Merge branch 'main' of gitea.rustle.cc:gitea/rokae into profile
fetch the newest codes of main
This commit is contained in:
commit
f4a70a0034
@ -132,13 +132,16 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A
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> **需要注意的点**
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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
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1. 【重要】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，确保所有程序正常运行之后，导出工程，再进行自动化测试
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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
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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
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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
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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
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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
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7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页
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8. 注意观察二轴100%臂展时，是否可以获取到正确的数据
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9. 将autotest.xml导入到寄存器，并新建一个modbus，命名为autotest
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10. 针对五轴机型，六轴数据可以填写1-5轴任意一轴的点位信息
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#### 6) 电机电流自动化测试
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@ -450,4 +453,30 @@ v0.1.8.2(2024/07/08)
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v0.1.9.0(2024/07/10)
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1. 完成了制动性能的自动化采集
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2. 完善了modbus浮点数读写相关的功能
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3. 修改了target.zip工程，该工程目前适配电机电流和制动性能
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3. 修改了target.zip工程，该工程目前适配电机电流和制动性能
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v0.1.9.1(2024/07/12)
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1. [APIs: do_brake.py]
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- 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
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- 由于上述修改，正负方向急停准确率可达100%
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2. [APIs: aio.py]
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- 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
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3. [APIs: openapi.py]
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- 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'
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- socket类种修改tab_name的值为'openapi'
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v0.1.9.2(2024/07/13)
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1. [APIs: do_brake.py]
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- 修改ready_to_go信号的接收逻辑，适配大负载机型
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2. [APIs: do_current.py]
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- 修改ready_to_go信号的接收逻辑，适配大负载机型
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- 调整单轴测试时间为35s，适配大负载机型，调整堵转电流持续时间15s，适当减少测试时间
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- 将act信号置为False的动作放在初始化，增加程序健壮性
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- 修改所有输出文件的命名，在扩展名之前加入时间戳
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- 删除多余的时序矫正语句——item['value'].reverse()，使输出的曲线为平滑的自然顺序
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3. [current: current.py]
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- 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行
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- max功能计算逻辑矫正，应该是取绝对值的最大值
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- 整体梳理了trq/trqh的传递路径，现已修正完毕
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- 减速比rr数据源修改为configs.xlsx
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4. 在current工程main函数增加 VelSet 100语句
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@ -943,6 +943,7 @@
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<c name="type" type="10" value="float"/>
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<c name="value"/>
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<c name="value_single" type="10" value="0"/>
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||||
<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="41004"/>
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@ -950,7 +951,7 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value="触发或者接触急停"/>
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<c name="description" type="10" value="【弃用】触发或者接触急停"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="41004"/>
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@ -961,7 +962,8 @@
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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||||
<c name="value_single" type="10" value="true"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="41005"/>
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@ -969,7 +971,7 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="description" type="10" value="pc to robot，指定工况下的速度值"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="41006"/>
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@ -980,7 +982,8 @@
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="float"/>
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<c name="value"/>
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<c name="value_single" type="10" value="0"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="41007"/>
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@ -988,7 +991,7 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="description" type="10" value="robot to pc，已触发急停标志"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="41007"/>
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@ -999,7 +1002,8 @@
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<c name="rw" type="10" value="rdwr"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value="true"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="41008"/>
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@ -1007,7 +1011,7 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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||||
<c name="description" type="10" value=""/>
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<c name="description" type="10" value="pc to robot，轴的位置"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="41009"/>
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@ -1019,6 +1023,7 @@
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<c name="type" type="10" value="int32"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="41010"/>
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@ -1026,7 +1031,7 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="description" type="10" value="pc to robot，急停开始标志"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="41010"/>
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@ -1038,5 +1043,25 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="41011"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value="pc to robot，指示正负方向拍急停"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="41011"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="pon"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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</m>
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Binary file not shown.
@ -6,8 +6,8 @@ VSVersionInfo(
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ffi=FixedFileInfo(
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# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
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# Set not needed items to zero 0.
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filevers=(0, 1, 9, 0),
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prodvers=(0, 1, 9, 0),
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filevers=(0, 1, 9, 2),
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prodvers=(0, 1, 9, 2),
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# Contains a bitmask that specifies the valid bits 'flags'r
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mask=0x3f,
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# Contains a bitmask that specifies the Boolean attributes of the file.
