v0.1.9.4(2024/07/15)
1. [profile: aio.py]：完善durable text相关逻辑 2. [profile: do_brake/do_current/btn_functions.py]：删除validate_resp函数，修改execution函数 3. [profile: factory_test.py] - 新增耐久/老化测试程序 - 实现六轴折线图显示 4. [profile: openapi.py]：多次合并遗留问题处理 5. templates文件夹组织架构调整
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aio/code/durable_action/__init__.py
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aio/code/durable_action/__init__.py
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__all__ = ['factory_test']
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aio/code/durable_action/factory_test.py
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aio/code/durable_action/factory_test.py
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from sys import argv
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from os.path import exists, dirname
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from os import scandir
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from paramiko import SSHClient, AutoAddPolicy
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from json import loads
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from time import sleep, time
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import pandas as pd
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from openpyxl import load_workbook
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from math import sqrt
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tab_name = 'Durable Action'
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durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx'
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durable_data_velocity_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_velocity.xlsx'
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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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durable_data_current = {
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'time': list(range(1, 26)),
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'axis1': [0 for _ in range(25)],
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'axis2': [0 for _ in range(25)],
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'axis3': [0 for _ in range(25)],
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'axis4': [0 for _ in range(25)],
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'axis5': [0 for _ in range(25)],
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'axis6': [0 for _ in range(25)],
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}
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durable_data_velocity = {
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'time': list(range(1, 26)),
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'axis1': [0 for _ in range(25)],
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'axis2': [0 for _ in range(25)],
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'axis3': [0 for _ in range(25)],
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'axis4': [0 for _ in range(25)],
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'axis5': [0 for _ in range(25)],
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'axis6': [0 for _ in range(25)],
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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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msg = f'数据文件夹{path}不存在，请确认后重试......'
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w2t(msg, 0, 1, 'red', tab_name=tab_name)
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else:
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dirs = []
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files = []
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for item in scandir(path):
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if item.is_dir():
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dirs.append(item.path)
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elif item.is_file():
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files.append(item.path)
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return dirs, files
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def check_files(data_dirs, data_files, w2t):
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if len(data_dirs) != 0 or len(data_files) != 2:
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w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2.configs.xlsx', 0,
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10, 'red', tab_name)
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_files = [data_files[0].split('\\')[-1], data_files[1].split('\\')[-1]]
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_files.sort()
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if _files != ['configs.xlsx', 'target.zip']:
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w2t('初始路径下只能存在如下文件，确认后重新运行！\n1. target.zip\n2.configs.xlsx', 0, 10, 'red', tab_name)
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data_files.sort()
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return data_files
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def prj_to_xcore(prj_file):
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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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sftp = ssh.open_sftp()
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sftp.put(prj_file, '/tmp/target.zip')
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cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
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cmd += 'chmod 777 -R target/; rm target.zip'
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ssh.exec_command(cmd)
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cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
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cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
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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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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_name}.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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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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ssh.close()
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def execution(cmd, hr, w2t, **kwargs):
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_id = hr.execution(cmd, **kwargs)
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 7, 'red', tab_name=tab_name)
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else:
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_response = loads(_msg)
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if not _response:
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w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name=tab_name)
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return _response
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def run_rl(path, config_file, hr, md, w2t):
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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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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. 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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# 3. 开始运行程序
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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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if md.read_ready_to_go() == 1:
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md.write_act(True)
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break
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else:
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if (time() - _t_start) // 20 > 1:
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w2t("20s内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)
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else:
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sleep(1)
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# 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
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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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_t_start = time()
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while True:
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scenario_time = md.read_scenario_time()
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if float(scenario_time) > 1:
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w2t(f"场景的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
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break
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else:
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if (time() - _t_start) // 60 > 3:
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w2t(f"未收到场景的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
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else:
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sleep(5)
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sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
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scenario_time = float(md.read_scenario_time())
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sleep(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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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
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_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
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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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data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t)
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df = pd.DataFrame(data)
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df.to_excel(durable_data_current_xlsx, index=False)
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# 8. 继续运行
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_response = execution('rl_task.run', hr, w2t, tasks=['current'])
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while True:
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# 每3分钟，更新一次数据，打开曲线，获取周期内电流，关闭曲线
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sleep(180)
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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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sleep(scenario_time + 10)
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=[])
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# 7. 保留数据并处理输出
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data = get_durable_data(path, config_file, durable_data_current, scenario_time, hr, w2t)
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df = pd.DataFrame(data)
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df.to_excel(durable_data_current_xlsx, index=False)
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def get_durable_data(path, config_file, data, scenario_time, hr, w2t):
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_data_list = []
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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_data_list.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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# with open('log.txt', 'w', encoding='utf-8') as f_obj:
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# for _ in _data_list:
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# f_obj.write(f"{_}\n")
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_wb = load_workbook(config_file, read_only=True)
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_ws = _wb['Target']
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rcs = []
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for i in range(6):
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rcs.append(float(_ws.cell(row=6, column=i + 2).value))
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_d2d_trq = {
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'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [],
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'device_servo_trq_feedback_3': [], 'device_servo_trq_feedback_4': [], 'device_servo_trq_feedback_5': [],
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}
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for line in _data_list:
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for item in line['data']:
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for i in range(6):
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item['value'].reverse()
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if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq[f'device_servo_trq_feedback_{i}'].extend(item['value'])
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if len(_d2d_trq['device_servo_trq_feedback_0']) / 1000 > scenario_time + 1:
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_df = pd.DataFrame(_d2d_trq)
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for i in range(6):
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_ = sqrt(_df[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/1000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}']))
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del data[f"axis{i + 1}"][0]
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data[f"axis{i + 1}"].append(_)
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break
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else:
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with open(f'{path}\\device_servo_trq_feedback_0.txt', 'w', encoding='utf-8') as f_obj:
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for _ in _d2d_trq['device_servo_trq_feedback_0']:
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f_obj.write(f"{_}\n")
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w2t("采集的数据时间长度不够，需要确认。", 0, 2, 'red', tab_name)
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return data
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def main(path, hr, md, w2t):
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data_dirs, data_files = traversal_files(path, w2t)
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config_file, prj_file = check_files(data_dirs, data_files, w2t)
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prj_to_xcore(prj_file)
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run_rl(path, config_file, hr, md, w2t)
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if __name__ == '__main__':
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main(*argv[1:])
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