From 40ddef1c395cbbcd41c051afd91015bff8786858 Mon Sep 17 00:00:00 2001 From: gitea Date: Wed, 10 Jul 2024 19:18:53 +0800 Subject: [PATCH] =?UTF-8?q?v0.1.9.0(2024/07/10)=201.=20=E5=AE=8C=E6=88=90?= =?UTF-8?q?=E4=BA=86=E5=88=B6=E5=8A=A8=E6=80=A7=E8=83=BD=E7=9A=84=E8=87=AA?= =?UTF-8?q?=E5=8A=A8=E5=8C=96=E9=87=87=E9=9B=86=202.=20=E5=AE=8C=E5=96=84?= =?UTF-8?q?=E4=BA=86modbus=E6=B5=AE=E7=82=B9=E6=95=B0=E8=AF=BB=E5=86=99?= =?UTF-8?q?=E7=9B=B8=E5=85=B3=E7=9A=84=E5=8A=9F=E8=83=BD=203.=20=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E4=BA=86target.zip=E5=B7=A5=E7=A8=8B=EF=BC=8C?= =?UTF-8?q?=E8=AF=A5=E5=B7=A5=E7=A8=8B=E7=9B=AE=E5=89=8D=E9=80=82=E9=85=8D?= =?UTF-8?q?=E7=94=B5=E6=9C=BA=E7=94=B5=E6=B5=81=E5=92=8C=E5=88=B6=E5=8A=A8?= =?UTF-8?q?=E6=80=A7=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 19 ++++++++++++++++++- aio/assets/configs.xlsx | Bin 14863 -> 14951 bytes aio/assets/file_version_info.txt | 8 ++++---- aio/assets/target.zip | Bin 26259 -> 26139 bytes aio/assets/vers | 2 +- aio/code/automatic_test/do_brake.py | 11 ++++++++--- 6 files changed, 31 insertions(+), 9 deletions(-) diff --git a/aio/README.md b/aio/README.md index 8dbfe66..9c35038 100644 --- a/aio/README.md +++ b/aio/README.md @@ -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 \ No newline at end of file +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 \ No newline at end of file diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index c8ae10d9848320456d57723ea35373093ff2e608..5b781c66c0a622e446727227c7a959e78939d002 100644 GIT binary patch delta 7876 zcmZ{pWmFwY)`oEj?gTkF3GVKGAh-kw?(VLKB)G%D-3jjQ1b5fq4mr34|8npB*4(+X zX8K3}=z6x)Ufpk3?TT?daILO{hNtapSCgu%gO-QJV`~YgqoXqmtd-@b1VBp#D|O0T zz}I2JHbTSm#~rCeg2&-#KspX9K*E8G$HZF!@(q^adRZcx5;5wKwtPNr+oT;zmesAuOA>CZ&Zx-p?vCfE6r`vfN?&m^OK;P&^ zwQta6i|!