From dee07b77bbc7f52f3e948a4a1c2424d8ad947ab5 Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 12 Jul 2024 10:48:50 +0800 Subject: [PATCH] =?UTF-8?q?v0.1.9.1(2024/07/12)=201.=20[APIs:=20do=5Fbrake?= =?UTF-8?q?.py]=20=20=20=20-=20=E4=BF=AE=E6=94=B9=E6=AD=A3=E8=B4=9F?= =?UTF-8?q?=E6=96=B9=E5=90=91=E6=8B=8D=E6=80=A5=E5=81=9C=E7=9A=84=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E5=9F=BA=E6=9C=AC=E5=8E=9F=E7=90=86=E4=B8=BA?= =?UTF-8?q?=EF=BC=9A=E8=BF=90=E8=A1=8C=E4=B9=8B=E5=89=8D=E5=8F=91=E9=80=81?= =?UTF-8?q?=E6=AD=A3=E8=B4=9F=E6=96=B9=E5=90=91=E4=BF=A1=E5=8F=B7pon?= =?UTF-8?q?=E7=BB=99RL=EF=BC=8CRL=E6=A0=B9=E6=8D=AE=E4=BF=A1=E5=8F=B7?= =?UTF-8?q?=E4=BB=A5=E5=8F=8A=E9=80=9F=E5=BA=A6=E6=AD=A3=E8=B4=9F=E5=8F=B7?= =?UTF-8?q?=E8=BF=90=E4=BD=9C=20=20=20=20-=20=E7=94=B1=E4=BA=8E=E4=B8=8A?= =?UTF-8?q?=E8=BF=B0=E4=BF=AE=E6=94=B9=EF=BC=8C=E6=AD=A3=E8=B4=9F=E6=96=B9?= =?UTF-8?q?=E5=90=91=E6=80=A5=E5=81=9C=E5=87=86=E7=A1=AE=E7=8E=87=E5=8F=AF?= =?UTF-8?q?=E8=BE=BE100%=202.=20[APIs:=20aio.py]=20=20=20=20-=20=E4=BF=AE?= =?UTF-8?q?=E6=94=B9write2textbox=E7=9A=84=E8=BE=93=E5=87=BA=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E5=AE=9E=E7=8E=B0=E6=9B=B4=E5=8A=A0=E7=81=B5?= =?UTF-8?q?=E6=B4=BB=E7=9A=84=E8=87=AA=E5=AE=9A=E4=B9=89=E8=BE=93=E5=87=BA?= =?UTF-8?q?=EF=BC=8C=E5=90=8C=E6=97=B6=E4=BF=AE=E6=94=B9=E7=9B=B8=E5=85=B3?= =?UTF-8?q?=E9=83=A8=E5=88=86=203.=20[APIs:=20openapi.py]=20=20=20=20-=20m?= =?UTF-8?q?odbus=E7=B1=BB=E6=96=B0=E5=A2=9E=E6=8C=87=E7=A4=BA=E6=94=BF?= =?UTF-8?q?=E5=BA=9C=E6=96=B9=E5=90=91=E6=80=A5=E5=81=9C=E7=9A=84=E4=BF=A1?= =?UTF-8?q?=E5=8F=B7pon=EF=BC=8C=E5=B0=86modbus=E7=B1=BB=E5=85=A5=E5=8F=82?= =?UTF-8?q?=E4=B8=AD=E7=9A=84tab=5Fname=E5=88=A0=E9=99=A4=EF=BC=8C?= =?UTF-8?q?=E5=B9=B6=E4=BF=AE=E6=94=B9tab=5Fname=E7=9A=84=E5=80=BC?= =?UTF-8?q?=E4=B8=BA'openapi'=20=20=20=20-=20socket=E7=B1=BB=E7=A7=8D?= =?UTF-8?q?=E4=BF=AE=E6=94=B9tab=5Fname=E7=9A=84=E5=80=BC=E4=B8=BA'openapi?= =?UTF-8?q?'?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 15 ++++++++-- aio/assets/autotest.xml | 41 ++++++++++++++++++++++------ aio/assets/file_version_info.txt | 8 +++--- aio/assets/target.zip | Bin 26139 -> 26230 bytes aio/assets/vers | 2 +- aio/code/aio.py | 32 ++++++++++++++-------- aio/code/automatic_test/do_brake.py | 27 ++++++++++++------ aio/code/automatic_test/openapi.py | 17 ++++++++---- 8 files changed, 103 insertions(+), 39 deletions(-) diff --git a/aio/README.md b/aio/README.md index f5b9072..ba2820e 100644 --- a/aio/README.md +++ b/aio/README.md @@ -132,13 +132,14 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A > **需要注意的点** -1. 使用之前需要手动修改点位信息，确保所有点位不会发生撞击之后，再进行自动化测试 +1. 使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击之后，再进行自动化测试 2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为 3. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停，但不完全保证100%，大概有95%左右的准确度 4. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行 5. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察 6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停 7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页 +8. 注意观察二轴100%臂展时，是否可以获取到正确的数据 #### 6) 电机电流自动化测试 @@ -450,4 +451,14 @@ v0.1.8.2(2024/07/08) v0.1.9.0(2024/07/10) 1. 完成了制动性能的自动化采集 2. 完善了modbus浮点数读写相关的功能 -3. 修改了target.zip工程，该工程目前适配电机电流和制动性能 \ No newline at end of file +3. 修改了target.zip工程，该工程目前适配电机电流和制动性能 + +v0.1.9.1(2024/07/12) +1. [APIs: do_brake.py] + - 修改正负方向拍急停的逻辑，基本原理为：运行之前发送正负方向信号pon给RL，RL根据信号以及速度正负号运作 + - 由于上述修改，正负方向急停准确率可达100% +2. [APIs: aio.py] + - 修改write2textbox的输出逻辑，实现更加灵活的自定义输出，同时修改相关部分 +3. [APIs: openapi.py] + - modbus类新增指示政府方向急停的信号pon，将modbus类入参中的tab_name删除，并修改tab_name的值为'openapi' + - socket类种修改tab_name的值为'openapi' diff --git a/aio/assets/autotest.xml b/aio/assets/autotest.xml index 51aa397..e201e65 100644 --- a/aio/assets/autotest.xml +++ b/aio/assets/autotest.xml @@ -943,6 +943,7 @@ + @@ -950,7 +951,7 @@ - + @@ -961,7 +962,8 @@ - + + @@ -969,7 +971,7 @@ - + @@ -980,7 +982,8 @@ - + + @@ -988,7 +991,7 @@ - + @@ -999,7 +1002,8 @@ - + + @@ -1007,7 +1011,7 @@ - + @@ -1019,6 +1023,7 @@ + @@ -1026,7 +1031,7 @@ - + @@ -1038,5 +1043,25 