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v0.2.0.0(2024/07/17)

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1. [profile: aio.py]
   - 增加velocity相关逻辑
   - 修改负载信息为曲线信息
2. [profile: factory_test.py]
   - 增加velocity相关逻辑
3. [profile: current.py]
   - 修正减速比获取的规则
4. [profile: openapi.py]
   - HmiRequest模块：日志取消记录move.monitor相关
   - HmiRequest模块：增加了durable_lock变量，控制文件读写互斥
This commit is contained in:
gitea
2024-07-17 14:17:00 +08:00
parent da5ddcea0a
commit 3010cb8931
9 changed files with 100 additions and 40 deletions
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47
aio/code/durable_action/factory_test.py
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@ -43,6 +43,8 @@ durable_data_velocity = {
'axis5': [0 for _ in range(25)],
'axis6': [0 for _ in range(25)],
}
data_all = [durable_data_current, durable_data_velocity]
def traversal_files(path, w2t):
if not exists(path):
@ -118,6 +120,7 @@ def execution(cmd, hr, w2t, **kwargs):
def run_rl(path, config_file, hr, md, w2t):
# 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)
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
md.trigger_estop()
md.reset_estop()
md.write_act(False)
@ -170,9 +173,7 @@ def run_rl(path, config_file, hr, md, w2t):
_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
sleep(1) # 保证所有数据均已返回
# 7. 保留数据并处理输出
data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t)
df = pd.DataFrame(data)
df.to_excel(durable_data_current_xlsx, index=False)
get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
# 8. 继续运行
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
@ -185,9 +186,7 @@ def run_rl(path, config_file, hr, md, w2t):
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
# 7. 保留数据并处理输出
data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t)
df = pd.DataFrame(data)
df.to_excel(durable_data_current_xlsx, index=False)
get_durable_data(path, config_file, data_all, scenario_time, hr, w2t)
def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
@ -218,19 +217,49 @@ def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [],
'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 item in line['data']:
for i in range(6):
item['value'].reverse()
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'])
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:
_df = pd.DataFrame(_d2d_trq)
for i in range(6):
_ = sqrt(_df[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}']))
del data[f"axis{i + 1}"][0]
data[f"axis{i + 1}"].append(_)
del data[0][f"axis{i + 1}"][0]
data[0][f"axis{i + 1}"].append(_)
_df = pd.DataFrame(data[0])
while True:
if not hr.durable_lock:
hr.durable_lock = 1
_df.to_excel(durable_data_current_xlsx, index=False)
hr.durable_lock = 0
break
else:
sleep(1)
_df = pd.DataFrame(_d2d_vel)
for i in range(6):
_ = sqrt(_df[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}']))
del data[1][f"axis{i + 1}"][0]
data[1][f"axis{i + 1}"].append(_)
_df = pd.DataFrame(data[1])
while True:
if not hr.durable_lock:
hr.durable_lock = 1
_df.to_excel(durable_data_velocity_xlsx, index=False)
hr.durable_lock = 0
break
else:
sleep(1)
break
else:
with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj:
@ -238,8 +267,6 @@ def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
f_obj.write(f"{_}\n")
w2t("采集的数据时间长度不够，需要确认。", 0, 2, 'red', tab_name)
return data
def main(path, hr, md, w2t):
data_dirs, data_files = traversal_files(path, w2t)