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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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30
aio/code/durable_action/factory_test.py
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@ -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: