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v0.2.0.3(2024/07/27)

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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
This commit is contained in:
gitea
2024-07-27 21:31:09 +08:00
parent d2794b2de7
commit b01f8dc19c
12 changed files with 101 additions and 113 deletions
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50
aio/code/automatic_test/do_brake.py
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@ -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)