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

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

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
+  }
+}

aio/code/automatic_test/do_brake.py

@@ -1,10 +1,13 @@
-import os
+from time import sleep, time
-from time import sleep
 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):
@@ -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")
+        mkdir(f"{path}\\j1")
-        os.mkdir(f"{path}\\j2")
+        mkdir(f"{path}\\j2")
-        os.mkdir(f"{path}\\j3")
+        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}")
+                    mkdir(f"{path}\\j1\\{dir_name}")
-                    os.mkdir(f"{path}\\j2\\{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 +189,14 @@ 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
+                # 4. 第一次开始运行程序，运行两轮
-                _response = execution('rl_task.run', hr, w2t, tasks=['brake'])
+                _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)
@@ -179,7 +208,9 @@ 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
+                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},
@@ -197,38 +228,112 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                         {"name": "device_safety_estop", "channel": 0},
                     ]
                     _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-                sleep(15)
+                    sleep(8)  # 前八秒获取实际最大速度
 
-                # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
+                    # 6. 关闭诊断曲线，并处理数据，找出最大速度
-                _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('diagnosis.open', hr, w2t, open=False, display_open=False)
-                _response = execution('state.switch_manual', hr, w2t)
+                    # 找出最大速度
-                sleep(1)  # 保证所有数据均已返回
+                    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. 保留数据并处理输出
+                # 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)
+                        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')
+
+                _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+                _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+                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
+
+                # 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)
+
+                # 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)
-                            break
                             del hr.c_msg[_index:]
                             hr.c_msg_xs.clear()
-                    # gen_result_file(path, loadsel, disc, number, scenario_time)
+                            break
+                    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__':

aio/code/automatic_test/do_current.py

@@ -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':

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)
-            # sleep(0.2)
+            self.c.write_register(40001, 0)
-            # self.c.write_register(40001, 1)
+            sleep(0.2)
-            # sleep(0.2)
+            self.c.write_register(40001, 1)
-            # self.c.write_register(40001, 0)
+            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