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charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 46 +- aio/assets/configs.xlsx | Bin 225074 -> 225318 bytes aio/assets/file_version_info.txt | 8 +- aio/assets/target_brake_current.zip | Bin 26247 -> 27698 bytes aio/assets/vers | 2 +- aio/assets/workflow/brake.excalidraw | 1063 +++++---- aio/assets/workflow/do_brake.excalidraw | 2584 +++++++++++++++++++++ aio/assets/workflow/do_current.excalidraw | 1666 +++++++++++++ aio/code/automatic_test/do_brake.py | 192 +- aio/code/automatic_test/do_current.py | 4 +- aio/code/data_process/current.py | 2 +- aio/code/openapi.py | 15 +- 12 files changed, 4976 insertions(+), 606 deletions(-) create mode 100644 aio/assets/workflow/do_brake.excalidraw create mode 100644 aio/assets/workflow/do_current.excalidraw diff --git a/aio/README.md b/aio/README.md index 42a9985..3919528 100644 --- a/aio/README.md +++ b/aio/README.md @@ -133,16 +133,18 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A > **需要注意的点** -1. 【重要】使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击，确保所有程序正常运行之后，导出工程，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 -7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页 -8. 注意观察二轴100%臂展时，是否可以获取到正确的数据 -9. 将autotest.xml导入到寄存器，并新建一个modbus，命名为autotest -10. 针对五轴机型，六轴数据可以填写1-5轴任意一轴的点位信息 +1. 修改该文件点位信息 +2. 修改“编程”→“工具列表”中的工具信息，制动只允许使用tool33/tool66/tool100/inertia这四个工具，不可重命名 +3. 除了调试行，其他行请勿修改，包括增加空行等，尤其是有特别注释的地方 +4. stop0_related半静态任务，需要注意DO0_0的命名，不同控制柜，可能不一样 +5. 需要导入 autotest.xml 寄存器文件，以及新建modbus总线设备，命名为autotest，其他默认即可 +6. 其他无需修改，如有其他需求，可联系fanmingfu@rokae.com沟通 +7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页，其中DO0_0视硬件情况，可能为其他名称 +8. 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 +9. 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 +10. 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 +11. 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 +12. 工程文件可以手动重命名，按照机型存档，或者导出用于自动化测试 #### 6) 电机电流自动化测试 @@ -153,7 +155,8 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A > **需要注意的点** -基本同第五点 +基本同第五点，针对五轴以及以下的机型，缺失轴数据可以填写其他有效轴任意一轴的点位信息 + #### 7) 耐久工程曲线指标采集 @@ -528,4 +531,23 @@ v0.2.0.1(2024/07/19) - 增加了数据计算错误的判断逻辑 - 增加了历史数据保存的逻辑 - 增加了文件读写互斥的逻辑 - - 修改功能为输出有效电流和最大电流，并将数据结构简化 \ No newline at end of file + - 修改功能为输出有效电流和最大电流，并将数据结构简化 + +v0.2.0.2(2024/07/26) +1. [main: current.py] + - 修正堵转电流无法正确写入结果文件的问题 +2. [main: do_brake.py] + - 初始速度采集等待时间设置为可通过configs.xlsx配置文件调整的 + - 初次速度采集停止逻辑修改为tasks.stop指令（未验证） + - 急停信号触发前，pending时间设置为固定值10s + - 实现正负方向速度采集逻辑 + - 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件 + - 增加超差后写诊断的逻辑，并可以通过configs.xlsx配置文件调整 + - 程序输出中增加时间戳，方便调试定位日志时间 +3. [main: do_current.py] + - 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件 +4. 为工程文件添加更详细的注释 +5. 补充了do_current/do_brake的流程图 +6. 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StringStruct('FileVersion', '0.2.0.0 (2024-07-17)'), + StringStruct('FileVersion', '0.2.0.2 (2024-07-26)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.2.0.0 (2024-07-17)')]) + StringStruct('ProductVersion', '0.2.0.2 (2024-07-26)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/target_brake_current.zip b/aio/assets/target_brake_current.zip index 7b11793a1e66ea427b34b81d35f9c1723fddae0c..7f9f06e57e1beb64d286caf013fe239d377acfe3 100644 GIT binary patch delta 16730 zcmeHubyQtTv**Fx-Q8V-OM+W)cXxsYKe+n=f(3W?;O;H~f`udy2p-&%IgsyuH@WlP zdh^!2`EPo$S95lE*Y2*auIlRgb@(Ji{RapXWqBxQYydm}0C2FqO+?{@dd!~lJ!O7N zj~Pe{;u8>@YmXyL7c;^F0JEq701mi;k*T|ly*Znyi;0~Dn}dmsBdddxd8d}cOI=y) 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0, 1, 'red', tab_name) else: dirs = [] files = [] @@ -29,8 +29,8 @@ def traversal_files(path, 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') + 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) + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name) config_file = reach33 = reach66 = reach100 = prj_file = None for data_file in data_files: @@ -46,8 +46,8 @@ def check_files(path, loadsel, data_dirs, data_files, w2t): elif filename.endswith('.zip'): prj_file = data_file 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, 2, 'red', tab_name='Automatic Test') + 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) + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name) if config_file and reach33 and reach66 and reach100 and prj_file: result_dirs = [] @@ -65,11 +65,11 @@ def check_files(path, loadsel, data_dirs, data_files, w2t): if _reach == 'reach100': 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') + w2t("数据目录合规性检查结束，未发现问题......", 0, 0, 'blue', tab_name) 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') + 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) + w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name) def prj_to_xcore(prj_file): @@ -90,9 +90,9 @@ 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 - _prj_name = prj_file.split('\\')[-1].removesuffix('.zip') + # _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' + cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -105,11 +105,11 @@ def execution(cmd, hr, w2t, **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') + w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name) else: _response = loads(_msg) if