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@ -31,12 +31,12 @@ VSVersionInfo(
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'040904b0',
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[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
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StringStruct('FileDescription', 'All in one automatic toolbox'),
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StringStruct('FileVersion', '0.1.9.0 (2024-07-10)'),
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StringStruct('FileVersion', '0.1.9.2 (2024-07-13)'),
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StringStruct('InternalName', 'AIO.exe'),
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StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
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StringStruct('OriginalFilename', 'AIO.exe'),
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StringStruct('ProductName', 'AIO'),
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StringStruct('ProductVersion', '0.1.9.0 (2024-07-10)')])
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StringStruct('ProductVersion', '0.1.9.2 (2024-07-13)')])
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]),
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VarFileInfo([VarStruct('Translation', [1033, 1200])])
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]
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Binary file not shown.
@ -1 +1 @@
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0.1.9.0 @ 07/10/2024
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0.1.9.2 @ 07/13/2024
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@ -49,8 +49,7 @@ class App(customtkinter.CTk):
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self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
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self.w_param = 84
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self.hr = None
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self.md_at = None
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self.md_dp = None
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self.md = None
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# =====================================================================
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# configure window
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self.title("AIO - All in one automatic toolbox")
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@ -77,7 +76,7 @@ class App(customtkinter.CTk):
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btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
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btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
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# create version info
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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")
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self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.2\nDate: 07/13/2024", font=self.my_font, text_color="#4F4F4F")
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self.frame_func.rowconfigure(6, weight=1)
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self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
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# =====================================================================
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@ -209,7 +208,7 @@ class App(customtkinter.CTk):
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else:
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for _func in _btn_funcs:
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if _btn_funcs[_func] == value:
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btn_functions.main(self.hr, self.md_at, _func, self.write2textbox)
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btn_functions.main(self.hr, self.md, _func, self.write2textbox)
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break
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self.seg_button.configure(state='normal')
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@ -219,8 +218,7 @@ class App(customtkinter.CTk):
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with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
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f_hb.write('0')
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self.hr = openapi.HmiRequest(self.write2textbox)
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self.md_at = openapi.ModbusRequest(self, 'Automatic Test')
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self.md_dp = openapi.ModbusRequest(self, 'Data Process')
|
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self.md = openapi.ModbusRequest(self.write2textbox)
|
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while True:
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with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb:
|
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@ -229,7 +227,6 @@ class App(customtkinter.CTk):
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||||
self.progressbar.configure(progress_color=pb_color)
|
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self.progressbar_pr.configure(progress_color=pb_color)
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if c_state == '0':
|
||||
# self.textbox.delete(index1='1.0', index2='end')
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self.hr.t_bool = False
|
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sleep(3)
|
