From b01f8dc19cfd9b4c9d567eee4d6efe0d0e70c22f Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 27 Jul 2024 21:31:09 +0800 Subject: [PATCH] =?UTF-8?q?v0.2.0.3(2024/07/27)=201.=20[APIs:=20do=5Fbrake?= =?UTF-8?q?.py]:=20=E7=B2=BE=E7=AE=80=E7=A8=8B=E5=BA=8F=EF=BC=8C=E8=A7=A3?= =?UTF-8?q?=E5=86=B3=20OOM=20=E9=97=AE=E9=A2=98=202.=20[APIs:=20do=5Fcurre?= =?UTF-8?q?nt.py]:=20=E7=B2=BE=E7=AE=80=E7=A8=8B=E5=BA=8F=EF=BC=8C?= =?UTF-8?q?=E8=A7=A3=E5=86=B3=20OOM=20=E9=97=AE=E9=A2=98=203.=20[APIs:=20f?= =?UTF-8?q?actory=5Ftest.py]:=20=E7=B2=BE=E7=AE=80=E7=A8=8B=E5=BA=8F?= =?UTF-8?q?=EF=BC=8C=E8=A7=A3=E5=86=B3=20OOM=20=E9=97=AE=E9=A2=98=204.=20[?= =?UTF-8?q?APIsL=20openapi.py]=20=20=20=20-=20=E5=BF=83=E8=B7=B3=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E4=B8=BA=201=20s=EF=BC=8C=E5=9B=A0=E4=B8=BA=20OOM=20?= =?UTF-8?q?=E9=97=AE=E9=A2=98=E7=9A=84=E8=A7=A3=E5=86=B3=E4=BE=9D=E8=B5=96?= =?UTF-8?q?=E4=BA=8E=E9=95=BF=E4=B9=85=E7=9A=84=E6=89=93=E5=BC=80=E6=9B=B2?= =?UTF-8?q?=E7=BA=BF=E5=BC=80=E5=85=B3=EF=BC=8C=E6=AD=A4=E6=97=B6=E5=AF=B9?= =?UTF-8?q?=E4=BA=8E=20hr.c=5Fmsg=20=E7=9A=84=E5=AE=9A=E6=97=B6=E6=B8=85?= =?UTF-8?q?=E7=90=86=E6=98=AF=E4=B8=AA=E6=8C=91=E6=88=98=EF=BC=8C=E5=B0=86?= =?UTF-8?q?=E5=BF=83=E8=B7=B3=E7=BC=A9=E7=9F=AD=EF=BC=8C=E6=9C=89=E5=88=A9?= =?UTF-8?q?=E4=BA=8E=E6=B8=85=E7=90=86=E6=97=A5=E5=BF=97=E5=90=8E=EF=BC=8C?= =?UTF-8?q?=E9=81=BF=E5=85=8D=E4=B8=A2=E5=A4=B1=E5=BF=83=E8=B7=B3=20=20=20?= =?UTF-8?q?=20-=20=E6=96=B0=E5=A2=9E=20diagnosis.save=20=E5=91=BD=E4=BB=A4?= =?UTF-8?q?=EF=BC=8C=E4=BD=86=E6=98=AF=E6=89=A7=E8=A1=8C=E6=97=B6=EF=BC=8C?= =?UTF-8?q?=E6=9C=89=E9=97=AE=E9=A2=98=EF=BC=8C=E5=BE=85=E8=A7=A3=E5=86=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 10 +- aio/assets/configs.xlsx | Bin 225318 -> 226625 bytes aio/assets/file_version_info.txt | 8 +- aio/assets/target_brake_current.zip | Bin 27698 -> 27713 bytes aio/assets/target_durable.zip | Bin 19562 -> 19875 bytes aio/assets/templates/heartbeat | 2 +- aio/assets/templates/json/diagnosis.open.json | 4 +- aio/code/aio.py | 2 +- aio/code/automatic_test/do_brake.py | 50 ++++----- aio/code/automatic_test/do_current.py | 96 +++++++++--------- aio/code/durable_action/factory_test.py | 30 ++---- aio/code/openapi.py | 12 ++- 12 files changed, 101 insertions(+), 113 deletions(-) diff --git a/aio/README.md b/aio/README.md index 3919528..0bf3d67 100644 --- a/aio/README.md +++ b/aio/README.md @@ -550,4 +550,12 @@ v0.2.0.2(2024/07/26) 5. 补充了do_current/do_brake的流程图 6. [main: openapi.py] - 将modbus motor_on/off的实现方法改为高电平脉冲触发 -7. configs.xlsx配置表新增write_diagnosis/get_init_speed两个参数 \ No newline at end of file +7. configs.xlsx配置表新增write_diagnosis/get_init_speed两个参数 + +v0.2.0.3(2024/07/27) +1. [APIs: do_brake.py]: 精简程序，解决 OOM 问题 +2. [APIs: do_current.py]: 精简程序，解决 OOM 问题 +3. [APIs: factory_test.py]: 精简程序，解决 OOM 问题 +4. [APIsL openapi.py] + - 心跳修改为 1 s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳 + - 新增 diagnosis.save 命令，但是执行时，有问题，待解决 \ No newline at end of file diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index 8cb640c66f9c4683c6eb9dc28e66e6ddfd5fcc3b..c35dab9d5040a37a0945b415e3a87e9516f78df3 100644 GIT binary patch delta 12703 zcmZ8n1yo$g(gp^1cb5c*;O-8=NpN=!4nZy+2(E*>1$TD{F2OChL(t&*limNkef#d5 z>A9z?s;j!IyQixAD_lqEK17M(L_k29p?wbt0r5Fjhy=h7z6o&0uW?Y*!JuQO3;0S@ z9X{zZ`Zx`19vAb7TF%h!hgU^}2jf5ve`uC|_-=GmBt!1w$!gY(hc_B#l({D^wqeE$ zJ*C$QDS`+>h74!epqcj)FSWmT1!krd3`R;I6;(qkR#Z8cp-KRfcd!