v0.1.7.5(2024/07/03)
1. [APIs: aio.py] - 增加触发急停和恢复急停功能逻辑 2. [APIs: do_current.py] - 重新调整运行顺序，增加数据处理的逻辑（惯量负载逻辑暂不实现，等待软件部解决了修改工程之后不生效的问题再考虑） 3. [APIs: btn_functions.py] - 增加触发急停和恢复急停的modbus实现，仅适用于自动化测试 v0.1.7.6(2024/07/04) 1. [APIs: aio.py] - Automatic Test逻辑中增加选择current时，需要选负载类型的逻辑 2. [APIs: do_current.py] - 单轴/场景电机电流的采集已完成 3. [APIs: openapi.py] - 增加了modbus读取浮点数的功能 - 优化了get_from_id的逻辑 4. [autotest.xml]: 新增了scenario_time只写寄存器
This commit is contained in:
parent
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commit
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@ -402,3 +402,22 @@ v0.1.7.4(2024/07/02)
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3[APIs: aio.py]
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- 引入modbus实例化，并以参数的形式，传递给相应的tabview
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- 新增pre_warning函数，在做自动化测试之前，确保所有条件皆具备
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v0.1.7.5(2024/07/03)
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1. [APIs: aio.py]
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- 增加触发急停和恢复急停功能逻辑
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2. [APIs: do_current.py]
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- 重新调整运行顺序，增加数据处理的逻辑（惯量负载逻辑暂不实现，等待软件部解决了修改工程之后不生效的问题再考虑）
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3. [APIs: btn_functions.py]
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- 增加触发急停和恢复急停的modbus实现，仅适用于自动化测试
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v0.1.7.6(2024/07/04)
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1. [APIs: aio.py]
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- Automatic Test逻辑中增加选择current时，需要选负载类型的逻辑
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2. [APIs: do_current.py]
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- 单轴/场景电机电流的采集已完成
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3. [APIs: openapi.py]
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- 增加了modbus读取浮点数的功能
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- 优化了get_from_id的逻辑
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4. [autotest.xml]: 新增了scenario_time只写寄存器
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@ -891,35 +891,56 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value="robot to pc"/>
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<c name="description" type="10" value="pc to robot"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="41000"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="act"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="41001"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value="robot to pc"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="41001"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="ready_to_go"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rdwr"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="41001"/>
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<c name="addr" type="2" value="41002"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value="pc to robot"/>
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<c name="description" type="10" value="robot to pc"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="41001"/>
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<c name="end_addr" type="2" value="41003"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="act"/>
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<c name="name" type="10" value="scenario_time"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="int16"/>
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<c name="rw" type="10" value="rdwr"/>
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<c name="type" type="10" value="float"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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@ -116,7 +116,7 @@ class App(customtkinter.CTk):
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# create buttons
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self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), dynamic_resizing=False, font=customtkinter.CTkFont(size=16, weight='bold'), command=lambda value='机器状态': self.thread_it(self.segmented_button_callback))
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self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew")
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self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "停止运动", "继续运动", "零点位姿", "机器状态", "告警信息"])
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self.seg_button.configure(dynamic_resizing=False, values=["功能切换", "触发急停", "恢复急停", "待定功能", "功能待定", "机器状态", "告警信息"])
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self.seg_button.set("功能切换")
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# create progress bar
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self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
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@ -132,7 +132,7 @@ class App(customtkinter.CTk):
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widgits_at[widgit]['entry'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=5, sticky='we')
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widgits_at[widgit]['entry'].configure(state='disabled')
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elif widgit in ['loadsel', ]:
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widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100"], width=self.w_param, font=self.my_font)
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widgits_at[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Automatic Test'), button_color='#708090', fg_color='#778899', values=["tool33", "tool66", "tool100", "inertia"], width=self.w_param, font=self.my_font)
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widgits_at[widgit]['optionmenu'].grid(row=widgits_at[widgit]['row'], column=widgits_at[widgit]['col'], padx=5, pady=5, sticky='we')
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widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
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widgits_at[widgit]['optionmenu'].configure(state='disabled')
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@ -161,7 +161,7 @@ class App(customtkinter.CTk):
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self.myThread.start()
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def segmented_button_callback(self):
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_btn_funcs = {'get_state': '机器状态', 'warning_info': '告警信息', '3': '4', '5': '6', '7': '8'}
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_btn_funcs = {'trigger_estop': '触发急停', 'reset_estop': '恢复急停', 'get_state': '机器状态', 'warning_info': '告警信息'}
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value = self.seg_button.get()
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self.seg_button.configure(state='disabled')
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@ -175,7 +175,7 @@ class App(customtkinter.CTk):
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else:
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for _func in _btn_funcs:
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if _btn_funcs[_func] == value:
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btn_functions.main(self.hr, _func, self.write2textbox)
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btn_functions.main(self.hr, self.md_at, _func, self.write2textbox)
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break
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self.seg_button.configure(state='normal')
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@ -196,7 +196,7 @@ class App(customtkinter.CTk):
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if c_state == '0':
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# self.textbox.delete(index1='1.0', index2='end')
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self.hr.t_bool = False
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sleep(4)
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sleep(3)
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del self.hr
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self.hr = openapi.HmiRequest(self.write2textbox)
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sleep(3)
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@ -288,7 +288,7 @@ class App(customtkinter.CTk):
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widgits_at[widgit]['entry'].configure(state='normal')
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elif widgit in ['loadsel', ]:
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widgits_at[widgit]['optionmenu'].set(widgits_at[widgit]['text'])
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widgits_at[widgit]['optionmenu'].configure(text_color='black', state='disabled')
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widgits_at[widgit]['optionmenu'].configure(state='normal', text_color='red')
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else:
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self.initialization()
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self.menu_main_at.set("Start Here!")
