v0.1.8.2(2024/07/08)
1. [APIs: do_brake.py]: 完成了制动性能测试逻辑，只不过制动信号传递生效延迟不可控，暂时pending 2. [APIs: do_current.py]: 修改曲线数据时序，主要是value data取反即可，解决了波形锯齿明细的问题 3. [APIs: openapi.py]: modbus新增了触发急停信号的寄存器 stop0_signal，并重写了解除急停，socket新增了register.set_value协议
This commit is contained in:
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@ -429,3 +429,7 @@ v0.1.8.1(2024/07/05)
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2. [APIs: aio.py]: 修改了do_brake主函数的参数
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3. 增加工程文件target.zip
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v0.1.8.2(2024/07/08)
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1. [APIs: do_brake.py]: 完成了制动性能测试逻辑，只不过制动信号传递生效延迟不可控，暂时pending
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2. [APIs: do_current.py]: 修改曲线数据时序，主要是value data取反即可，解决了波形锯齿明细的问题
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3. [APIs: openapi.py]: modbus新增了触发急停信号的寄存器 stop0_signal，并重写了解除急停，socket新增了register.set_value协议
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11
aio/assets/templates/register.set_value.json
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11
aio/assets/templates/register.set_value.json
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@ -0,0 +1,11 @@
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{
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"id": "xxxxxxxxxxx",
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"module": "fieldbus",
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"command": "register.set_value",
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"data": {
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"name": "",
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"type": "bool",
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"bias": 0,
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"value": 0
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}
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}
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@ -1,10 +1,13 @@
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import os
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from time import sleep
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from time import sleep, time
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from sys import argv
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from os import scandir
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from os import scandir, mkdir
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from os.path import exists
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from paramiko import SSHClient, AutoAddPolicy
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from json import loads
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from openpyxl import load_workbook
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import pandas
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RADIAN = 57.3 # 180 / 3.1415926
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def traversal_files(path, w2t):
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@ -26,7 +29,7 @@ def traversal_files(path, w2t):
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def check_files(path, loadsel, data_dirs, data_files, w2t):
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if len(data_dirs) != 0 or len(data_files) != 5:
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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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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config_file = reach33 = reach66 = reach100 = prj_file = None
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for data_file in data_files:
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@ -47,19 +50,19 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
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if config_file and reach33 and reach66 and reach100 and prj_file:
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result_dirs = []
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os.mkdir(f"{path}\\j1")
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os.mkdir(f"{path}\\j2")
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os.mkdir(f"{path}\\j3")
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mkdir(f"{path}\\j1")
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mkdir(f"{path}\\j2")
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mkdir(f"{path}\\j3")
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for _reach in ['reach33', 'reach66', 'reach100']:
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for _load in [f'load{loadsel.removeprefix("tool")}']:
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for _speed in ['speed33', 'speed66', 'speed100']:
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dir_name = '_'.join([_reach, _load, _speed])
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result_dirs.append(dir_name)
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os.mkdir(f"{path}\\j1\\{dir_name}")
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os.mkdir(f"{path}\\j2\\{dir_name}")
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mkdir(f"{path}\\j1\\{dir_name}")
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mkdir(f"{path}\\j2\\{dir_name}")
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if _reach == 'reach100':
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os.mkdir(f"{path}\\j3\\{dir_name}")
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mkdir(f"{path}\\j3\\{dir_name}")
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w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
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return config_file, reach33, reach66, reach100, prj_file, result_dirs
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@ -120,6 +123,30 @@ def execution(cmd, hr, w2t, **kwargs):
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return _response
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def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
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_d2d_vel = {'hw_joint_vel_feedback': []}
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_d2d_trq = {'device_servo_trq_feedback': []}
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_d2d_stop = {'device_safety_estop': []}
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for data in curve_data:
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dict_results = data['data']
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# dict_results.reverse()
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for item in dict_results:
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item['value'].reverse()
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if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop':
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_d2d_stop['device_safety_estop'].extend(item['value'])
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df1 = pandas.DataFrame.from_dict(_d2d_vel)
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df2 = pandas.DataFrame.from_dict(_d2d_trq)
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df3 = pandas.DataFrame.from_dict(_d2d_stop)
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df = pandas.concat([df1, df2, df3], axis=1)
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_filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data"
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df.to_csv(_filename, sep='\t', index=False)
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def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
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_count = 0
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for condition in result_dirs:
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@ -128,16 +155,18 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
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_speed = condition.split('_')[2].removeprefix('speed')
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for axis in range(1, 4):
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_get_speed_max = 0
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if axis == 3 and _reach != '100':
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continue
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for count in range(1, 4):
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_count += 1
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w2t(f"[{_count/64}]正在执行{axis}轴{condition}[{count}]的制动测试......", 0, 0, 'purple', 'Automatic Test')
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w2t(f"[{_count}/64-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test')
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# 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
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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md.trigger_estop()