#i3S}xqfuaJ% zUd55!P6nX9oSr9q9CXN$2o+V|G$cxKeDfI&+Z>+WKi_07INypG_jYYcBK+%w-goCM ze=QGFg*PzLopBlRM)lKluy5HRwPcpfJz(1ig?Fd;aB+DUMY0?G;~RZ_v!LgHifRzW z2Ivgo+~3pB5!a7Lh>r||clMSy9}al)R~=TZ7o!Xt>VH}U@~wY2ucEi)X{(mSmmlrY z%QvxiL^{hx(PigoLK#1_*IH%yfHqP&AAND&j?y9(MZrxVyU zzNTAfSC!1g}e~R1eTZlt}u16WtLRzo$9Vul_N;j0*sjv5J^&xmgskZ z-dX!9Bkut&Kj|QaYN!e5-^h(!3zrfuVu-6$V@2hBe(U)3%GvF`R&kqT<#44xvp{+l 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z+QxZkF91YF_=O**gnOOv`@vdJ(*`Yhn>{PaEBr@lw!3mMM*x6x^ILiZH-|xn{X4}2 K07GmY0Q?6#pDauO diff --git a/aio/assets/templates/heartbeat b/aio/assets/templates/heartbeat index c227083..56a6051 100644 --- a/aio/assets/templates/heartbeat +++ b/aio/assets/templates/heartbeat @@ -1 +1 @@ -0 \ No newline at end of file +1 \ No newline at end of file diff --git a/aio/assets/templates/json/diagnosis.open.json b/aio/assets/templates/json/diagnosis.open.json index 915ff6a..7fe21c2 100644 --- a/aio/assets/templates/json/diagnosis.open.json +++ b/aio/assets/templates/json/diagnosis.open.json @@ -5,8 +5,8 @@ "data": { "open": false, "display_open": false, - "overrun": true, - "turn_area": true, + "overrun": false, + "turn_area": false, "delay_motion": false } } \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 71d38ea..e90793b 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -105,7 +105,7 @@ class App(customtkinter.CTk): btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback)) btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback)) # create version info - self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.2\nDate: 07/26/2024", font=self.my_font, text_color="#4F4F4F") + self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.3\nDate: 07/27/2024", font=self.my_font, text_color="#4F4F4F") self.frame_func.rowconfigure(6, weight=1) self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s') # ===================================================================== diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 28469e7..33868d5 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -90,9 +90,8 @@ 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') cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' + cmd += '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() @@ -120,13 +119,18 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): for data in curve_data: dict_results = data['data'] for item in dict_results: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback': _d2d_trq['device_servo_trq_feedback'].extend(item['value']) elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop': _d2d_stop['device_safety_estop'].extend(item['value']) + if len(_d2d_trq['device_servo_trq_feedback']) / 1000 > 10: + break df1 = pandas.DataFrame.from_dict(_d2d_vel) df2 = pandas.DataFrame.from_dict(_d2d_trq) @@ -164,6 +168,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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', 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) for condition in result_dirs: _reach = condition.split('_')[0].removeprefix('reach') _load = condition.split('_')[1].removeprefix('load') @@ -189,9 +195,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): md.reset_estop() 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) while count == 1: # 2. 修改未要执行的场景 @@ -236,16 +240,12 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): 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(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) + # sleep(1) # 找出最大速度 - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: dict_results = loads(_msg)['data'] for item in dict_results: @@ -262,14 +262,10 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', tab_name) 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) - del hr.c_msg[_index:] - hr.c_msg_xs.clear() - break + hr.c_msg_xs.clear() + if len(hr.c_msg) > 240: + del hr.c_msg[240:] if speed_max < 10: md.clear_alarm() @@ -296,8 +292,6 @@ def run_rl(path, loadsel, hr, md, config_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', 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(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() @@ -305,29 +299,25 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): if md.read_brake_done() == 1: sleep(1) # 保证速度归零 md.write_probe(0) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) 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，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) break else: sleep(1) # 6. 