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@ -434,8 +434,11 @@ class App(customtkinter.CTk):
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return 0, 0
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elif func_name == 'current':
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path = widgits_at['path']['entry'].get().strip()
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if exists(path):
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return 6, path
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loadsel = widgits_at['loadsel']['optionmenu'].get()
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c1 = exists(path)
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c2 = loadsel in ['tool100', 'inertia']
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if c1 and c2:
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return 6, path, loadsel
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else:
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return 0, 0
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else:
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@ -459,7 +462,7 @@ class App(customtkinter.CTk):
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func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox)
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elif flag == 6:
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self.pre_warning()
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func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, w2t=self.write2textbox)
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func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox)
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else:
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tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
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@ -1,4 +1,4 @@
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import json
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from json import loads
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from sys import argv
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@ -20,11 +20,21 @@ def execution(cmd, hr, w2t, **kwargs):
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
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else:
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_response = json.loads(_msg)
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_response = loads(_msg)
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validate_resp(_id, _response, w2t)
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return _response
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def trigger_estop(md, w2t):
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md.trigger_estop()
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w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
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def reset_estop(md, w2t):
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md.reset_estop()
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w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
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def get_state(hr, w2t):
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# 获取机器状态
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_response = execution('state.get_state', hr, w2t)
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@ -48,17 +58,21 @@ def get_state(hr, w2t):
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def warning_info(hr, w2t):
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for msg in hr.c_msg:
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if 'alarm' in msg.lower():
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w2t(msg, tab_name='Automatic Test')
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w2t(str(loads(msg)), tab_name='Automatic Test')
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for msg in hr.c_msg_xs:
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if 'alarm' in msg.lower():
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w2t(msg, tab_name='Automatic Test')
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w2t(str(loads(msg)), tab_name='Automatic Test')
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def main(hr, func, w2t):
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def main(hr, md, func, w2t):
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if hr is None:
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w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test')
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# func: get_state/
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match func:
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case 'trigger_estop':
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trigger_estop(md, w2t)
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case 'reset_estop':
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reset_estop(md, w2t)
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case 'get_state':
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get_state(hr, w2t)
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case 'warning_info':
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@ -68,21 +82,3 @@ def main(hr, func, w2t):
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if __name__ == '__main__':
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main(*argv[1:])
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# 一、设置/检测机器人状态：
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# 1. 上电
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# 2. 软限位打开
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# 3. 示教器断开
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# 4. 操作模式/机器人类型
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# 5. 控制器状态/工作任务控件/机器人动态
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# 二、加载RL程序开始运行
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# 1. 怎么触发急停
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# 2. 怎么恢复急停
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# 3. 怎么采集曲线
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# 4.
