diff --git a/aio/README.md b/aio/README.md index b5d3ff6..8dbfe66 100644 --- a/aio/README.md +++ b/aio/README.md @@ -429,3 +429,7 @@ v0.1.8.1(2024/07/05) 2. [APIs: aio.py]: 修改了do_brake主函数的参数 3. 增加工程文件target.zip +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 \ No newline at end of file diff --git a/aio/assets/templates/register.set_value.json b/aio/assets/templates/register.set_value.json new file mode 100644 index 0000000..6b64af3 --- /dev/null +++ b/aio/assets/templates/register.set_value.json @@ -0,0 +1,11 @@ +{ + "id": "xxxxxxxxxxx", + "module": "fieldbus", + "command": "register.set_value", + "data": { + "name": "", + "type": "bool", + "bias": 0, + "value": 0 + } +} \ No newline at end of file diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 5310abd..7da5cc1 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -1,10 +1,13 @@ -import os -from time import sleep +from time import sleep, time from sys import argv -from os import scandir +from os import scandir, mkdir from os.path import exists from paramiko import SSHClient, AutoAddPolicy from json import loads +from openpyxl import load_workbook +import pandas + +RADIAN = 57.3 # 180 / 3.1415926 def traversal_files(path, w2t): @@ -26,7 +29,7 @@ def traversal_files(path, w2t): def check_files(path, loadsel, data_dirs, data_files, w2t): if len(data_dirs) != 0 or len(data_files) != 5: 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') - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') config_file = reach33 = reach66 = reach100 = prj_file = None for data_file in data_files: @@ -47,19 +50,19 @@ def check_files(path, loadsel, data_dirs, data_files, w2t): if config_file and reach33 and reach66 and reach100 and prj_file: result_dirs = [] - os.mkdir(f"{path}\\j1") - os.mkdir(f"{path}\\j2") - os.mkdir(f"{path}\\j3") + mkdir(f"{path}\\j1") + mkdir(f"{path}\\j2") + mkdir(f"{path}\\j3") for _reach in ['reach33', 'reach66', 'reach100']: for _load in [f'load{loadsel.removeprefix("tool")}']: for _speed in ['speed33', 'speed66', 'speed100']: dir_name = '_'.join([_reach, _load, _speed]) result_dirs.append(dir_name) - os.mkdir(f"{path}\\j1\\{dir_name}") - os.mkdir(f"{path}\\j2\\{dir_name}") + mkdir(f"{path}\\j1\\{dir_name}") + mkdir(f"{path}\\j2\\{dir_name}") if _reach == 'reach100': - os.mkdir(f"{path}\\j3\\{dir_name}") + mkdir(f"{path}\\j3\\{dir_name}") w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test') return config_file, reach33, reach66, reach100, prj_file, result_dirs @@ -120,6 +123,30 @@ def execution(cmd, hr, w2t, **kwargs): 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: + dict_results = data['data'] + # dict_results.reverse() + for item in dict_results: + item['value'].reverse() + if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback': + _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) + elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback': + _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']) + + 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) + _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) + + def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): _count = 0 for condition in result_dirs: @@ -128,16 +155,18 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): _speed = condition.split('_')[2].removeprefix('speed') for axis in range(1, 4): + _get_speed_max = 0 if axis == 3 and _reach != '100': continue for count in range(1, 4): _count += 1 - w2t(f"[{_count/64}]正在执行{axis}轴{condition}[{count}]的制动测试......", 0, 0, 'purple', 'Automatic Test') + w2t(f"[{_count}/64-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test') # 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=False, display_open=False) - md.trigger_estop() + md.set_stop0(1) md.reset_estop() + sleep(2) # 让曲线彻底关闭 _response = execution('state.switch_manual', hr, w2t) _response = execution('state.switch_motor_off', hr, w2t) @@ -160,14 +189,77 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): # 3. 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=['brake']) + _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related']) _response = execution('overview.get_cur_prj', hr, w2t) - _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake']) + _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) - # 4. 开始运行程序，每种情况运行15s - _response = execution('rl_task.run', hr, w2t, tasks=['brake']) + # 4. 第一次开始运行程序，运行两轮 + _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related']) + for i in range(3): + if md.read_ready_to_go() == 1: + md.write_act(True) + sleep(1) + md.write_act(False) + break + else: + sleep(1) + else: + 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') + + if _get_speed_max == 0: + # 5. 第一次打开诊断曲线，并执行采集 + _get_speed_max = 1 + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + display_pdo_params = [ + {"name": "hw_joint_vel_feedback", "channel": 0}, + {"name": "hw_joint_vel_feedback", "channel": 1}, + {"name": "hw_joint_vel_feedback", "channel": 2}, + {"name": "hw_joint_vel_feedback", "channel": 3}, + {"name": "hw_joint_vel_feedback", "channel": 4}, + {"name": "hw_joint_vel_feedback", "channel": 5}, + {"name": "device_servo_trq_feedback", "channel": 0}, + {"name": "device_servo_trq_feedback", "channel": 1}, + {"name": "device_servo_trq_feedback", "channel": 2}, + {"name": "device_servo_trq_feedback", "channel": 3}, + {"name": "device_servo_trq_feedback", "channel": 4}, + {"name": "device_servo_trq_feedback", "channel": 5}, + {"name": "device_safety_estop", "channel": 0}, + ] + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + sleep(8) # 前八秒获取实际最大速度 + + # 6. 