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Merge branch 'main' of gitea.rustle.cc:gitea/rokae into profile

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fetch the newest codes of main
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gitea
2024-07-15 13:34:09 +08:00
parent 71b2d9d42e 5ed38b4b2a
commit f4a70a0034
11 changed files with 172 additions and 80 deletions
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32
aio/code/aio.py
View File

@ -49,8 +49,7 @@ 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")
@ -77,7 +76,7 @@ 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: 0.1.9.2\nDate: 07/13/2024", 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')
# =====================================================================
@ -209,7 +208,7 @@ 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')
@ -219,8 +218,7 @@ 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:
@ -229,7 +227,6 @@ class App(customtkinter.CTk):
self.progressbar.configure(progress_color=pb_color)
self.progressbar_pr.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
@ -238,7 +235,6 @@ 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':
@ -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！", )

38
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()
@ -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)

40
aio/code/automatic_test/do_current.py
View File

@ -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()

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)

41
aio/code/data_process/current.py
View File

@ -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