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# 三、运行过程中，收集数据，并处理出结果
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# 四
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@ -1,9 +1,11 @@
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from time import sleep
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import os
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from time import sleep, time
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from sys import argv
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from os import scandir
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from os.path import exists
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from paramiko import SSHClient, AutoAddPolicy
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from json import loads
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import pandas
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def traversal_files(path, w2t):
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@ -22,7 +24,7 @@ def traversal_files(path, w2t):
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return dirs, files
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def check_files(data_dirs, data_files, w2t):
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def check_files(path, data_dirs, data_files, w2t):
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if len(data_dirs) != 0 or len(data_files) != 3:
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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')
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w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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@ -42,6 +44,12 @@ def check_files(data_dirs, data_files, w2t):
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if config_file and current_file and prj_file:
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w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
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os.mkdir(f"{path}\\single")
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os.mkdir(f"{path}\\s_1")
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os.mkdir(f"{path}\\s_2")
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os.mkdir(f"{path}\\s_3")
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os.mkdir(f"{path}\\inertia")
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os.mkdir(f"{path}\\hold")
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return config_file, current_file, prj_file
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else:
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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')
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@ -56,11 +64,8 @@ def prj_to_xcore(prj_file):
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# stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
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# ssh.exec_command('rm /tmp/target.zip')
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sftp.put(prj_file, '/tmp/target.zip')
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cmd = 'cd /tmp; '
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cmd += 'rm -rf target/; '
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cmd += 'mkdir target; '
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cmd += 'unzip -d target/ -q target.zip; '
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cmd += 'rm target.zip; '
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cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
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cmd += 'chmod 777 -R target/; rm target.zip'
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ssh.exec_command(cmd)
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cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
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@ -72,8 +77,8 @@ def prj_to_xcore(prj_file):
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print(stderr.read().decode()) # 顺便也执行以下stderr
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_prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
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cmd = f'cd /home/luoshi/bin/controller/; '
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cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj '
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cmd = 'cd /home/luoshi/bin/controller/; '
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cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
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stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
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stdin.write('luoshi2019' + '\n')
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stdin.flush()
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@ -98,15 +103,125 @@ def execution(cmd, hr, w2t, **kwargs):
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_id = hr.execution(cmd, **kwargs)
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 0, 'red', tab_name='Automatic Test')
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w2t(f"无法获取{_id}请求的响应信息", 0, 7, 'red', tab_name='Automatic Test')
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else:
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_response = loads(_msg)
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validate_resp(_id, _response, w2t)
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return _response
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def run_rl(hr, md, w2t):
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# need to run
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def data_proc(path, filename, channel):
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if channel in list(range(6)):
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with open(filename, 'r', encoding='utf-8') as f_obj:
