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Surprisingly I made it! 完成了制动性能测试程序

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gitea 2024-07-10 18:55:18 +08:00
parent 9fa42fb3e1
commit fa5a9f0f89
2 changed files with 35 additions and 43 deletions
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aio/assets/target.zip
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aio/code/automatic_test/do_brake.py
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@ -1,4 +1,4 @@
import random from random import randint
from time import sleep, time from time import sleep, time
from sys import argv from sys import argv
from os import scandir, mkdir from os import scandir, mkdir
@ -178,33 +178,33 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
continue continue
for count in range(1, 4): for count in range(1, 4):
_count += 1 _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 # 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.trigger_estop()
md.reset_estop() md.reset_estop()
md.write_act(False)
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=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_manual', hr, w2t)
_response = execution('state.switch_motor_off', hr, w2t) _response = execution('state.switch_motor_off', hr, w2t)
# 2. 修改未要执行的场景 # 2. 修改未要执行的场景
if count == 1: ssh = SSHClient()
ssh = SSHClient() ssh.set_missing_host_key_policy(AutoAddPolicy())
ssh.set_missing_host_key_policy(AutoAddPolicy()) ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
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_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)" _rl_speed = f"VelSet {_speed}"
_rl_speed = f"VelSet {_speed}" cmd = 'cd /home/luoshi/bin/controller/; '
cmd = 'cd /home/luoshi/bin/controller/; ' cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
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 "/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 "/VelSet/d" projects/target/_build/brake/main.mod; ' cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" 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, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n')
stdin.write('luoshi2019' + '\n') stdin.flush()
stdin.flush() print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
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
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 # 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' 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): for i in range(3):
if md.read_ready_to_go() == 1: if md.read_ready_to_go() == 1:
md.write_act(True) md.write_act(True)
sleep(1)
md.write_act(False)
break break
else: else:
sleep(1) 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 # 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: 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.open', hr, w2t, open=True, display_open=True)
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) _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(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) wb = load_workbook(config_file, read_only=True)
ws = wb['Target'] ws = wb['Target']
speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100 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: 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) md.write_speed_max(speed_max)
sleep(1) sleep(1)
@ -260,27 +255,24 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
break 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 # 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()
md.reset_estop() _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
_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('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related']) _response = execution('state.switch_auto', hr, w2t)
_response = execution('state.switch_auto', hr, w2t) _response = execution('state.switch_motor_on', hr, w2t)
_response = execution('state.switch_motor_on', hr, w2t) _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related']) for i in range(3):
for i in range(3): if md.read_ready_to_go() == 1:
if md.read_ready_to_go() == 1: md.write_act(True)
md.write_act(True) break
sleep(1)
md.write_act(False)
break
else:
sleep(1)
else: 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.open', hr, w2t, open=True, display_open=True)
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) _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) md.write_probe(True)
_t_start = time() _t_start = time()
while True: 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) run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
_e_time = time() _e_time = time()
time_total = _e_time - _s_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__': if __name__ == '__main__':