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del self.hr
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@ -238,7 +235,6 @@ class App(customtkinter.CTk):
|
||||
|
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def tabview_click(self):
|
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self.initialization()
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# self.textbox.delete(index1='1.0', index2='end')
|
||||
|
||||
tab_name = self.tabview.get()
|
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if tab_name == 'Data Process':
|
||||
@ -386,7 +382,21 @@ 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:
|
||||
@ -494,10 +504,10 @@ 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！", )
|
||||
|
||||
|
||||
@ -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()
|
||||
@ -220,20 +227,21 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
|
||||
_response = execution('state.switch_auto', hr, w2t)
|
||||
_response = execution('state.switch_motor_on', hr, w2t)
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
|
||||
for i in range(3):
|
||||
_t_start = time()
|
||||
while True:
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(True)
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
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', 'Automatic Test')
|
||||
|
||||
if (time() - _t_start) // 20 > 1:
|
||||
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', 'Automatic Test')
|
||||
else:
|
||||
sleep(1)
|
||||
# 4. 第一次打开诊断曲线，并执行采集8s，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
|
||||
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 +285,7 @@ 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 +296,12 @@ 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)
|
||||
|
||||
|
||||
@ -120,16 +120,14 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
for item in data:
|
||||
item['value'].reverse()
|
||||
if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
item['value'].reverse()
|
||||
_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
|
||||
elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
item['value'].reverse()
|
||||
_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
|
||||
|
||||
df1 = pandas.DataFrame.from_dict(_d2d_vel)
|
||||
df2 = pandas.DataFrame.from_dict(_d2d_trq)
|
||||
df = pandas.concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\single\\j{channel+1}_single.data'
|
||||
_filename = f'{path}\\single\\j{channel+1}_single_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
elif channel in list(range(6, 9)):
|
||||
with open(filename, 'r', encoding='utf-8') as f_obj:
|
||||
@ -178,37 +176,37 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_0)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_0)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}.data'
|
||||
_filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_1)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_1)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}.data'
|
||||
_filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_2)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_2)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}.data'
|
||||
_filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_3)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_3)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}.data'
|
||||
_filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_4)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_4)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}.data'
|
||||
_filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
df_01 = pandas.DataFrame.from_dict(_d2d_vel_5)
|
||||
df_02 = pandas.DataFrame.from_dict(_d2d_trq_5)
|
||||
df = pandas.concat([df_01, df_02], axis=1)
|
||||
_filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}.data'
|
||||
_filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
elif channel in list(range(9, 15)):
|
||||
with open(filename, 'r', encoding='utf-8') as f_obj:
|
||||
@ -227,7 +225,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
df1 = pandas.DataFrame.from_dict(_d2d_vel)
|
||||
df2 = pandas.DataFrame.from_dict(_d2d_trq)
|
||||
df = pandas.concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\single\\j{channel-8}_hold.data'
|
||||
_filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
|
||||
@ -248,7 +246,7 @@ def data_proc_inertia(path, filename, channel):
|
||||
df1 = pandas.DataFrame.from_dict(_d2d_vel)
|
||||
df2 = pandas.DataFrame.from_dict(_d2d_trq)
|
||||
df = pandas.concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\inertia\\j{channel+4}_inertia.data'
|
||||
_filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
|
||||
@ -308,6 +306,8 @@ def run_rl(path, hr, md, loadsel, w2t):
|
||||
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
|
||||
md.trigger_estop()
|
||||
md.reset_estop()
|
||||
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)
|
||||
|
||||
@ -334,19 +334,19 @@ def run_rl(path, hr, md, loadsel, w2t):
|
||||
|
||||
# 4. 开始运行程序，单轴运行15s
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
|
||||
for i in range(3):
|
||||
_t_start = time()
|
||||
while True:
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(True)
|
||||
sleep(1)
|
||||
md.write_act(False)
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
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', 'Automatic Test')
|
||||
if (time() - _t_start) // 20 > 1:
|
||||
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', 'Automatic Test')
|
||||
else:
|
||||
sleep(1)
|
||||
|
||||
# 5. 打开诊断曲线，并执行采集
|
||||
sleep(7) # 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
|
||||
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},
|
||||
@ -365,7 +365,9 @@ def run_rl(path, hr, md, loadsel, w2t):