_}ayQQs)l_deEZ5M^<1btx+_ zxrPmk7T7Ra=1>&^66xzkbaFP}Syi~o7h3ZdmvVV~;3*g#6XMH%VC2Ii8lNE zBgTL_`bXP{LU~X^M0(S9$&!6P(51%qMF5RI8CG$Es`Ty=G!1c2ESR^{D8E{?yHdA* zT`NyZM%)2UuV(K}GjUI{L}?X~4MG@`_dZ6F`^UHww|GZQGrz8{1C(SY?FX7PM`CnG zMH-FY8W8835zF4ObMOsbi5g!*M7JA>f%5qRm(peJ#|D=V$G6`_Z`^!Ni@h3=hd!Kp z8YB+JX=NFMdbgvf{ImC+<#K~=865_B$fWuyk{zm+*M3U(btDY>@sYk?Pos?dbhx^6 z?SDxdujh^zp%#>K+hSa#Dd@%`Y&R(rZ7t3iisnSl-1qfYEEKjlB@k7XoR0dWKu;3K ziETntl6m!WJ59s~a&&<~zQr9~SDLF^Yuyti;mnw1wX*VYB4aVzP*^7lKwk)4EGD*? zF%U+UB9;Er!gdEoLW61C&AgW$GylC~(!047OcY}Yl2DWja$)L#z*r<~32fk-VfE=t z+-wmEFS&)QpOV8k;7mj!xQ+XtiC_jKa)j`%7KsxzunH16y%$GDv8m9cVuGNG$$w2* zO=?ulogWtT2;M}bfV&j95(T#*Qi4(s$3tN3^pxt~(adBqZHq(bB}Vb z^~Tg~4$8Di!{{e)&l_^)XruQ=4d6rUQ=kH&#y+ZPoNc^>vn*iv9ehD7Zk(~IxSVXN zw0Cc92%(%7gbAFBOo>1rjQz1K3QYQj4D^oiF)}xB{w4oI^Pl0jH@ZapkZXY4!xSyl zF}q+GRbV)fjgF$QK%Pp-XxR&urre!cua~q0Ie#SMGvoi5)Geh1a+#1^vZIW3?>BY} z^8Y>|?5r-(>}*5jovRQX@}29wwR!yiaQG`T%RbuPZW^4%S~}KwjNSS_3g0z5J3d{( z!+|Fsw!M88O~@-cM4iEk)DDBKCGpX&PC|EhoD?-;fp`KXh3<9t;` z-^gOo(b5zoBv=)^W7Mh64V+G6>cdaSer1`SrBMX`w`x0sCJNDbX?$07TvoK5hq5Ey zS7q@$de<{87`OGhG7^Ox*E=!i{m9`Z?IVS4}UDFO)LSiS4nEc|V&HW5p zW3zRgv6lB^!e#yC=9h@_2Us{F#cN*JF};qZDNX^ zLzy&Y@EOC62>EFYo8op~+{HB8=!{&2tNP7O+Gax(OgRd#;)|cf+eiw)~L~c?rFf3d))Z8jPr2ImkMEsKtvV5x`wcg2ztsmoFb3eVF><^MH z5UjN~$`tZrP|n%ylC_VZL>=Vzxb92;>Sa`UOCJhdomwmrm`8wrtdlV zq#?C_`0=bwyRrR^@t$@j~yet7L6Nch3EDp=hk!lgym zJXuX(^rR<9Bj=n=S4v51EhU}FJ&Wn#8rssGs07vaFQ@rw8<^~bCM#W47iL|G zojmJ`kUE#;{??~5(30EWkioe4s~l)HIa}R{*S%WZ$mrNb6Tjg>s-pxOLGooLADF*RY!G z&4%y$zUP>_%F3){52d@E^G@vVB{c;p)&^P}P3dm=EP!$!kO|x6po^gsRyMm!P4Hw4 zt4GVUzr=-Kb|dsE!+Fja)6hD%$H^v|ITKlMpRUsxJ)EXsb9f*_Ql+?ae|{OTW!p*} zPC256+?-3187chiN#~`E&Dx-riQb+jf({dx8W;FR6@_=bXUO&JePc(6i!p#E$?FXq zJTiRzmpPbdke61+?07z*coYf?YM57o*8bl{`{N46m!)DgCjMe$`F-q4pL57_MO9-z zb+dInMS9^1><@EwNezGZOb`7xn=N;Nj?4G%W8l?ke43AY|28sCHM?u})p$^_Ma^Et zIJH<*IaZk*L{qU9rE-eN^kM*^i))0<@t zdD7G1N;9b~Cn4GIsW!5ZN!