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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
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:
gitea
2024-07-08 19:50:21 +08:00
parent 7b25b91c37
commit 2fbe500d1d
5 changed files with 189 additions and 49 deletions
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8
aio/code/automatic_test/do_current.py
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@ -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':