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
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@ -7,6 +7,20 @@ from paramiko import SSHClient, AutoAddPolicy
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from json import loads
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import pandas
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display_pdo_params = [
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{"name": "hw_joint_vel_feedback", "channel": 0},
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{"name": "hw_joint_vel_feedback", "channel": 1},
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{"name": "hw_joint_vel_feedback", "channel": 2},
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{"name": "hw_joint_vel_feedback", "channel": 3},
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{"name": "hw_joint_vel_feedback", "channel": 4},
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{"name": "hw_joint_vel_feedback", "channel": 5},
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{"name": "device_servo_trq_feedback", "channel": 0},
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{"name": "device_servo_trq_feedback", "channel": 1},
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{"name": "device_servo_trq_feedback", "channel": 2},
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{"name": "device_servo_trq_feedback", "channel": 3},
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{"name": "device_servo_trq_feedback", "channel": 4},
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{"name": "device_servo_trq_feedback", "channel": 5},
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]
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def traversal_files(path, w2t):
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if not exists(path):
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@ -75,9 +89,8 @@ def prj_to_xcore(prj_file):
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print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
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print(stderr.read().decode()) # 顺便也执行以下stderr
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# _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
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cmd = 'cd /home/luoshi/bin/controller/; '
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cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
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cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
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stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
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stdin.write('luoshi2019' + '\n')
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stdin.flush()
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@ -107,7 +120,10 @@ def data_proc_regular(path, filename, channel, scenario_time):
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for line in lines:
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data = eval(line.strip())['data']
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for item in data:
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item['value'].reverse()
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try:
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item['value'].reverse()
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except KeyError:
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continue
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if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
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@ -136,7 +152,10 @@ def data_proc_regular(path, filename, channel, scenario_time):
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for line in lines:
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data = eval(line.strip())['data']
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for item in data:
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item['value'].reverse()
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try:
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item['value'].reverse()
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except KeyError:
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continue
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if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
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@ -205,7 +224,10 @@ def data_proc_regular(path, filename, channel, scenario_time):
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for line in lines:
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data = eval(line.strip())['data']
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for item in data:
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item['value'].reverse()
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try:
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item['value'].reverse()
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except KeyError:
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continue
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if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
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@ -226,7 +248,10 @@ def data_proc_inertia(path, filename, channel):
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for line in lines:
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data = eval(line.strip())['data']
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for item in data:
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item['value'].reverse()
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try:
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item['value'].reverse()
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except KeyError:
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continue
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if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
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@ -287,20 +312,19 @@ def run_rl(path, hr, md, loadsel, w2t):
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conditions = c_inertia
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disc = disc_inertia
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# 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
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_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
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# _response = execution('diagnosis.save', hr, w2t, save=True) # 这条命令有问题
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md.trigger_estop()
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md.reset_estop()
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for condition in conditions:
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number = conditions.index(condition)
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w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test')
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# 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
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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md.trigger_estop()
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md.reset_estop()
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# 1. 将act重置为False，并修改未要执行的场景
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md.write_act(False)
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sleep(1) # 让曲线彻底关闭
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_response = execution('state.switch_manual', hr, w2t)
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_response = execution('state.switch_motor_off', hr, w2t)
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# 2. 修改未要执行的场景
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ssh = SSHClient()
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ssh.set_missing_host_key_policy(AutoAddPolicy())
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ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
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@ -313,15 +337,14 @@ def run_rl(path, hr, md, loadsel, w2t):
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print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
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print(stderr.read().decode()) # 顺便也执行以下stderr
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# 3. reload工程后，pp2main，并且自动模式和上电
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# 2. reload工程后，pp2main，并且自动模式和上电
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prj_path = 'target/_build/target.prj'
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_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
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_response = execution('overview.get_cur_prj', hr, w2t)
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_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
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_response = execution('state.switch_auto', hr, w2t)
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_response = execution('state.switch_motor_on', hr, w2t)
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# 4. 开始运行程序，单轴运行15s
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# 3. 开始运行程序，单轴运行35s
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_response = execution('rl_task.run', hr, w2t, tasks=['current'])
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_t_start = time()
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while True:
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@ -334,25 +357,8 @@ def run_rl(path, hr, md, loadsel, w2t):
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else:
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sleep(1)
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# 5. 打开诊断曲线，并执行采集
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# 4. 打开诊断曲线，并执行采集
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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
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_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
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display_pdo_params = [
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{"name": "hw_joint_vel_feedback", "channel": 0},
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{"name": "hw_joint_vel_feedback", "channel": 1},
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{"name": "hw_joint_vel_feedback", "channel": 2},
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{"name": "hw_joint_vel_feedback", "channel": 3},
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{"name": "hw_joint_vel_feedback", "channel": 4},
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{"name": "hw_joint_vel_feedback", "channel": 5},
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{"name": "device_servo_trq_feedback", "channel": 0},
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{"name": "device_servo_trq_feedback", "channel": 1},
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{"name": "device_servo_trq_feedback", "channel": 2},
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{"name": "device_servo_trq_feedback", "channel": 3},
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{"name": "device_servo_trq_feedback", "channel": 4},
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{"name": "device_servo_trq_feedback", "channel": 5},
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{"name": "device_safety_estop", "channel": 0},
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]
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
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scenario_time = 0
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if number < 6:
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sleep(35)
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@ -374,24 +380,16 @@ def run_rl(path, hr, md, loadsel, w2t):
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scenario_time = md.read_scenario_time()
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sleep(float(scenario_time)*0.2) # 再运行周期的20%即可
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# 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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# 5.停止程序运行，保留数据并处理输出
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_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
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_response = execution('state.switch_motor_off', hr, w2t)
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_response = execution('state.switch_manual', hr, w2t)
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sleep(1) # 保证所有数据均已返回
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# 7. 保留数据并处理输出
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for _msg in hr.c_msg:
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_c_msg = hr.c_msg.copy()
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for _msg in _c_msg:
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if 'diagnosis.result' in _msg:
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disc[number][1].insert(0, loads(_msg))
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else:
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_index = 210
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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_index = hr.c_msg.index(_msg)
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break
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del hr.c_msg[_index:]
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hr.c_msg_xs.clear()
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if len(hr.c_msg) > 240:
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del hr.c_msg[240:]
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gen_result_file(path, loadsel, disc, number, scenario_time)
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else:
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if loadsel == 'tool100':
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