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md.set_stop0(1)
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md.reset_estop()
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sleep(2) # 让曲线彻底关闭
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_response = execution('state.switch_manual', hr, w2t)
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_response = execution('state.switch_motor_off', hr, w2t)
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@ -160,14 +189,77 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
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# 3. reload工程后，pp2main，并且自动模式和上电
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prj_path = 'target/_build/target.prj'
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_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake'])
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_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
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_response = execution('overview.get_cur_prj', hr, w2t)
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_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake'])
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_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
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_response = execution('state.switch_auto', hr, w2t)
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_response = execution('state.switch_motor_on', hr, w2t)
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# 4. 开始运行程序，每种情况运行15s
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_response = execution('rl_task.run', hr, w2t, tasks=['brake'])
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# 4. 第一次开始运行程序，运行两轮
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_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
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for i in range(3):
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if md.read_ready_to_go() == 1:
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md.write_act(True)
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sleep(1)
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md.write_act(False)
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break
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else:
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sleep(1)
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else:
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w2t("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')
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if _get_speed_max == 0:
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# 5. 第一次打开诊断曲线，并执行采集
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_get_speed_max = 1
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_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
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display_pdo_params = [
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{"name": "hw_joint_vel_feedback", "channel": 0},
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{"name": "hw_joint_vel_feedback", "channel": 1},
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{"name": "hw_joint_vel_feedback", "channel": 2},
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{"name": "hw_joint_vel_feedback", "channel": 3},
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{"name": "hw_joint_vel_feedback", "channel": 4},
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{"name": "hw_joint_vel_feedback", "channel": 5},
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{"name": "device_servo_trq_feedback", "channel": 0},
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{"name": "device_servo_trq_feedback", "channel": 1},
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{"name": "device_servo_trq_feedback", "channel": 2},
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{"name": "device_servo_trq_feedback", "channel": 3},
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{"name": "device_servo_trq_feedback", "channel": 4},
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{"name": "device_servo_trq_feedback", "channel": 5},
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{"name": "device_safety_estop", "channel": 0},
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]
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
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sleep(8) # 前八秒获取实际最大速度
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# 6. 关闭诊断曲线，并处理数据，找出最大速度
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_response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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# 找出最大速度
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speed_max = 0
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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dict_results = loads(_msg)['data']
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for item in dict_results:
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if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
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_ = abs(RADIAN*sum(item['value'])/len(item['value']))
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speed_max = max(_, speed_max)
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wb = load_workbook(config_file, read_only=True)
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ws = wb['Target']
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speed_target = float(ws.cell(row=3, column=axis+1).value)
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if speed_max < speed_target*0.95:
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w2t(f"Axis: {axis}-{count} | Speed: {speed_max*RADIAN} | Shouldbe: {speed_target}", 0, 0, 'indigo')
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# 7. 清零c_msg，重新运行程序，并打开曲线发送继续运动信号，开始运动，当速度达到最大值时，通过DO触发急停
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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_index = hr.c_msg.index(_msg)
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del hr.c_msg[_index:]
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hr.c_msg_xs.clear()
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break
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_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
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_response = execution('state.switch_auto', hr, w2t)
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_response = execution('state.switch_motor_on', hr, w2t)
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_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
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for i in range(3):
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if md.read_ready_to_go() == 1:
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md.write_act(True)
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@ -179,56 +271,69 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
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else:
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w2t("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')
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# 5. 打开诊断曲线，并执行采集
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_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
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display_pdo_params = [
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{"name": "hw_joint_vel_feedback", "channel": 0},
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{"name": "hw_joint_vel_feedback", "channel": 1},
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{"name": "hw_joint_vel_feedback", "channel": 2},
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{"name": "hw_joint_vel_feedback", "channel": 3},
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{"name": "hw_joint_vel_feedback", "channel": 4},
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{"name": "hw_joint_vel_feedback", "channel": 5},
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{"name": "device_servo_trq_feedback", "channel": 0},
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{"name": "device_servo_trq_feedback", "channel": 1},
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{"name": "device_servo_trq_feedback", "channel": 2},
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{"name": "device_servo_trq_feedback", "channel": 3},
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{"name": "device_servo_trq_feedback", "channel": 4},
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{"name": "device_servo_trq_feedback", "channel": 5},
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{"name": "device_safety_estop", "channel": 0},
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]
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
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sleep(15)
