v0.1.8.1(2024/07/05)

1. [APIs: do_brake.py]: 完成了制动性能测试框架的搭建，可以顺利执行完整的测试程序，但是未实现急停和数据处理
2. [APIs: aio.py]: 修改了do_brake主函数的参数
3. 增加工程文件target.zip

aio/README.md

@@ -424,3 +424,8 @@ v0.1.7.6(2024/07/04)
 v0.1.8.0(2024/07/04)
 1. [APIs: do_current.py]: 完成了堵转电流和惯量负载电机电流的采集和处理，至此，电机电流的自动化工作基本完成
 
+v0.1.8.1(2024/07/05)
+1. [APIs: do_brake.py]: 完成了制动性能测试框架的搭建，可以顺利执行完整的测试程序，但是未实现急停和数据处理
+2. [APIs: aio.py]: 修改了do_brake主函数的参数
+3. 增加工程文件target.zip
+

aio/code/aio.py

@@ -459,7 +459,7 @@ class App(customtkinter.CTk):
             func_dict[flag](path=args[0], w2t=self.write2textbox)
         elif flag == 5:
             self.pre_warning()
-            func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox)
+            func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox)
         elif flag == 6:
             self.pre_warning()
             func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox)

aio/code/automatic_test/do_brake.py

@@ -1,3 +1,4 @@
+import os
 from time import sleep
 from sys import argv
 from os import scandir
@@ -7,9 +8,6 @@ from json import loads
 
 
 def traversal_files(path, w2t):
-    # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
-    # 参数：路径
-    # 返回值：路径下的文件夹列表 路径下的文件列表
     if not exists(path):
         msg = f'数据文件夹{path}不存在，请确认后重试......'
         w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
@@ -25,7 +23,7 @@ def traversal_files(path, w2t):
         return dirs, files
 
 
-def check_files(data_dirs, data_files, w2t):
+def check_files(path, loadsel, data_dirs, data_files, w2t):
     if len(data_dirs) != 0 or len(data_files) != 5:
         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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
         w2t('   1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
@@ -48,8 +46,23 @@ def check_files(data_dirs, data_files, w2t):
             w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
 
     if config_file and reach33 and reach66 and reach100 and prj_file:
+        result_dirs = []
+        os.mkdir(f"{path}\\j1")
+        os.mkdir(f"{path}\\j2")
+        os.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}")
+                    os.mkdir(f"{path}\\j2\\{dir_name}")
+                    if _reach == 'reach100':
+                        os.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
+        return config_file, reach33, reach66, reach100, prj_file, result_dirs
     else:
         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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
         w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
@@ -60,14 +73,9 @@ def prj_to_xcore(prj_file):
     ssh.set_missing_host_key_policy(AutoAddPolicy())
     ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
     sftp = ssh.open_sftp()
-    # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
-    # ssh.exec_command('rm /tmp/target.zip')
     sftp.put(prj_file, '/tmp/target.zip')
-    cmd = 'cd /tmp; '
+    cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
-    cmd += 'rm -rf target/; '
+    cmd += 'chmod 777 -R target/; rm target.zip'
-    cmd += 'mkdir target; '
-    cmd += 'unzip -d target/ -q target.zip; '
-    cmd += 'rm target.zip; '
     ssh.exec_command(cmd)
 
     cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
@@ -78,20 +86,17 @@ def prj_to_xcore(prj_file):
     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
 
-    cmd = 'cd /home/luoshi/bin/controller/; sudo mv projects/target/_build/*.prj projects/target/_build/target.prj '
+    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
+    cmd = 'cd /home/luoshi/bin/controller/; '
+    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
     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
-
     ssh.close()
 
 
-def modify_prj():
-    pass
-
-
 def validate_resp(_id, response, w2t):
     match _id:
         case 'DATA ERR':
@@ -105,7 +110,7 @@ def validate_resp(_id, response, w2t):
 
 
 def execution(cmd, hr, w2t, **kwargs):
-    _id = hr.excution(cmd, **kwargs)
+    _id = hr.execution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
     if not _msg:
         w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
@@ -115,60 +120,115 @@ def execution(cmd, hr, w2t, **kwargs):
         return _response
 
 
-def run_rl(hr, w2t):
+def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
-    # prj_path = 'target/_build/target.prj'
+    _count = 0
-    # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
+    for condition in result_dirs:
-    # print(f"reload prj: {_response}")
+        _reach = condition.split('_')[0].removeprefix('reach')
-    # # _response = execution('overview.get_cur_prj', hr, w2t)
+        _load = condition.split('_')[1].removeprefix('load')
-    # # print(f"get cur prj name: {_response}")
+        _speed = condition.split('_')[2].removeprefix('speed')
-    # _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
-    # print(f"set pp2main of prj: {_response}")
-    #
-    # _response = execution('state.switch_auto', hr, w2t)
-    # _response = execution('state.switch_motor_on', hr, w2t)
-    #
-    # _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
-    # print(f"run prj: {_response}")
-    # sleep(10)
-    #
-    # _response = execution('state.switch_motor_off', hr, w2t)
-    # _response = execution('state.switch_manual', hr, w2t)
 
-    _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+        for axis in range(1, 4):
-    print(f"打开诊断: {_response}")
+            if axis == 3 and _reach != '100':
-    # _response = execution('diagnosis.get_params', hr, w2t)
+                continue
-    # print(f"显示诊断状态: {_response}")
+            for count in range(1, 4):
-    display_pdo_params = [
+                _count += 1
-        {"name": "device_servo_trq_feedback", "channel": 0}
+                w2t(f"[{_count/64}]正在执行{axis}轴{condition}[{count}]的制动测试......", 0, 0, 'purple', 'Automatic Test')
-    ]
-    _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-    print(f"执行采样: {_response}")
-    sleep(5)
 
-    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
+                # 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
-    print(f"关闭诊断: {_response}")
+                _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-    # sleep(1)
+                md.trigger_estop()
-    for _msg in hr.c_msg:
+                md.reset_estop()
-        if 'diagnosis.result' in _msg:
+                _response = execution('state.switch_manual', hr, w2t)
-            print(_msg)
+                _response = execution('state.switch_motor_off', hr, w2t)
-            # _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
 
+                # 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')
+                _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
+                _rl_speed = f"VelSet {_speed}"
+                cmd = 'cd /home/luoshi/bin/controller/; '
+                cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
+                cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; '
+                cmd += f'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
+                cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/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
 
+                # 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.get_cur_prj', hr, w2t)
+                _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake'])
+                _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
+                _response = execution('rl_task.run', hr, w2t, tasks=['brake'])
+                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')
+
+                # 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},
+                    {"name": "hw_joint_vel_feedback", "channel": 1},
+                    {"name": "hw_joint_vel_feedback", "channel": 2},
+                    {"name": "hw_joint_vel_feedback", "channel": 3},
+                    {"name": "hw_joint_vel_feedback", "channel": 4},
+                    {"name": "hw_joint_vel_feedback", "channel": 5},
+                    {"name": "device_servo_trq_feedback", "channel": 0},
+                    {"name": "device_servo_trq_feedback", "channel": 1},
+                    {"name": "device_servo_trq_feedback", "channel": 2},
+                    {"name": "device_servo_trq_feedback", "channel": 3},
+                    {"name": "device_servo_trq_feedback", "channel": 4},
+                    {"name": "device_servo_trq_feedback", "channel": 5},
+                    {"name": "device_safety_estop", "channel": 0},
+                ]
+                _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
+                sleep(15)
+
+                # 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=['brake'])
+                _response = execution('state.switch_motor_off', hr, w2t)
+                _response = execution('state.switch_manual', hr, w2t)
+                sleep(1)  # 保证所有数据均已返回
+
+                # 7. 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)
     else:
-        sleep(1)
+        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, loadsel, w2t):
+def main(path, hr, md, loadsel, w2t):
     data_dirs, data_files = traversal_files(path, w2t)
-    config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
+    config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
-    # prj_to_xcore(prj_file)
+    prj_to_xcore(prj_file)
-    run_rl(hr, w2t)
+    run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
 
 
 if __name__ == '__main__':