尝试在RL里判断最大速度，尝试失败

2024-07-10 14:32:50 +08:00
parent 2fbe500d1d
commit 9fa42fb3e1
2 changed files with 127 additions and 103 deletions
--- a/aio/code/automatic_test/do_brake.py
+++ b/aio/code/automatic_test/do_brake.py
@@ -1,3 +1,4 @@
+import random
 from time import sleep, time
 from sys import argv
 from os import scandir, mkdir
@@ -149,13 +150,30 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):

 def run_rl(path, loadsel, hr, md, config_file, prj_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},
+        {"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},
+    ]
    for condition in result_dirs:
        _reach = condition.split('_')[0].removeprefix('reach')
        _load = condition.split('_')[1].removeprefix('load')
        _speed = condition.split('_')[2].removeprefix('speed')

        for axis in range(1, 4):
-            _get_speed_max = 0
+            md.write_axis(axis)
+            speed_max = 0
            if axis == 3 and _reach != '100':
                continue
            for count in range(1, 4):
@@ -163,39 +181,37 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                w2t(f"[{_count}/64-{count}] 正在执行{axis}轴{condition}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)
-                md.set_stop0(1)
+                md.trigger_estop()
                md.reset_estop()
+                _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
                sleep(2)  # 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')
-                _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
+                if count == 1:
+                    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
+                # 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('overview.get_cur_prj', hr, w2t)
                _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)
-
-                # 4. 第一次开始运行程序，运行两轮
                _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
                for i in range(3):
                    if md.read_ready_to_go() == 1:
@@ -208,33 +224,16 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                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')

-                if _get_speed_max == 0:
-                    # 5. 第一次打开诊断曲线，并执行采集
-                    _get_speed_max = 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:
+                    sleep(4)  # 排除从零点位置到目标位置的干扰
                    _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(8)  # 前八秒获取实际最大速度

-                    # 6. 关闭诊断曲线，并处理数据，找出最大速度
-                    _response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
+                    md.trigger_estop()
                    _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
                    # 找出最大速度
-                    speed_max = 0
                    for _msg in hr.c_msg:
                        if 'diagnosis.result' in _msg:
                            dict_results = loads(_msg)['data']
@@ -244,71 +243,60 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                                    speed_max = max(_, speed_max)
                    wb = load_workbook(config_file, read_only=True)
                    ws = wb['Target']
-                    speed_target = float(ws.cell(row=3, column=axis+1).value)
-                    if speed_max < speed_target*0.95:
+                    speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
+                    print(f"speed target = {speed_target}")
+                    print(f"speed max = {speed_max}")
+                    if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
                        w2t(f"Axis: {axis}-{count} | Speed: {speed_max*RADIAN} | Shouldbe: {speed_target}", 0, 0, 'indigo')

-                # 7. 清零c_msg，重新运行程序，并打开曲线发送继续运动信号，开始运动，当速度达到最大值时，通过DO触发急停
-                for _msg in hr.c_msg:
-                    if 'diagnosis.result' in _msg:
-                        _index = hr.c_msg.index(_msg)
-                        del hr.c_msg[_index:]
-                        hr.c_msg_xs.clear()
-                        break
+                    md.write_speed_max(speed_max)
+                    sleep(1)

-                _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'])
-                for i in range(3):
-                    if md.read_ready_to_go() == 1:
-                        md.write_act(True)
-                        sleep(1)
-                        md.write_act(False)
-                        break
+                    for _msg in hr.c_msg:
+                        if 'diagnosis.result' in _msg:
+                            _index = hr.c_msg.index(_msg)
+                            del hr.c_msg[_index:]
+                            hr.c_msg_xs.clear()
+                            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
+                if count == 1:
+                    md.reset_estop()
+                    _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'])
+                    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:
-                        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', 'Automatic Test')

                _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(4)
-                _flg = 1
+                sleep(random.randint(2, 8))
+                md.write_probe(True)
                _t_start = time()
-                while _flg:
-                    sleep(0.05)
-                    for _msg in hr.c_msg:
-                        if 'diagnosis.result' in _msg:
-                            if _flg == 0:
-                                break
-                            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']))
-                                    if abs(_-speed_max) < 5:
-                                        print(f"speed actual = {_}")
-                                        print(f"speed max = {speed_max}")
-                                        print(f"speed target = {speed_target*float(_speed)/100}")
-                                        print(f"abs minus = {abs(_-speed_max)}")
-                                        for _i in range(5):
-                                            # md.set_stop0(0)  # 触发IO急停
-                                            _response = execution('register.set_value', hr, w2t, name='stop0_signal', type='bool', bias=0, value=0)
-                                            sleep(0.02)
-                                        _flg = 0
-                                        break
-                                    else:
-                                        if (time() - _t_start) // 60 > 1:
-                                            w2t(f"规定时间内未找到合适的点触发急停，需要确认RL/Python程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
-                                        else:
-                                            break
+                while True:
+                    if md.read_brake_done() == 1:
+                        sleep(1)  # 保证所有数据均已返回
+                        md.write_probe(False)
+                        _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) // 60 > 1:
+                            w2t(f"规定时间内未找到合适的点触发急停，需要确认RL/Python程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                        else:
+                            sleep(1)

-                # 8. 关闭诊断曲线，且换成手动模式
-                sleep(1)  # 保证所有数据均已返回
-                _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-                _response = execution('state.switch_manual', hr, w2t)
-
-                # 9. 保留数据并处理输出
+                # 6. 保留数据并处理输出
                curve_data = []
                for _msg in hr.c_msg:
                    if 'diagnosis.result' in _msg:
--- a/aio/code/automatic_test/openapi.py
+++ b/aio/code/automatic_test/openapi.py
@@ -5,7 +5,7 @@ import selectors
 from time import time, sleep
 from os.path import dirname
 from pymodbus.client.tcp import ModbusTcpClient
-from pymodbus.payload import BinaryPayloadDecoder
+from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
 from pymodbus.constants import Endian

 MAX_FRAME_SIZE = 1024
@@ -125,13 +125,48 @@ 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 set_stop0(self, number):
+    def write_stop0(self, number):
        try:
            self.c.write_register(41004, number)
        except Exception as Err:
            self.w2t(f"{Err}")
            self.w2t("无法通过IO操作stop0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)

+    def write_speed_max(self, speed):
+        try:
+            builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE)
+            builder.add_32bit_float(float(speed))
+            payload = builder.build()
+            self.c.write_registers(41005, payload, skip_encode=True)
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            self.w2t("无法写入速度值，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_brake_done(self):
+        try:
+            results = self.c.read_holding_registers(41007, 1)
+            return results.registers[0]
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            self.w2t("无法读取制动已执行信号，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 write_axis(self, axis):
+        try:
+            builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE)
+            builder.add_32bit_int(int(axis))
+            payload = builder.to_registers()
+            self.c.write_registers(41008, payload)
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            self.w2t("无法写入速度值，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 write_probe(self, probe):
+        try:
+            self.c.write_register(41010, probe)
+        except Exception as Err:
+            self.w2t(f"{Err}")
+            self.w2t("无法写入速度探测信号，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):
@@ -188,7 +223,8 @@ class HmiRequest(object):
                md.reset_estop()
                md.clear_alarm()
                md.write_act(False)
-                md.set_stop0(1)
+                md.write_probe(False)
+                md.write_axis(1)
            except Exception as Err:
                self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
                with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
@@ -233,7 +269,7 @@ class HmiRequest(object):
                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(2)
+            sleep(1.5)
            # 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')