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sleep(4)
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_flg = 1
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_t_start = time()
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while _flg:
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sleep(0.05)
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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if _flg == 0:
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break
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dict_results = loads(_msg)['data']
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for item in dict_results:
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if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
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_ = abs(RADIAN*sum(item['value'])/len(item['value']))
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if abs(_-speed_max) < 5:
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print(f"speed actual = {_}")
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print(f"speed max = {speed_max}")
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print(f"speed target = {speed_target*float(_speed)/100}")
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print(f"abs minus = {abs(_-speed_max)}")
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for _i in range(5):
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# md.set_stop0(0) # 触发IO急停
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_response = execution('register.set_value', hr, w2t, name='stop0_signal', type='bool', bias=0, value=0)
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sleep(0.02)
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_flg = 0
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break
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else:
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if (time() - _t_start) // 60 > 1:
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w2t(f"规定时间内未找到合适的点触发急停，需要确认RL/Python程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
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else:
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break
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# 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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_response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
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_response = execution('state.switch_motor_off', hr, w2t)
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_response = execution('state.switch_manual', hr, w2t)
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# 8. 关闭诊断曲线，且换成手动模式
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sleep(1) # 保证所有数据均已返回
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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_response = execution('state.switch_manual', hr, w2t)
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# 7. 保留数据并处理输出
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# 9. 保留数据并处理输出
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curve_data = []
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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curve_data.insert(0, loads(_msg))
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else:
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_index = 210
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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_index = hr.c_msg.index(_msg)
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del hr.c_msg[_index:]
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hr.c_msg_xs.clear()
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break
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del hr.c_msg[_index:]
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hr.c_msg_xs.clear()
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# gen_result_file(path, loadsel, disc, number, scenario_time)
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gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
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else:
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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', 'Automatic Test')
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def main(path, hr, md, loadsel, w2t):
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_s_time = time()
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data_dirs, data_files = traversal_files(path, w2t)
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config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
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prj_to_xcore(prj_file)
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run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
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_e_time = time()
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time_total = _e_time - _s_time
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w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s")
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if __name__ == '__main__':
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@ -27,7 +27,7 @@ def traversal_files(path, w2t):
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def check_files(path, loadsel, data_dirs, data_files, w2t):
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if len(data_dirs) != 0 or len(data_files) != 3:
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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')
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w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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config_file = current_file = prj_file = None
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for data_file in data_files:
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@ -118,9 +118,12 @@ def data_proc_regular(path, filename, channel, scenario_time):
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for line in lines:
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data = eval(line.strip())['data']
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for item in data:
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item['value'].reverse()
|
||||
if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
item['value'].reverse()
|
||||
_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
item['value'].reverse()
|
||||
_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
|
||||
|
||||
df1 = pandas.DataFrame.from_dict(_d2d_vel)
|
||||
@ -146,6 +149,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
for line in lines:
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
item['value'].reverse()
|
||||
if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
@ -214,6 +218,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
for line in lines:
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
item['value'].reverse()
|
||||
if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
@ -234,6 +239,7 @@ def data_proc_inertia(path, filename, channel):
|
||||
for line in lines:
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
item['value'].reverse()
|
||||
if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
|
||||
@ -47,11 +47,12 @@ class ModbusRequest(object):
|
||||
def reset_estop(self):
|
||||
try:
|
||||
self.c.write_register(40012, 1)
|
||||
# self.c.write_register(40001, 1)
|
||||
# sleep(0.2)
|
||||
# self.c.write_register(40001, 1)
|
||||
# sleep(0.2)
|
||||
# self.c.write_register(40001, 0)
|
||||
sleep(0.2)
|
||||
self.c.write_register(40001, 0)
|
||||
sleep(0.2)
|
||||
self.c.write_register(40001, 1)
|
||||
sleep(0.2)
|
||||
self.c.write_register(40001, 0)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
@ -124,6 +125,13 @@ class ModbusRequest(object):
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
def set_stop0(self, number):
|
||||
try:
|
||||
self.c.write_register(41004, number)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{Err}")
|
||||
self.w2t("无法通过IO操作stop0急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
|
||||
|
||||
|
||||
class HmiRequest(object):
|
||||
def __init__(self, w2t):
|
||||
@ -180,6 +188,7 @@ class HmiRequest(object):
|
||||
md.reset_estop()
|
||||
md.clear_alarm()
|
||||
md.write_act(False)
|
||||
md.set_stop0(1)
|
||||
except Exception as Err:
|
||||
self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
@ -559,6 +568,11 @@ class HmiRequest(object):
|
||||
case 'diagnosis.open':
|
||||
req['data']['open'] = kwargs['open']
|
||||
req['data']['display_open'] = kwargs['display_open']
|
||||
case 'register.set_value':
|
||||
req['data']['name'] = kwargs['name']
|
||||
req['data']['type'] = kwargs['type']
|
||||
req['data']['bias'] = kwargs['bias']
|
||||
req['data']['value'] = kwargs['value']
|
||||
case _:
|
||||
pass
|
||||
|
||||
|
||||
Reference in New Issue
Block a user