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index c21b6b5..ca423d4 100644 --- a/aio/assets/file_version_info.txt +++ b/aio/assets/file_version_info.txt @@ -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, 1, 9, 0), - prodvers=(0, 1, 9, 0), + filevers=(0, 1, 9, 1), + prodvers=(0, 1, 9, 1), # 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', '0.1.9.0 (2024-07-10)'), + StringStruct('FileVersion', '0.1.9.1 (2024-07-12)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.1.9.0 (2024-07-10)')]) + StringStruct('ProductVersion', '0.1.9.1 (2024-07-12)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/target.zip b/aio/assets/target.zip index 651d577bb36baeb507b96914b35e0c138c559be4..2c9fdb777fe8303dc6a7e87ec4b61cecdf3d822f 100644 GIT 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+0.1.9.1 @ 07/12/2024 \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 165966c..adfeca2 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -43,8 +43,7 @@ class App(customtkinter.CTk): self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold") self.w_param = 84 self.hr = None - self.md_at = None - self.md_dp = None + self.md = None # ===================================================================== # configure window self.title("AIO - All in one automatic toolbox") @@ -71,7 +70,7 @@ 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: 0.1.9.0\nDate: 07/10/2024", font=self.my_font, text_color="#4F4F4F") + self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.1\nDate: 07/12/2024", 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') # ===================================================================== @@ -175,7 +174,7 @@ class App(customtkinter.CTk): else: for _func in _btn_funcs: if _btn_funcs[_func] == value: - btn_functions.main(self.hr, self.md_at, _func, self.write2textbox) + btn_functions.main(self.hr, self.md, _func, self.write2textbox) break self.seg_button.configure(state='normal') @@ -185,8 +184,7 @@ class App(customtkinter.CTk): with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('0') self.hr = openapi.HmiRequest(self.write2textbox) - self.md_at = openapi.ModbusRequest(self, 'Automatic Test') - self.md_dp = openapi.ModbusRequest(self, 'Data Process') + self.md = openapi.ModbusRequest(self.write2textbox) while True: with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb: @@ -194,7 +192,6 @@ class App(customtkinter.CTk): pb_color = 'green' if c_state == '1' else 'red' self.progressbar.configure(progress_color=pb_color) if c_state == '0': - # self.textbox.delete(index1='1.0', index2='end') self.hr.t_bool = False sleep(3) del self.hr @@ -203,7 +200,6 @@ class App(customtkinter.CTk): def tabview_click(self): self.initialization() - # self.textbox.delete(index1='1.0', index2='end') tab_name = self.tabview.get() if tab_name == 'Data Process': @@ -351,7 +347,21 @@ class App(customtkinter.CTk): self.textbox.insert(index='end', text=text + '\n', tags=color) self.textbox.update() self.textbox.see('end') - + elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test': + if wait != 0: + self.textbox.insert(index='end', text=text, tags=color) + self.textbox.update() + self.textbox.see('end') + elif exitcode != 0: + self.textbox.insert(index='end', text=text + '\n', tags=color) + self.textbox.update() + self.textbox.see('end') + raise Exception(f"Error code: {exitcode}") + else: + self.textbox.insert(index='end', text=text + '\n', tags=color) + self.textbox.update() + self.textbox.see('end') + def is_float(self, flag, *args): for item in args: try: @@ -459,10 +469,10 @@ class App(customtkinter.CTk): func_dict[flag](path=args[0], w2t=self.write2textbox) elif flag == 5: self.pre_warning() - func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox) + func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox) elif flag == 6: self.pre_warning() - func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox) + func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox) else: tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", ) diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 6b94f6b..171310b 