diff --git a/aio/assets/target.zip b/aio/assets/target.zip index 92a9174..d7aea5a 100644 Binary files a/aio/assets/target.zip and b/aio/assets/target.zip differ diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 3fe1feb..926df32 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -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__':