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v0.1.9.0(2024/07/10)

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1. 完成了制动性能的自动化采集
2. 完善了modbus浮点数读写相关的功能
3. 修改了target.zip工程，该工程目前适配电机电流和制动性能
This commit is contained in:
gitea 2024-07-10 19:18:53 +08:00
parent fa5a9f0f89
commit 40ddef1c39
6 changed files with 31 additions and 9 deletions
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19
aio/README.md
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@ -130,6 +130,15 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
2. excel 制动结果处理文件
3. excel configs.xlsx 配置文件
> **需要注意的点**
1. 使用之前需要手动修改点位信息，确保所有点位不会发生撞击之后，再进行自动化测试
2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为
3. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停，但不完全保证100%，大概有95%左右的准确度
4. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行
5. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察
6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停
#### 6) 电机电流自动化测试
只需要提前将如下文件放在指定路径下即可：
@ -137,6 +146,9 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
2. excel 电机电流结果处理文件，一份模板即可
3. excel configs.xlsx 配置文件
> **需要注意的点**
基本同第五点
#### 其他
customtkinter的tabview组件不支持修改字体大小，可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现：
@ -432,4 +444,9 @@ v0.1.8.1(2024/07/05)
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
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
v0.1.9.0(2024/07/10)
1. 完成了制动性能的自动化采集
2. 完善了modbus浮点数读写相关的功能
3. 修改了target.zip工程，该工程目前适配电机电流和制动性能

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aio/assets/configs.xlsx
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8
aio/assets/file_version_info.txt
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@ -6,8 +6,8 @@ VSVersionInfo(
ffi=FixedFileInfo(
# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
# Set not needed items to zero 0.
filevers=(0, 1, 8, 0),
prodvers=(0, 1, 8, 0),
filevers=(0, 1, 9, 0),
prodvers=(0, 1, 9, 0),
# Contains a bitmask that specifies the valid bits 'flags'r
mask=0x3f,
# Contains a bitmask that specifies the Boolean attributes of the file.
@ -31,12 +31,12 @@ VSVersionInfo(
'040904b0',
[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
StringStruct('FileDescription', 'All in one automatic toolbox'),
StringStruct('FileVersion', '0.1.8.0 (2024-07-04)'),
StringStruct('FileVersion', '0.1.9.0 (2024-07-10)'),
StringStruct('InternalName', 'AIO.exe'),
StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
StringStruct('OriginalFilename', 'AIO.exe'),
StringStruct('ProductName', 'AIO'),
StringStruct('ProductVersion', '0.1.8.0 (2024-07-04)')])
StringStruct('ProductVersion', '0.1.9.0 (2024-07-10)')])
]),
VarFileInfo([VarStruct('Translation', [1033, 1200])])
]

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aio/assets/target.zip
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2
aio/assets/vers
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@ -1 +1 @@
0.1.8.0 @ 07/04/2024
0.1.9.0 @ 07/10/2024

11
aio/code/automatic_test/do_brake.py
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@ -166,6 +166,8 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
{"name": "device_servo_trq_feedback", "channel": 5},
{"name": "device_safety_estop", "channel": 0},
]
wb = load_workbook(config_file, read_only=True)
ws = wb['Target']
for condition in result_dirs:
_reach = condition.split('_')[0].removeprefix('reach')
_load = condition.split('_')[1].removeprefix('load')
@ -193,7 +195,12 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
ssh = SSHClient()
ssh.set_missing_host_key_policy(AutoAddPolicy())
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
_rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
if ws.cell(row=1, column=1).value == 'positive':
_rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
elif ws.cell(row=1, column=1).value == 'negative':
_rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
else:
w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
_rl_speed = f"VelSet {_speed}"
cmd = 'cd /home/luoshi/bin/controller/; '
cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
@ -238,8 +245,6 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
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) * float(_speed) / 100
if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', 'Automatic Test')