尝试在RL里判断最大速度，尝试失败

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):
@@ -163,14 +181,15 @@ 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.trigger_estop()
-                md.set_stop0(1)
                 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
+                if count == 1:
                     ssh = SSHClient()
                     ssh.set_missing_host_key_policy(AutoAddPolicy())
                     ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
@@ -187,15 +206,12 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                     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:
+                # 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
-                    # 5. 第一次打开诊断曲线，并执行采集
+                if count == 1:
-                    _get_speed_max = 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
+                    md.trigger_estop()
-                    _response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
                     _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']
@@ -244,11 +243,15 @@ 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)
+                    speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
-                    if speed_max < speed_target*0.95:
+                    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
+                    md.write_speed_max(speed_max)
+                    sleep(1)
+
                     for _msg in hr.c_msg:
                         if 'diagnosis.result' in _msg:
                             _index = hr.c_msg.index(_msg)
@@ -256,6 +259,10 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                             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)
@@ -273,42 +280,23 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
 
                 _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)
+                sleep(random.randint(2, 8))
-                _flg = 1
+                md.write_probe(True)
                 _t_start = time()
-                while _flg:
+                while True:
-                    sleep(0.05)
+                    if md.read_brake_done() == 1:
-                    for _msg in hr.c_msg:
+                        sleep(1)  # 保证所有数据均已返回
-                        if 'diagnosis.result' in _msg:
+                        md.write_probe(False)
-                            if _flg == 0:
+                        _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-                                break
+                        sleep(1)  # 保证所有数据均已返回
-                            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
+                            sleep(1)
 
-                # 8. 关闭诊断曲线，且换成手动模式
+                # 6. 保留数据并处理输出
-                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
                 curve_data = []
                 for _msg in hr.c_msg:
                     if 'diagnosis.result' in _msg:

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')