+NuSYb<_56?w|SBQ8($gJ04dx6#hVepU+3Tyi$6KOaq zWUBbMIa+({rM04oz>w=P;G@%Xr zm6pYx)3`$N>^oE;TQtVPK7lA*J*2Qtvqx&LluvmAOISxBfRU!0m}bVLX!~Mo+skM7 zut5q_jB(n5W=O+5;y-1ICG#^^Dm)YvD_97h2n@o+0R^-KmB*8iR#wc($!M@lGCFZv zQWSLC-#$G?Lt>XqlJrVgT6{M=Qyc^v5gj@^8=@}c9&=9>b--HDR#R&8kdxWjg{PCr zrw^t?-?g%C&1N$X7oNlruTD-6vbmEhL4fFlXarAQG@UEn=mW%6Kq-~oXwUJ)HQZS4 z$*OZ8sOuRll;QK~^ggGtMsE-q(paukbbdYs8j$heox@XTJ1#6NR^dIeQj5lXbu6F! zz6-H?r2{>7wg)WG0qFYFS$RNxi`zCQrDwsXte-R%S1394_Ez*6_*dmzIKkzOKeG)c z47xAg_6aR02)%4N7Y7`A-u;%P@=>qq(pfIh8#*ylvspH;w*!?5qcxl!#KN!}K0Zy$ zi?LGNH_}QNI#^zNA0t&5n{kb1!9xxUX?g`L8)Bgz)8~RcPHtVR!0ViKm;} z;P(Z!-Y5H*b@debUD3T}Jsq?wcHRwS0Y;L|bc6SW-Ui~Ui`2CvX(8-3@2o0>YV3zlM^>y zyT=ld2ycC_M>vb7SvS=rC`5&EJ8yC~J+?|t==P@~o>m>R!cOv~(k>_<`y$HH1z=-cLj9Jt6`@1kuYg2FIQ5#L`+nhSja4HU7T zNQaJ_a(8FBq|RsQ4A}zLr%^wcNOMSNjN5Q+)Kp`}3k~+9B_Fw_P9z=qrZTS=CJvjo zCF}2@Y6Rg>GvU*UdwpXtD4I3n*D1O(YxPY2m=IDo@-{pHhx4FU^1TO>I#$>iHVQ1-XnL7FlZwcW6h7~40&mR`^fETaD-n14sEReJlY+F?SA&^3fGN;9q|0r?eT1~JljF{kiqNyp3vY5pH_dB?Xxpq zHSAPF-VOh`kONKUJiXld1-+oy*+uKuV<*Z%58V)6#myYwVln|k_qQF5-Ox5`al@9w9Cq=@*0p?Z@b zOV`pFKw5!q>V!sGj)uy&`dwWW#Z3hpY5tHn_c^RSO=61mCSP39yz|Pvyuvto!5S^d zsDi;QbT&h~3H;%GP%i`MWgfMPM?;hOt&^Q(NgO$>Llmm2 zEx7`CX;qkgC=R+u>LWRi$SA8?g5rkqz3O2sSbq_5!+aq8>jPU`q&c6B1x;F z4Rca2#)?bNEiHj^MR3v&;dcd~BdLED!AI}3Dg2w60GowzI{J*yI%_;;WC2mU6|j;b zDDr(xkK2;2ElH9Kwhb_k;;+1r+Tz;w4Eks*XZoThTYU4nlAqQ5h$4dln`5r!c;&tN zy5KMo6Oa95@t8HF#ek;+tV&}#T^Qz`dpn|#O5$RXSi7D*lEAK8NTtUe**{hLZE=$( zEdmr&JHhY8B{@jJVTT*DgWwQ^>3Ud_C^?)2;k?az_z9zDI2{Agjyuu{W%Q<5UVnN- zmmQ@I3Fj7Nae7*Jq9H@@BrJepbQ=oxUX z=9#1Etyb07iP-u-ZC&)PB-<-lIeZQ&(pi1%6cKK=*94s&E}sr}2)Sm>E@BGbuIrH7omqnTyVNMhTJD?sl1G_V$3>d~411tvO%{IsOB z>_uaU6afWEB9rnx6se`*xMZ#-dW8PV+=3cbh_`PBZhxJqr
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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])]) ] diff --git a/aio/assets/target.zip b/aio/assets/target.zip index d7aea5ac501ba3a02b102e0f48150355659c9f92..651d577bb36baeb507b96914b35e0c138c559be4 100644 GIT binary patch delta 1640 zcmZWp3pA8l6h8l$$#^q)KQd9$)%BRr#2Ake;~A1-yoQ-E$rR$Ey4OXyiaa`93Q4Iv zdU;(|ai_dVr98tGrJ|5kDV5^>ziz8_SO34x{?^|6tbNYj>pLI3i{#xwB;A}u@bZ8N z00@l9lH71A<2Le1%;u3Moc6G6_2k*PKx8EjQ#){wg-JF*ucuGmito|I|_Z3obXe zh4a9X29C}|*PVD_e(FSB&WK{H(5c?8IHcg0FT5g&kYAVZLAObr`lpghtvn##zbbF^N zk438RGg*4ASGz_3IIv(o<&)FF7)~CKJ~N@~tLb~wu}r%91=SvucnWXQQzvq^wv5{w z#rFx35ZtB~e13Z7p^dxXQZF?Q5(0 z_Vp<`UGymMe=FnWBue}~+A4YF85trrZuy^Oq@b9tX1t4ZBU#pN-r_KOBsbS*w_jbv zGr3&r60Zuz@2w|W>sT-MO7XSS8V}aDarjB@wJBDC9HY>MZ2{g_L??tg4bwM%DlMlb zs?VDAKaCqF3CBDdvKBtl7ZXQkSoGU zW>TE*97(@UQ4x#`ipoaJI@Z&?k7hh}9`ZTgC^-@G+){HQk}|j7o~nDqvu+mrq{O@pNn`1J1fwy8%=DLlR_Qz!naV`QF0 zWX20Fr6%EcnQhwnJ)}=@@=CtzqnCI&^~47&tX0_pRaH{QWN&h8!k0GN;>(o@athCC zDfz9>N#Y|{!;1QFs$S2JS6rEUw0Q4Te_8*QHxDbv!uuvRiw}qlOl77^iR5|_!OZ*l zfsiksDe<36LarS%7;_%GaWb=qhIjCMT6t~sdMLuh<@3}@)g3!rx18yE^m4w~#7{b- 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z>yHVlPK(n+jq4xVTNGBC6@n2?Ns-p#lwUGz%lq?#8a}LjF%~jJFXP1aQjo#ppX+tp zs!CGL`3^BryC%5%*`PA*eoLqP5n&uBvr3pot@YbHv$|DWNEqrL-qNX5;yoAl9F99l zxbWwWrt>{6;uVtRC20!%dtHx@NXKg2CRMujv-0wEa$7vg&j(!G-I5)(a@OBX3lC(r z+Xe@CO!iQ}+l6y1@N=e9jAOtFxUNN8sdepOo5f@G~gh_Tm1XpdQiD(P}v!x#6DDoP(_Lc1PGak z(JZiExB#vJ_k|32H6V)U+L^N<2=MskAXG$#eL=d&1LlBQ(L6-y074u{AUp^U$YQeg zAxE^XD98#-olBhbqpvqe7Bk>S;EH$w+zdXWwj8)h7HB7Wpygi#mSCTR3@3p~iMhqk z-o=kb)!?m!Z6RkuP?#blCTv}#DBK}FBHWJ)BV;Y?kAs8IVLg)>}3A{i!t5y diff --git a/aio/assets/vers b/aio/assets/vers index e3c9505..47cff81 100644 --- a/aio/assets/vers +++ b/aio/assets/vers @@ -1 +1 @@ -0.1.8.0 @ 07/04/2024 \ No newline at end of file +0.1.9.0 @ 07/10/2024 \ 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 926df32..6b94f6b 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -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')