|
||||
]
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
scenario_time = 0
|
||||
if number < 6 or number > 8:
|
||||
if number < 6:
|
||||
sleep(35)
|
||||
elif number > 8:
|
||||
sleep(15)
|
||||
else:
|
||||
_t_start = time()
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -79,7 +79,7 @@ def initialization(path, sub, w2t):
|
||||
return data_files
|
||||
|
||||
|
||||
def current_max(data_files, rcs, trqh, w2t):
|
||||
def current_max(data_files, rcs, trq, w2t):
|
||||
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
|
||||
for data_file in data_files:
|
||||
if data_file.endswith('.data'):
|
||||
@ -93,8 +93,8 @@ def current_max(data_files, rcs, trqh, w2t):
|
||||
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
|
||||
rca = rcs[axis-1]
|
||||
|
||||
col = df.columns.values[trqh-1]
|
||||
c_max = df[col].max()
|
||||
col = df.columns.values[trq-1]
|
||||
c_max = df[col].abs().max()
|
||||
|
||||
scale = 1 if data_file.endswith('.csv') else 1000
|
||||
_ = abs(c_max/scale*rca)
|
||||
@ -118,7 +118,7 @@ def current_max(data_files, rcs, trqh, w2t):
|
||||
return current
|
||||
|
||||
|
||||
def current_avg(data_files, rcs, trqh, w2t):
|
||||
def current_avg(data_files, rcs, trq, w2t):
|
||||
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
|
||||
for data_file in data_files:
|
||||
if data_file.endswith('.data'):
|
||||
@ -132,7 +132,7 @@ def current_avg(data_files, rcs, trqh, w2t):
|
||||
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
|
||||
rca = rcs[axis-1]
|
||||
|
||||
col = df.columns.values[trqh - 1]
|
||||
col = df.columns.values[trq-1]
|
||||
c_std = df[col].std()
|
||||
c_avg = df[col].mean()
|
||||
|
||||
@ -158,7 +158,7 @@ def current_avg(data_files, rcs, trqh, w2t):
|
||||
return current
|
||||
|
||||
|
||||
def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
|
||||
def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
|
||||
result = None
|
||||
hold = []
|
||||
single = []
|
||||
@ -194,9 +194,9 @@ def current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t):
|
||||
pass
|
||||
|
||||
if dur == 0:
|
||||
p_single(wb, single, vel, trq, rpms, w2t)
|
||||
p_single(wb, single, vel, trq, rpms, rrs, w2t)
|
||||
else:
|
||||
p_scenario(wb, single, vel, trq, rpms, dur, w2t)
|
||||
p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t)
|
||||
|
||||
w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange')
|
||||
stop = 0
|
||||
@ -237,7 +237,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol
|
||||
w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')
|
||||
|
||||
|
||||
def p_single(wb, single, vel, trq, rpms, w2t):
|
||||
def p_single(wb, single, vel, trq, rpms, rrs, w2t):
|
||||
# 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑
|
||||
# 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑
|
||||
# 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置
|
||||
@ -251,7 +251,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
|
||||
set_option("display.precision", 2)
|
||||
if data_file.endswith('.data'):
|
||||
df = read_csv(data_file, sep='\t')
|
||||
rr = float(wb['统计'].cell(row=2, column=axis+1).value)
|
||||
rr = rrs[axis+1]
|
||||
addition = 180 / 3.1415926 * 60 / 360 * rr
|
||||
elif data_file.endswith('.csv'):
|
||||
df = read_csv(data_file, sep=',', encoding='gbk', header=8)
|
||||
@ -268,6 +268,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
|
||||
col_names = list(df.columns)
|
||||
df_1 = df[col_names[vel-1]].multiply(rpm*addition)
|
||||
df_2 = df[col_names[trq-1]].multiply(scale)
|
||||
print(df_1.abs().max())
|
||||
df = concat([df_1, df_2], axis=1)
|
||||
|
||||
_step = 5 if data_file.endswith('.csv') else 50
|
||||
@ -318,7 +319,7 @@ def p_single(wb, single, vel, trq, rpms, w2t):
|
||||
cell.value = None
|
||||
|
||||
|
||||
def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
|
||||
def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
|
||||
for data_file in single:
|
||||
cycle = 0.001
|
||||
axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
|
||||
@ -330,7 +331,7 @@ def p_scenario(wb, single, vel, trq, rpms, dur, w2t):
|
||||
set_option("display.precision", 2)
|
||||
if data_file.endswith('.data'):
|
||||
df = read_csv(data_file, sep='\t')
|
||||
rr = float(wb['统计'].cell(row=2, column=axis+1).value)
|
||||
rr = rrs[axis+1]
|
||||
addition = 180 / 3.1415926 * 60 / 360 * rr
|
||||
elif data_file.endswith('.csv'):
|
||||
df = read_csv(data_file, sep=',', encoding='gbk', header=8)
|
||||
@ -374,6 +375,7 @@ def get_configs(configfile, w2t):
|
||||
_wb = load_workbook(configfile, read_only=True)
|
||||
_ws = _wb['Target']
|
||||
rcs = []
|
||||
rrs = []
|
||||
rpms = []
|
||||
for i in range(2, 9):
|
||||
try:
|
||||
@ -386,18 +388,23 @@ def get_configs(configfile, w2t):
|
||||
except:
|
||||
rcs.append(0.0)
|
||||
|
||||
return rpms, rcs
|
||||
try:
|
||||
rrs.append(float(_ws.cell(row=2, column=i).value))
|
||||
except:
|
||||
rrs.append(0.0)
|
||||
|
||||
return rpms, rcs, rrs
|
||||
|
||||
|
||||
def main(path, sub, dur, vel, trq, trqh, w2t):
|
||||
data_files = initialization(path, sub, w2t)
|
||||
rpms, rcs = get_configs(path + '\\configs.xlsx', w2t)
|
||||
rpms, rcs, rrs = get_configs(path + '\\configs.xlsx', w2t)
|
||||
if sub == 'max':
|
||||
current_max(data_files, rcs, trqh, w2t)
|
||||
current_max(data_files, rcs, trq, w2t)
|
||||
elif sub == 'avg':
|
||||
current_avg(data_files, rcs, trqh, w2t)
|
||||
current_avg(data_files, rcs, trq, w2t)
|
||||
elif sub == 'cycle':
|
||||
current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t)
|
||||
current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t)
|
||||
else:
|
||||
pass
|
||||
|
||||
|
||||
Reference in New Issue
Block a user