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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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8
aio/README.md
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@ -551,3 +551,11 @@ v0.2.0.2(2024/07/26)
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
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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aio/assets/configs.xlsx
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8
aio/assets/file_version_info.txt
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@ -6,8 +6,8 @@ VSVersionInfo(
ffi=FixedFileInfo(
# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
# Set not needed items to zero 0.
filevers=(0, 2, 0, 2),
prodvers=(0, 2, 0, 2),
filevers=(0, 2, 0, 3),
prodvers=(0, 2, 0, 3),
# Contains a bitmask that specifies the valid bits 'flags'r
mask=0x3f,
# Contains a bitmask that specifies the Boolean attributes of the file.
@ -31,12 +31,12 @@ VSVersionInfo(
'040904b0',
[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
StringStruct('FileDescription', 'All in one automatic toolbox'),
StringStruct('FileVersion', '0.2.0.2 (2024-07-26)'),
StringStruct('FileVersion', '0.2.0.3 (2024-07-27)'),
StringStruct('InternalName', 'AIO.exe'),
StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
StringStruct('OriginalFilename', 'AIO.exe'),
StringStruct('ProductName', 'AIO'),
StringStruct('ProductVersion', '0.2.0.2 (2024-07-26)')])
StringStruct('ProductVersion', '0.2.0.3 (2024-07-27)')])
]),
VarFileInfo([VarStruct('Translation', [1033, 1200])])
]

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aio/assets/target_brake_current.zip
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aio/assets/target_durable.zip
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2
aio/assets/templates/heartbeat
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@ -1 +1 @@
0
1

4
aio/assets/templates/json/diagnosis.open.json
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@ -5,8 +5,8 @@
"data": {
"open": false,
"display_open": false,
"overrun": true,
"turn_area": true,
"overrun": false,
"turn_area": false,
"delay_motion": false
}
}

2
aio/code/aio.py
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@ -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')
# =====================================================================

44
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:
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
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
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)

88
aio/code/automatic_test/do_current.py
View File

@ -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:
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:
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:
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:
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':

30
aio/code/durable_action/factory_test.py
View File

@ -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:

12
aio/code/openapi.py
View File

@ -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