not _response: - w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') + w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name) return _response @@ -119,7 +119,6 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): _d2d_stop = {'device_safety_estop': []} for data in curve_data: dict_results = data['data'] - # dict_results.reverse() for item in dict_results: item['value'].reverse() if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback': @@ -137,9 +136,8 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): df.to_csv(_filename, sep='\t', index=False) -def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): +def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): _count = 0 - speed_max = 0 display_pdo_params = [ {"name": "hw_joint_vel_feedback", "channel": 0}, {"name": "hw_joint_vel_feedback", "channel": 1}, @@ -157,82 +155,94 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): ] wb = load_workbook(config_file, read_only=True) ws = wb['Target'] + write_diagnosis = float(ws.cell(row=3, column=10).value) + get_init_speed = float(ws.cell(row=4, column=10).value) if ws.cell(row=1, column=1).value == 'positive': - md.write_pon(True) + md.write_pon(1) elif ws.cell(row=1, column=1).value == 'negative': - md.write_pon(False) + md.write_pon(0) 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') + 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', tab_name) for condition in result_dirs: _reach = condition.split('_')[0].removeprefix('reach') _load = condition.split('_')[1].removeprefix('load') _speed = condition.split('_')[2].removeprefix('speed') - + # if _speed != '100' or _reach != '100': + # continue for axis in range(1, 4): md.write_axis(axis) speed_max = 0 if axis == 3 and _reach != '100': continue + + w2t(f"-"*90, 0, 0, 'purple', tab_name) + for count in range(1, 4): _count += 1 - w2t(f"[{_count}/63-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test') + this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time())) + prj_path = 'target/_build/target.prj' + w2t(f"[{this_time} | {_count}/63] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name) # 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 md.trigger_estop() md.reset_estop() - md.write_act(False) + md.clear_alarm() + md.write_act(0) + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置 _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 让曲线彻底关闭 - _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') - if ws.cell(row=1, column=1).value == 'positive': - _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)" - elif ws.cell(row=1, column=1).value == 'negative': - _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, 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; ' - cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; ' - cmd += '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，最后运行程序 - prj_path = 'target/_build/target.prj' - _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related']) - _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related']) - _response = execution('state.switch_auto', hr, w2t) - _response = execution('state.switch_motor_on', hr, w2t) - _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related']) - _t_start = time() - while True: - if md.read_ready_to_go() == 1: - md.write_act(True) - break + while count == 1: + # 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') + if ws.cell(row=1, column=1).value == 'positive': + _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)" + elif ws.cell(row=1, column=1).value == 'negative': + _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" else: - if (time() - _t_start) // 20 > 1: - w2t("20s内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') + 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', tab_name) + _rl_speed = f"VelSet {_speed}" + _rl_tool = f"tool p_tool = tool{loadsel.removeprefix('tool')}" + 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 += '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; ' + cmd += 'sudo sed -i "/tool p_tool/d" projects/target/_build/brake/main.mod; ' + cmd += f'sudo sed -i "/VelSet/i {_rl_tool}" 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，最后运行程序 + _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related']) + _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related']) + _response = execution('state.switch_auto', hr, w2t) + _response = execution('state.switch_motor_on', hr, w2t) + _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related']) + _t_start = time() + while True: + if md.read_ready_to_go() == 1: + md.write_act(True) + break else: - sleep(1) - # 4. 第一次打开诊断曲线，并执行采集8s，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录 - if count == 1: + if (time() - _t_start) // 20 > 1: + w2t("20s内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', tab_name) + else: + sleep(1) + # 4. 