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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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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)