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lines = f_obj.readlines()
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_d2d_vel = {'hw_joint_vel_feedback': []}
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_d2d_trq = {'device_servo_trq_feedback': []}
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for line in lines:
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data = eval(line.strip())['data']
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for item in data:
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||||
if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
|
||||
|
||||
df1 = pandas.DataFrame.from_dict(_d2d_vel)
|
||||
df2 = pandas.DataFrame.from_dict(_d2d_trq)
|
||||
df = pandas.concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\single\\j{channel+1}_single.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
elif channel in list(range(6, 9)):
|
||||
with open(filename, 'r', encoding='utf-8') as f_obj:
|
||||
lines = f_obj.readlines()
|
||||
_d2d_vel_0 = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq_0 = {'device_servo_trq_feedback': []}
|
||||
_d2d_vel_1 = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq_1 = {'device_servo_trq_feedback': []}
|
||||
_d2d_vel_2 = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq_2 = {'device_servo_trq_feedback': []}
|
||||
_d2d_vel_3 = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq_3 = {'device_servo_trq_feedback': []}
|
||||
_d2d_vel_4 = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq_4 = {'device_servo_trq_feedback': []}
|
||||
_d2d_vel_5 = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq_5 = {'device_servo_trq_feedback': []}
|
||||
for line in lines:
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
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':
|
||||
_d2d_trq_0['device_servo_trq_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel_1['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq_1['device_servo_trq_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel_2['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq_2['device_servo_trq_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel_3['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq_3['device_servo_trq_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel_4['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq_4['device_servo_trq_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel_5['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_0)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_0)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j1_s_1.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_1)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_1)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j2_s_1.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_2)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_2)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j3_s_1.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_3)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_3)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j4_s_1.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_4)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_4)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j5_s_1.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_5)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_5)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j6_s_1.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
|
||||
def gen_result_file(path, loadsel, disc, number):
|
||||
filename = path + f'\\data.txt'
|
||||
with open(filename, 'w', encoding='utf-8') as f_obj:
|
||||
for line in disc[number][1]:
|
||||
f_obj.write(str(line)+'\n')
|
||||
|
||||
if loadsel == 'tool100':
|
||||
data_proc(path, filename, number)
|
||||
elif loadsel == 'inertia':
|
||||
data_proc(path, filename, 'all')
|
||||
|
||||
|
||||
def regular_load(path, hr, md, loadsel, w2t):
|
||||
conditions = [
|
||||
" scenario(0, j1_p, j1_n, p_speed, p_tool)",
|
||||
" scenario(0, j2_p, j2_n, p_speed, p_tool)",
|
||||
@ -118,45 +233,44 @@ def run_rl(hr, md, w2t):
|
||||
" scenario(2, j5_p, j5_n, p_speed, p_tool)",
|
||||
" scenario(3, j5_p, j5_n, p_speed, p_tool)",
|
||||
]
|
||||
|
||||
for condition in conditions:
|
||||
disc = {0: '一轴', 1: '二轴', 2: '三轴', 3: '四轴', 4: '五轴', 5: '六轴', 6: '场景一', 7: '场景二', 8: '场景三'}
|
||||
disc = {
|
||||
0: ['一轴', []], 1: ['二轴', []], 2: ['三轴', []], 3: ['四轴', []], 4: ['五轴', []], 5: ['六轴', []],
|
||||
6: ['场景一', []], 7: ['场景二', []], 8: ['场景三', []]
|
||||
}
|
||||
number = conditions.index(condition)
|
||||
w2t(f"正在执行{disc[number]}测试......", 0, 0, 'purple', 'Automatic Test')
|
||||
w2t(f"正在执行{disc[number][0]}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
|
||||
# 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.reset_estop()
|
||||
_response = execution('state.switch_manual', hr, w2t)
|
||||
_response = execution('state.switch_motor_off', hr, w2t)
|
||||
|
||||
# 3. 修改未要执行的场景
|
||||
# 2. 修改未要执行的场景
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
cmd = f'cd /home/luoshi/bin/controller/; '
|
||||
cmd += f'sudo sed -i "/scenario/d" projects/target/current/main.mod; '
|
||||
cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/current/main.mod; '
|
||||
cmd = 'cd /home/luoshi/bin/controller/; '
|
||||
cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; '
|
||||
cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdin.flush()
|
||||
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
|
||||
print(stderr.read().decode()) # 顺便也执行以下stderr
|
||||
|
||||
# 4. reload工程后，pp2main
|
||||
# 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=['current'])
|
||||
_response = execution('overview.get_cur_prj', hr, w2t)
|
||||
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
|
||||
print(f"set pp2main of prj: {_response}")
|
||||
|
||||
# 5. 切换自动并上电
|
||||
_response = execution('state.switch_auto', hr, w2t)