关闭诊断曲线，并处理数据，找出最大速度 + _response = execution('rl_task.stop', hr, w2t, tasks=['brake']) + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + # 找出最大速度 + speed_max = 0 + for _msg in hr.c_msg: + if 'diagnosis.result' in _msg: + 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': + _ = abs(RADIAN*sum(item['value'])/len(item['value'])) + speed_max = max(_, speed_max) + wb = load_workbook(config_file, read_only=True) + ws = wb['Target'] + speed_target = float(ws.cell(row=3, column=axis+1).value) + if speed_max < speed_target*0.95: + w2t(f"Axis: {axis}-{count} | Speed: {speed_max*RADIAN} | Shouldbe: {speed_target}", 0, 0, 'indigo') + + # 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 + for _msg in hr.c_msg: + if 'diagnosis.result' in _msg: + _index = hr.c_msg.index(_msg) + del hr.c_msg[_index:] + hr.c_msg_xs.clear() + break + + _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']) for i in range(3): if md.read_ready_to_go() == 1: md.write_act(True) @@ -179,56 +271,69 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): else: 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') - # 5. 打开诊断曲线，并执行采集 _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) - display_pdo_params = [ - {"name": "hw_joint_vel_feedback", "channel": 0}, - {"name": "hw_joint_vel_feedback", "channel": 1}, - {"name": "hw_joint_vel_feedback", "channel": 2}, - {"name": "hw_joint_vel_feedback", "channel": 3}, - {"name": "hw_joint_vel_feedback", "channel": 4}, - {"name": "hw_joint_vel_feedback", "channel": 5}, - {"name": "device_servo_trq_feedback", "channel": 0}, - {"name": "device_servo_trq_feedback", "channel": 1}, - {"name": "device_servo_trq_feedback", "channel": 2}, - {"name": "device_servo_trq_feedback", "channel": 3}, - {"name": "device_servo_trq_feedback", "channel": 4}, - {"name": "device_servo_trq_feedback", "channel": 5}, - {"name": "device_safety_estop", "channel": 0}, - ] _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - sleep(15) + sleep(4) + _flg = 1 + _t_start = time() + while _flg: + sleep(0.05) + for _msg in hr.c_msg: + if 'diagnosis.result' in _msg: + if _flg == 0: + break + 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': + _ = abs(RADIAN*sum(item['value'])/len(item['value'])) + if abs(_-speed_max) < 5: + print(f"speed actual = {_}") + print(f"speed max = {speed_max}") + print(f"speed target = {speed_target*float(_speed)/100}") + print(f"abs minus = {abs(_-speed_max)}") + for _i in range(5): + # md.set_stop0(0) # 触发IO急停 + _response = execution('register.set_value', hr, w2t, name='stop0_signal', type='bool', bias=0, value=0) + sleep(0.02) + _flg = 0 + break + else: + if (time() - _t_start) // 60 > 1: + 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') + else: + break - # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式 - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - _response = execution('rl_task.stop', hr, w2t, tasks=['brake']) - _response = execution('state.switch_motor_off', hr, w2t) - _response = execution('state.switch_manual', hr, w2t) + # 8. 关闭诊断曲线，且换成手动模式 sleep(1) # 保证所有数据均已返回 + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + _response = execution('state.switch_manual', hr, w2t) - # 7. 保留数据并处理输出 + # 9. 保留数据并处理输出 curve_data = [] for _msg in hr.c_msg: if 'diagnosis.result' in _msg: curve_data.insert(0, loads(_msg)) else: - _index = 210 for _msg in hr.c_msg: if 'diagnosis.result' in _msg: _index = hr.c_msg.index(_msg) + del hr.c_msg[_index:] + hr.c_msg_xs.clear() break - del hr.c_msg[_index:] - hr.c_msg_xs.clear() - # gen_result_file(path, loadsel, disc, number, scenario_time) + 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', 'Automatic Test') def main(path, hr, md, loadsel, w2t): + _s_time = time() data_dirs, data_files = 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) run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t) + _e_time = time() + time_total = _e_time - _s_time + 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") if __name__ == '__main__': diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index 09e538b..8c81968 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -27,7 +27,7 @@ def traversal_files(path, w2t): 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(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') config_file = current_file = prj_file = None for data_file in data_files: @@ -118,9 +118,12 @@ 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 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': diff --git a/aio/code/automatic_test/openapi.py b/aio/code/automatic_test/openapi.py index 4ed67bf..020cabd 100644 --- a/aio/code/automatic_test/openapi.py +++ b/aio/code/automatic_test/openapi.py @@ -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