gitea/aio_first_edtion
Archived
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Surprisingly I made it! 完成了制动性能测试程序

Browse Source
This commit is contained in:
gitea 2024-07-10 18:55:18 +08:00
parent 9fa42fb3e1
commit fa5a9f0f89
2 changed files with 35 additions and 43 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
aio/assets/target.zip
View File

Binary file not shown.

78
aio/code/automatic_test/do_brake.py
View File

@ -1,4 +1,4 @@
import random
from random import randint
from time import sleep, time
from sys import argv
from os import scandir, mkdir
@ -178,33 +178,33 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
continue
for count in range(1, 4):
_count += 1
w2t(f"[{_count}/64-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test')
w2t(f"[{_count}/63-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test')
# 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
md.trigger_estop()
md.reset_estop()
md.write_act(False)
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
sleep(2) # 让曲线彻底关闭
sleep(1) # 让曲线彻底关闭
_response = execution('state.switch_manual', hr, w2t)
_response = execution('state.switch_motor_off', hr, w2t)
# 2. 修改未要执行的场景
if count == 1:
ssh = SSHClient()
ssh.set_missing_host_key_policy(AutoAddPolicy())
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
_rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
_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; '
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
stdin.write('luoshi2019' + '\n')
stdin.flush()
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
print(stderr.read().decode()) # 顺便也执行以下stderr
ssh = SSHClient()
ssh.set_missing_host_key_policy(AutoAddPolicy())
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
_rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
_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; '
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
stdin.write('luoshi2019' + '\n')
stdin.flush()
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
print(stderr.read().decode()) # 顺便也执行以下stderr
# 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
prj_path = 'target/_build/target.prj'
@ -216,8 +216,6 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
for i in range(3):
if md.read_ready_to_go() == 1:
md.write_act(True)
sleep(1)
md.write_act(False)
break
else:
sleep(1)
@ -226,7 +224,6 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
# 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:
sleep(4) # 排除从零点位置到目标位置的干扰
_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
@ -244,10 +241,8 @@ 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']
speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
print(f"speed target = {speed_target}")
print(f"speed max = {speed_max}")
if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
w2t(f"Axis: {axis}-{count} | Speed: {speed_max*RADIAN} | Shouldbe: {speed_target}", 0, 0, 'indigo')
w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', 'Automatic Test')
md.write_speed_max(speed_max)
sleep(1)
@ -260,27 +255,24 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
break
# 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停
if count == 1:
md.reset_estop()
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
_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):
if md.read_ready_to_go() == 1:
md.write_act(True)
sleep(1)
md.write_act(False)
break
else:
sleep(1)
md.reset_estop()
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
_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):
if md.read_ready_to_go() == 1:
md.write_act(True)
break
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')
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')
_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(random.randint(2, 8))
# sleep(randint(3, 6))
md.write_probe(True)
_t_start = time()
while True:
@ -321,7 +313,7 @@ def main(path, hr, md, loadsel, w2t):
run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
_e_time = time()
time_total = _e_time - _s_time
w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s")
w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', 'Automatic Test')
if __name__ == '__main__':