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -168,6 +168,13 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): ] wb = load_workbook(config_file, read_only=True) ws = wb['Target'] + if ws.cell(row=1, column=1).value == 'positive': + md.write_pon(True) + elif ws.cell(row=1, column=1).value == 'negative': + md.write_pon(False) + 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', 'Automatic Test') + for condition in result_dirs: _reach = condition.split('_')[0].removeprefix('reach') _load = condition.split('_')[1].removeprefix('load') @@ -196,17 +203,17 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): ssh.set_missing_host_key_policy(AutoAddPolicy()) ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') if ws.cell(row=1, column=1).value == 'positive': - _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" - elif ws.cell(row=1, column=1).value == 'negative': _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)" + elif ws.cell(row=1, column=1).value == 'negative': + _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" 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', 'Automatic Test') _rl_speed = f"VelSet {_speed}" cmd = 'cd /home/luoshi/bin/controller/; ' cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; ' cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; ' - cmd += f'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; ' - cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod; ' + cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; ' + cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -233,7 +240,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): if count == 1: _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(8) # 前八秒获取实际最大速度 + sleep(10) # 前10秒获取实际最大速度 md.trigger_estop() _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) @@ -277,7 +284,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): _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(randint(3, 6)) + sleep(randint(3, 6)) md.write_probe(True) _t_start = time() while True: @@ -288,8 +295,12 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): sleep(1) # 保证所有数据均已返回 break else: - if (time() - _t_start) // 60 > 1: - w2t(f"规定时间内未找到合适的点触发急停，需要确认RL/Python程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test') + 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...", 0, 0, 'red', 'Automatic Test') + md.write_probe(False) + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + sleep(1) # 保证所有数据均已返回 + break else: sleep(1) diff --git a/aio/code/automatic_test/openapi.py b/aio/code/automatic_test/openapi.py index 703e9c7..f688694 100644 --- a/aio/code/automatic_test/openapi.py +++ b/aio/code/automatic_test/openapi.py @@ -1,4 +1,4 @@ -from json import load, dumps, loads +from json import load, dumps from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM from threading import Thread import selectors @@ -14,10 +14,10 @@ current_path = dirname(__file__) class ModbusRequest(object): - def __init__(self, w2t, tab_name): + def __init__(self, w2t): super().__init__() self.w2t = w2t - self.tab_name = tab_name + self.tab_name = 'openapi' self.host = '192.168.0.160' self.port = 502 self.c = ModbusTcpClient(self.host, self.port) @@ -167,6 +167,13 @@ class ModbusRequest(object): self.w2t(f"{Err}") self.w2t("无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + def write_pon(self, pon): # positive or negative + try: + self.c.write_register(41011, pon) + except Exception as Err: + self.w2t(f"{Err}") + self.w2t("无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + class HmiRequest(object): def __init__(self, w2t): @@ -182,7 +189,7 @@ class HmiRequest(object): self.flag_xs = 0 self.response_xs = '' self.t_bool = True - self.tab_name = 'Automatic Test' + self.tab_name = 'openapi' self.pkg_size = 0 self.broke = 0 self.half = 0 @@ -219,7 +226,7 @@ class HmiRequest(object): self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name) with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('1') - md = ModbusRequest(self.w2t, self.tab_name) + md = ModbusRequest(self.w2t) md.reset_estop() md.clear_alarm() md.write_act(False)