joint_vel_feedback'] c2 = curvesel in ['device_servo_trq_feedback', '[max] device_servo_trq_feedback']
if c1 and c2: if c1 and c2:
return 7, path, curvesel return 7, path, curvesel
else: else:

53
aio/code/durable_action/factory_test.py
View File

@ -4,21 +4,21 @@ from os import scandir
from paramiko import SSHClient, AutoAddPolicy from paramiko import SSHClient, AutoAddPolicy
from json import loads from json import loads
from time import sleep, time, strftime, localtime from time import sleep, time, strftime, localtime
import pandas as pd from pandas import DataFrame
from openpyxl import load_workbook from openpyxl import load_workbook
from math import sqrt from math import sqrt
tab_name = 'Durable Action' tab_name = 'Durable Action'
count = 0 count = 0
durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx' durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx'
durable_data_velocity_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_velocity.xlsx' durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx'
display_pdo_params = [ display_pdo_params = [
{"name": "hw_joint_vel_feedback", "channel": 0}, # {"name": "hw_joint_vel_feedback", "channel": 0},
{"name": "hw_joint_vel_feedback", "channel": 1}, # {"name": "hw_joint_vel_feedback", "channel": 1},
{"name": "hw_joint_vel_feedback", "channel": 2}, # {"name": "hw_joint_vel_feedback", "channel": 2},
{"name": "hw_joint_vel_feedback", "channel": 3}, # {"name": "hw_joint_vel_feedback", "channel": 3},
{"name": "hw_joint_vel_feedback", "channel": 4}, # {"name": "hw_joint_vel_feedback", "channel": 4},
{"name": "hw_joint_vel_feedback", "channel": 5}, # {"name": "hw_joint_vel_feedback", "channel": 5},
{"name": "device_servo_trq_feedback", "channel": 0}, {"name": "device_servo_trq_feedback", "channel": 0},
{"name": "device_servo_trq_feedback", "channel": 1}, {"name": "device_servo_trq_feedback", "channel": 1},
{"name": "device_servo_trq_feedback", "channel": 2}, {"name": "device_servo_trq_feedback", "channel": 2},
@ -35,7 +35,7 @@ durable_data_current = {
'axis5': [0 for _ in range(25)], 'axis5': [0 for _ in range(25)],
'axis6': [0 for _ in range(25)], 'axis6': [0 for _ in range(25)],
} }
durable_data_velocity = { durable_data_current_max = {
'time': list(range(1, 26)), 'time': list(range(1, 26)),
'axis1': [0 for _ in range(25)], 'axis1': [0 for _ in range(25)],
'axis2': [0 for _ in range(25)], 'axis2': [0 for _ in range(25)],
@ -44,7 +44,7 @@ durable_data_velocity = {
'axis5': [0 for _ in range(25)], 'axis5': [0 for _ in range(25)],
'axis6': [0 for _ in range(25)], 'axis6': [0 for _ in range(25)],
} }
data_all = [durable_data_current, durable_data_velocity] data_all = [durable_data_current, durable_data_current_max]
def traversal_files(path, w2t): def traversal_files(path, w2t):
@ -214,44 +214,33 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t):
# for _ in _data_list: # for _ in _data_list:
# f_obj.write(f"{_}\n") # f_obj.write(f"{_}\n")
_d2d_trq = { _d2d_trq = {0: [], 1: [], 2: [], 3: [], 4: [], 5: []}
'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [], _d2d_trq_max = {0: [], 1: [], 2: [], 3: [], 4: [], 5: []}
'device_servo_trq_feedback_3': [], 'device_servo_trq_feedback_4': [], 'device_servo_trq_feedback_5': [],
}
_d2d_vel = {
'hw_joint_vel_feedback_0': [], 'hw_joint_vel_feedback_1': [], 'hw_joint_vel_feedback_2': [],
'hw_joint_vel_feedback_3': [], 'hw_joint_vel_feedback_4': [], 'hw_joint_vel_feedback_5': [],
}
for line in _data_list: for line in _data_list:
for item in line['data']: for item in line['data']:
for i in range(6): for i in range(6):
item['value'].reverse() item['value'].reverse()
if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback': if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback':
_d2d_trq[f'device_servo_trq_feedback_{i}'].extend(item['value']) _d2d_trq[i].extend(item['value'])
elif item.get('channel', None) == i and item.get('name', None) == 'hw_joint_vel_feedback':
_d2d_vel[f'hw_joint_vel_feedback_{i}'].extend(item['value'])
if len(_d2d_trq['device_servo_trq_feedback_0']) / 1000 > scenario_time + 1: if len(_d2d_trq[0]) / 1000 > scenario_time + 1:
# ========= for trq ========= _df = DataFrame(_d2d_trq)
_df_1 = pd.DataFrame(_d2d_trq)
for i in range(6): for i in range(6):
_ = sqrt(100*_df_1[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}'])) _ = sqrt(100*_df[i].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[i]))
del data[0][f"axis{i + 1}"][0] del data[0][f"axis{i + 1}"][0]
data[0][f"axis{i + 1}"].append(_) data[0][f"axis{i + 1}"].append(_)
_df_1 = pd.DataFrame(data[0]) _ = rcs[i] * _df[i].abs().max() / 1000
# ========= for vel =========
_df_2 = pd.DataFrame(_d2d_vel)
for i in range(6):
_ = sqrt(100*_df_2[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}']))
del data[1][f"axis{i + 1}"][0] del data[1][f"axis{i + 1}"][0]
data[1][f"axis{i + 1}"].append(_) data[1][f"axis{i + 1}"].append(_)
_df_2 = pd.DataFrame(data[1]) _df_1 = DataFrame(data[0])
_df_2 = DataFrame(data[1])
while True: while True:
if not hr.durable_lock: if not hr.durable_lock:
hr.durable_lock = 1 hr.durable_lock = 1
_df_1.to_excel(durable_data_current_xlsx, index=False) _df_1.to_excel(durable_data_current_xlsx, index=False)
_df_2.to_excel(durable_data_velocity_xlsx, index=False) _df_2.to_excel(durable_data_current_max_xlsx, index=False)
hr.durable_lock = 0 hr.durable_lock = 0
break break
else: else: