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v0.1.8.1(2024/07/05)

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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
This commit is contained in:
gitea
2024-07-05 15:41:12 +08:00
parent fc56d81e9c
commit 7b25b91c37
4 changed files with 131 additions and 66 deletions
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5
aio/README.md
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@@ -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

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aio/assets/target.zip Normal file
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2
aio/code/aio.py
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@@ -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)

186
aio/code/automatic_test/do_brake.py
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@@ -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 += 'rm -rf target/; '
cmd += 'mkdir target; '
cmd += 'unzip -d target/ -q target.zip; '
cmd += 'rm target.zip; '
cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
cmd += 'chmod 777 -R target/; 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):
# prj_path = 'target/_build/target.prj'
# _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
# print(f"reload prj: {_response}")
# # _response = execution('overview.get_cur_prj', hr, w2t)
# # print(f"get cur prj name: {_response}")
# _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)
def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
_count = 0
for condition in result_dirs:
_reach = condition.split('_')[0].removeprefix('reach')
_load = condition.split('_')[1].removeprefix('load')
_speed = condition.split('_')[2].removeprefix('speed')
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
print(f"打开诊断: {_response}")
# _response = execution('diagnosis.get_params', hr, w2t)
# print(f"显示诊断状态: {_response}")
display_pdo_params = [
{"name": "device_servo_trq_feedback", "channel": 0}
]
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
print(f"执行采样: {_response}")
sleep(5)
for axis in range(1, 4):
if axis == 3 and _reach != '100':
continue
for count in range(1, 4):
_count += 1
w2t(f"[{_count/64}]正在执行{axis}轴{condition}[{count}]的制动测试......", 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，切手动模式并下电
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
print(f"关闭诊断: {_response}")
# sleep(1)
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
md.trigger_estop()
md.reset_estop()
_response = execution('state.switch_manual', hr, w2t)
_response = execution('state.switch_motor_off', hr, w2t)
# 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:
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)
# prj_to_xcore(prj_file)
run_rl(hr, w2t)
config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
prj_to_xcore(prj_file)
run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
if __name__ == '__main__':