保留数据并处理输出 curve_data = [] - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: curve_data.insert(0, loads(_msg)) else: - 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 + hr.c_msg_xs.clear() + if len(hr.c_msg) > 240: + del hr.c_msg[240:] 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', tab_name) diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index d46e0e0..b47a77d 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -7,6 +7,20 @@ from paramiko import SSHClient, AutoAddPolicy from json import loads import pandas +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}, +] def traversal_files(path, w2t): if not exists(path): @@ -75,9 +89,8 @@ 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') cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj' + cmd += '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() @@ -107,7 +120,10 @@ def data_proc_regular(path, filename, channel, scenario_time): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback': @@ -136,7 +152,10 @@ def data_proc_regular(path, filename, channel, scenario_time): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback': @@ -205,7 +224,10 @@ def data_proc_regular(path, filename, channel, scenario_time): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback': @@ -226,7 +248,10 @@ def data_proc_inertia(path, filename, channel): for line in lines: data = eval(line.strip())['data'] for item in data: - item['value'].reverse() + try: + item['value'].reverse() + except KeyError: + continue if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback': _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback': @@ -287,20 +312,19 @@ def run_rl(path, hr, md, loadsel, w2t): conditions = c_inertia disc = disc_inertia + # preparation 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 + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) + # _response = execution('diagnosis.save', hr, w2t, save=True) # 这条命令有问题 + md.trigger_estop() + md.reset_estop() + for condition in conditions: number = conditions.index(condition) w2t(f"正在执行{disc[number][0]}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.reset_estop() + # 1. 将act重置为False，并修改未要执行的场景 md.write_act(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') @@ -313,15 +337,14 @@ def run_rl(path, hr, md, loadsel, 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 + # 2. 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=['current']) - _response = execution('overview.get_cur_prj', hr, w2t) _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current']) _response = execution('state.switch_auto', hr, w2t) _response = execution('state.switch_motor_on', hr, w2t) - # 4. 开始运行程序，单轴运行15s + # 3. 开始运行程序，单轴运行35s _response = execution('rl_task.run', hr, w2t, tasks=['current']) _t_start = time() while True: @@ -334,25 +357,8 @@ def run_rl(path, hr, md, loadsel, w2t): else: sleep(1) - # 5. 打开诊断曲线，并执行采集 + # 4. 打开诊断曲线，并执行采集 sleep(10) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定 - _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) scenario_time = 0 if number < 6: sleep(35) @@ -374,24 +380,16 @@ def run_rl(path, hr, md, loadsel, w2t): scenario_time = md.read_scenario_time() sleep(float(scenario_time)*0.2) # 再运行周期的20%即可 - # 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) + # 5.