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v0.1.9.1(2024/07/12)

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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'
This commit is contained in:
gitea
2024-07-12 10:48:50 +08:00
parent 2508be7b35
commit dee07b77bb
8 changed files with 103 additions and 39 deletions
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27
aio/code/automatic_test/do_brake.py
View File

@ -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)

17
aio/code/automatic_test/openapi.py
View File

@ -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)