|
||||
_response = execution('state.switch_motor_on', hr, w2t)
|
||||
|
||||
# 6. 开始运行程序，单轴运行15s
|
||||
# 4. 开始运行程序，单轴运行15s
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
|
||||
print(f"run prj: {_response}")
|
||||
for i in range(3):
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(True)
|
||||
@ -165,10 +279,10 @@ def run_rl(hr, md, w2t):
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
continue
|
||||
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')
|
||||
# 7. 打开诊断曲线，并执行采集
|
||||
|
||||
# 5. 打开诊断曲线，并执行采集
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
display_pdo_params = [
|
||||
{"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
@ -186,32 +300,62 @@ def run_rl(hr, md, w2t):
|
||||
{"name": "device_safety_estop", "channel": 0},
|
||||
]
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
sleep(8)
|
||||
# 8. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
|
||||
if number < 6:
|
||||
sleep(15)
|
||||
else:
|
||||
_t_start = time()
|
||||
while True:
|
||||
scenario_time = md.read_scenario_time()
|
||||
if float(scenario_time) > 1:
|
||||
w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', 'Automatic Test')
|
||||
break
|
||||
else:
|
||||
if (time()-_t_start)//60 > 3:
|
||||
w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
|
||||
else:
|
||||
sleep(5)
|
||||
sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
|
||||
sleep(float(md.read_scenario_time())*0.2) # 再运行周期的20%即可
|
||||
|
||||
# 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
|
||||
_response = execution('state.switch_motor_off', hr, w2t)
|
||||
_response = execution('state.switch_manual', hr, w2t)
|
||||
sleep(1)
|
||||
# 9. 处理数据并输出文件
|
||||
# for _msg in hr.c_msg:
|
||||
# if 'diagnosis.result' in _msg:
|
||||
# print(_msg)
|
||||
# _msg = json.loads(_msg)
|
||||
# if 'channel' in _msg and 'name' in _msg:
|
||||
# if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
|
||||
# print(f"diagnosis.result: {_msg}")
|
||||
# count += 1
|
||||
# if count * 50 > 5 * 1000:
|
||||
# break
|
||||
sleep(2) # 保证所有数据均已返回
|
||||
# 7. 保留数据并处理输出
|
||||
for _msg in hr.c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
disc[number][1].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-10:]
|
||||
hr.c_msg_xs.clear()
|
||||
gen_result_file(path, loadsel, disc, number)
|
||||
else:
|
||||
w2t("满载情况下，单轴和场景电机电流采集完毕。", 0, 0, 'green', 'Automatic Test')
|
||||
|
||||
|
||||
def main(path, hr, md, w2t):
|
||||
def inertia_load(path, hr, md, loadsel, w2t):
|
||||
pass
|
||||
|
||||
|
||||
def run_rl(path, hr, md, loadsel, w2t):
|
||||
if loadsel == 'tool100':
|
||||
regular_load(path, hr, md, loadsel, w2t)
|
||||
elif loadsel == 'inertia':
|
||||
inertia_load(path, hr, md, loadsel, w2t)
|
||||
|
||||
|
||||
def main(path, hr, md, loadsel, w2t):
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t)
|
||||
config_file, current_file, prj_file = check_files(path, data_dirs, data_files, w2t)
|
||||
prj_to_xcore(prj_file)
|
||||
run_rl(hr, md, w2t)
|
||||
run_rl(path, hr, md, loadsel, w2t)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
@ -4,8 +4,9 @@ from threading import Thread
|
||||
import selectors
|
||||
from time import time, sleep
|
||||
from os.path import dirname
|
||||
from binascii import b2a_hex, a2b_hex
|
||||
from pymodbus.client.tcp import ModbusTcpClient
|
||||
from pymodbus.payload import BinaryPayloadDecoder
|
||||
from pymodbus.constants import Endian
|
||||
|
||||
MAX_FRAME_SIZE = 1024
|
||||
setdefaulttimeout(2)
|
||||
@ -113,6 +114,16 @@ 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 read_scenario_time(self):
|
||||
try:
|
||||
results = self.c.read_holding_registers(41002, 2)
|
||||
result = BinaryPayloadDecoder.fromRegisters(results.registers, byteorder=Endian.BIG, wordorder=Endian.LITTLE)
|
||||
result = f"{result.decode_32bit_float():.3f}"
|
||||
return result
|
||||
except Exception as Err:
|
||||
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)
|
||||
|
||||
|
||||
class HmiRequest(object):
|
||||
def __init__(self, w2t):
|
||||
@ -185,10 +196,10 @@ class HmiRequest(object):
|
||||
return index + 8, _frame_size, _pkg_size
|
||||
else:
|
||||
print(data)
|
||||
print(f"index = {index}")
|
||||
print(f"reserve = {_reserved}")
|
||||
print(f"protocol = {_protocol}")
|
||||
print("head check 数据有误，需要确认")
|
||||
# print(f"index = {index}")
|
||||
# print(f"reserve = {_reserved}")
|
||||
# print(f"protocol = {_protocol}")
|
||||
# print("head check 数据有误，需要确认")
|
||||
self.w2t("Header Check: 解包数据有误，需要确认！", 0, 1, 'red', tab_name=self.tab_name)
|
||||
else:
|
||||
self.half_length = len(data) - index
|
||||
@ -208,12 +219,12 @@ class HmiRequest(object):
|
||||
_flag = '0' if self.get_from_id(_id) is None else '1'
|
||||
print(f"hb = {_flag}", end=' ')
|
||||
print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
|
||||
print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end=' ')
|
||||
print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
|
||||
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write(_flag)
|
||||
if _flag == '0':
|
||||
self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
|
||||
sleep(1)
|
||||
sleep(2)
|
||||
# with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
|
||||
# for msg in self.c_msg:
|
||||
# f.write(str(loads(msg)) + '\n')
|
||||
@ -457,8 +468,8 @@ class HmiRequest(object):
|
||||
self.flag_xs = 1
|
||||
|
||||
def get_from_id(self, msg_id, flag=0):
|
||||
messages = self.c_msg if flag == 0 else self.c_msg_xs
|
||||
for i in range(3):
|
||||
messages = self.c_msg if flag == 0 else self.c_msg_xs
|
||||
for msg in messages:
|
||||
if msg_id is None:
|
||||
return None
|
||||
@ -552,7 +563,7 @@ class HmiRequest(object):
|
||||
pass
|
||||
|
||||
req['id'] = self.gen_id(command)
|
||||
print(f"req = {req}")
|
||||
# print(f"req = {req}")
|
||||
cmd = dumps(req, separators=(',', ':'))
|
||||
try:
|
||||
self.c.send(self.package(cmd))
|
||||
|
||||
Reference in New Issue
Block a user