停止程序运行，保留数据并处理输出 _response = execution('rl_task.stop', hr, w2t, tasks=['current']) - _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 - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: disc[number][1].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() + if len(hr.c_msg) > 240: + del hr.c_msg[240:] gen_result_file(path, loadsel, disc, number, scenario_time) else: if loadsel == 'tool100': diff --git a/aio/code/durable_action/factory_test.py b/aio/code/durable_action/factory_test.py index c596ad5..094b416 100644 --- a/aio/code/durable_action/factory_test.py +++ b/aio/code/durable_action/factory_test.py @@ -81,9 +81,8 @@ 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') cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj' + cmd += '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() @@ -106,7 +105,8 @@ def execution(cmd, hr, w2t, **kwargs): def run_rl(path, config_file, data_all, hr, md, w2t): # 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) + _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) + _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) md.trigger_estop() md.reset_estop() md.write_act(False) @@ -115,7 +115,6 @@ def run_rl(path, config_file, data_all, hr, md, w2t): # 2. 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=['current']) - _response = execution('overview.get_cur_prj', hr, w2t) _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current']) _response = execution('state.switch_auto', hr, w2t) _response = execution('state.switch_motor_on', hr, w2t) @@ -134,8 +133,7 @@ def run_rl(path, config_file, data_all, hr, md, w2t): sleep(1) # 4. 获取初始数据，周期时间，首次的各轴平均电流值，打开诊断曲线，并执行采集 - _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(20) # 初始化 scenario time 为 0 _t_start = time() while True: scenario_time = md.read_scenario_time() @@ -162,36 +160,26 @@ def run_rl(path, config_file, data_all, hr, md, w2t): for i in range(6): rcs.append(float(_ws.cell(row=6, column=i + 2).value)) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(1) # 保证所有数据均已返回 get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t) # 7. 继续运行 while True: # 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线 - sleep(wait_time) - _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(scenario_time+5) - _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) - sleep(2) + sleep(wait_time+scenario_time+7) # 保留数据并处理输出 get_durable_data(path, data_all, scenario_time, wait_time, rcs, hr, md, w2t) def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t): _data_list = [] - for _msg in hr.c_msg: + _c_msg = hr.c_msg.copy() + for _msg in _c_msg: if 'diagnosis.result' in _msg: _data_list.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() + if len(hr.c_msg) > 240: + del hr.c_msg[240:] # with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj: # for _ in _data_list: diff --git a/aio/code/openapi.py b/aio/code/openapi.py index fd86742..ed70430 100644 --- a/aio/code/openapi.py +++ b/aio/code/openapi.py @@ -261,10 +261,12 @@ 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) - # 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') + t = time() + 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(t) + '-' + str(loads(msg)) + '\n') + sleep(1) + def msg_storage(self, response, flag=0): # response是解码后的字符串 @@ -604,6 +606,8 @@ class HmiRequest(object): req['data']['type'] = kwargs['type'] req['data']['bias'] = kwargs['bias'] req['data']['value'] = kwargs['value'] + case 'diagnosis.save': + req['data']['save'] = kwargs['save'] case _: pass