打开诊断曲线，并执行采集，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录 _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - sleep(10) # 前10秒获取实际最大速度 - - md.trigger_estop() + sleep(get_init_speed) # 获取实际最大速度，可通过configs.xlsx配置 + _response = execution('rl_task.stop', hr, w2t, tasks=['brake']) + sleep(1) + _response = execution('state.switch_motor_off', hr, w2t) + _response = execution('state.switch_manual', hr, w2t) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) # 找出最大速度 for _msg in hr.c_msg: @@ -240,11 +250,16 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): dict_results = loads(_msg)['data'] for item in dict_results: 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) + _ = RADIAN * sum(item['value']) / len(item['value']) + if ws.cell(row=1, column=1).value == 'positive': + speed_max = max(_, speed_max) + elif ws.cell(row=1, column=1).value == 'negative': + speed_max = min(_, speed_max) + print(f"speed max = {speed_max}") + speed_max = abs(speed_max) 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') + w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', tab_name) md.write_speed_max(speed_max) sleep(1) @@ -256,8 +271,17 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): hr.c_msg_xs.clear() break + if speed_max < 10: + md.clear_alarm() + w2t("未获取到正确的速度，即将重新获取...", 0, 0, 'red', tab_name) + continue + else: + break + # 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停 - md.reset_estop() + md.reset_estop() # 其实没必要 + md.clear_alarm() + _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related']) _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related']) _response = execution('state.switch_auto', hr, w2t) @@ -265,31 +289,29 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related']) for i in range(3): if md.read_ready_to_go() == 1: - md.write_act(True) + md.write_act(1) 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') + 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', tab_name) _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - sleep(randint(3, 6)) - md.write_probe(True) + sleep(10) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间 + md.write_probe(1) _t_start = time() while True: if md.read_brake_done() == 1: - sleep(1) # 保证所有数据均已返回 - md.write_probe(False) + sleep(1) # 保证速度归零 + md.write_probe(0) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 保证所有数据均已返回 break else: if (time() - _t_start) > 30: - w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题...", 0, 0, 'red', 'Automatic Test') - md.write_probe(False) + w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题，比如正负方向速度是否一致...", 0, 0, 'red', tab_name) + md.write_probe(0) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 保证所有数据均已返回 break else: sleep(1) @@ -308,7 +330,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): break gen_result_file(path, curve_data, axis, _reach, _load, _speed, count) 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') + 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', tab_name) def main(path, hr, md, loadsel, w2t): @@ -316,10 +338,10 @@ def main(path, hr, md, loadsel, w2t): data_dirs, data_files = traversal_files(path, 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) + run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t) _e_time = time() time_total = _e_time - _s_time - w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', 'Automatic Test') + w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', tab_name) if __name__ == '__main__': diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index 1dff222..d46e0e0 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -75,9 +75,9 @@ 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 - _prj_name = prj_file.split('\\')[-1].removesuffix('.zip') + # _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' + cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() diff --git a/aio/code/data_process/current.py b/aio/code/data_process/current.py index 52c65ea..78771f7 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -189,7 +189,7 @@ def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t): for axis, cur_value in avg.items(): try: shtname = f"J{axis}" - wb[shtname]["J4"].value = float(cur_value) + wb[shtname]["J4"].value = float(cur_value[0]) except: pass diff --git a/aio/code/openapi.py b/aio/code/openapi.py index 9da630e..fd86742 100644 --- a/aio/code/openapi.py +++ b/aio/code/openapi.py @@ -21,18 +21,27 @@ class ModbusRequest(object): self.tab_name = 'openapi' self.host = '192.168.0.160' self.port = 502 + self.interval = 0.3 self.c = ModbusTcpClient(self.host, self.port) self.c.connect() def motor_off(self): try: + self.c.write_register(40002, 0) + sleep(self.interval) self.c.write_register(40002, 1) + sleep(self.interval) + self.c.write_register(40002, 0) except Exception as Err: self.w2t(f"{Err}\n无法正常下电，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 motor_on(self): try: + self.c.write_register(40003, 0) + sleep(self.interval) self.c.write_register(40003, 1) + sleep(self.interval) + self.c.write_register(40003, 0) except Exception as Err: self.w2t(f"{Err}\n无法正常上电，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) @@ -45,11 +54,11 @@ class ModbusRequest(object): def reset_estop(self): try: self.c.write_register(40012, 1) - sleep(0.2) + sleep(self.interval) self.c.write_register(40001, 0) - sleep(0.2) + sleep(self.interval) self.c.write_register(40001, 1) - sleep(0.2) + sleep(self.interval) self.c.write_register(40001, 0) except Exception as Err: self.w2t(f"{Err}\n无法重置软急停，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)