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v0.2.0.2(2024/07/26)

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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. [main: openapi.py]
   - ½«modbus motor_on/offµÄµÏ·½·¨¸Äª¸ߵç³崥·¢
7. configs.xlsx配置表新增write_diagnosis/get_init_speed两个参数
This commit is contained in:
gitea
2024-07-26 13:24:44 +08:00
parent 8b49d3b6e4
commit 82ae2681bb
12 changed files with 4976 additions and 606 deletions
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192
aio/code/automatic_test/do_brake.py
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@ -1,5 +1,4 @@
from random import randint
from time import sleep, time
from time import sleep, time, strftime, localtime
from sys import argv
from os import scandir, mkdir
from os.path import exists
@ -9,12 +8,13 @@ from openpyxl import load_workbook
import pandas
RADIAN = 57.3 # 180 / 3.1415926
tab_name = 'Automatic Test'
def traversal_files(path, w2t):
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')
w2t(msg, 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__':