v0.1.8.0(2024/07/04)

1. [APIs: do_current.py]: 完成了堵转电流和惯量负载电机电流的采集和处理，至此，电机电流的自动化工作基本完成

aio/README.md

@@ -421,3 +421,6 @@ v0.1.7.6(2024/07/04)
    - 优化了get_from_id的逻辑
 4. [autotest.xml]: 新增了scenario_time只写寄存器
 
+v0.1.8.0(2024/07/04)
+1. [APIs: do_current.py]: 完成了堵转电流和惯量负载电机电流的采集和处理，至此，电机电流的自动化工作基本完成
+

aio/assets/file_version_info.txt

@@ -6,8 +6,8 @@ VSVersionInfo(
   ffi=FixedFileInfo(
     # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
     # Set not needed items to zero 0.
-    filevers=(0, 1, 7, 0),
+    filevers=(0, 1, 8, 0),
-    prodvers=(0, 1, 7, 0),
+    prodvers=(0, 1, 8, 0),
     # Contains a bitmask that specifies the valid bits 'flags'r
     mask=0x3f,
     # Contains a bitmask that specifies the Boolean attributes of the file.
@@ -31,12 +31,12 @@ VSVersionInfo(
         '040904b0',
         [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
         StringStruct('FileDescription', 'All in one automatic toolbox'),
-        StringStruct('FileVersion', '0.1.7.0 (2024-06-26)'),
+        StringStruct('FileVersion', '0.1.8.0 (2024-07-04)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.1.7.0 (2024-06-26)')])
+        StringStruct('ProductVersion', '0.1.8.0 (2024-07-04)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

aio/assets/vers

@@ -1 +1 @@
-0.1.7.0 @ 06/26/2024
+0.1.8.0 @ 07/04/2024

aio/code/aio.py

@@ -71,7 +71,7 @@ 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: 0.1.7.0\nDate: 06/26/2024", font=self.my_font, text_color="#4F4F4F")
+        self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.8.0\nDate: 07/04/2024", 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')
         # =====================================================================

aio/code/automatic_test/do_current.py

@@ -24,7 +24,7 @@ def traversal_files(path, w2t):
         return dirs, files
 
 
-def check_files(path, data_dirs, data_files, w2t):
+def check_files(path, loadsel, data_dirs, data_files, w2t):
     if len(data_dirs) != 0 or len(data_files) != 3:
         w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
         w2t('   1. configs.xlsx\n    2. T_电机电流.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
@@ -44,12 +44,13 @@ def check_files(path, data_dirs, data_files, w2t):
 
     if config_file and current_file and prj_file:
         w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
-        os.mkdir(f"{path}\\single")
+        if loadsel == 'tool100':
-        os.mkdir(f"{path}\\s_1")
+            os.mkdir(f"{path}\\single")
-        os.mkdir(f"{path}\\s_2")
+            os.mkdir(f"{path}\\s_1")
-        os.mkdir(f"{path}\\s_3")
+            os.mkdir(f"{path}\\s_2")
-        os.mkdir(f"{path}\\inertia")
+            os.mkdir(f"{path}\\s_3")
-        os.mkdir(f"{path}\\hold")
+        elif loadsel == 'inertia':
+            os.mkdir(f"{path}\\inertia")
         return config_file, current_file, prj_file
     else:
         w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
@@ -61,8 +62,6 @@ def prj_to_xcore(prj_file):
     ssh.set_missing_host_key_policy(AutoAddPolicy())
     ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
     sftp = ssh.open_sftp()
-    # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
-    # ssh.exec_command('rm /tmp/target.zip')
     sftp.put(prj_file, '/tmp/target.zip')
     cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
     cmd += 'chmod 777 -R target/; rm target.zip'
@@ -110,7 +109,7 @@ def execution(cmd, hr, w2t, **kwargs):
         return _response
 
 
-def data_proc(path, filename, channel):
+def data_proc_regular(path, filename, channel, scenario_time):
     if channel in list(range(6)):
         with open(filename, 'r', encoding='utf-8') as f_obj:
             lines = f_obj.readlines()
@@ -175,69 +174,127 @@ def data_proc(path, filename, channel):
             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_1.data'
+            _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_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_1.data'
+            _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_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_1.data'
+            _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_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_1.data'
+            _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_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_1.data'
+            _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_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_1.data'
+            _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_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:
+            lines = f_obj.readlines()
+            _d2d_vel = {'hw_joint_vel_feedback': []}
+            _d2d_trq = {'device_servo_trq_feedback': []}
+            for line in lines:
+                data = eval(line.strip())['data']
+                for item in data:
+                    if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback':
+                        _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
+                    elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
+                        _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-8}_hold.data'
             df.to_csv(_filename, sep='\t', index=False)
 
 
-def gen_result_file(path, loadsel, disc, number):
+def data_proc_inertia(path, filename, channel):
+    with open(filename, 'r', encoding='utf-8') as f_obj:
+        lines = f_obj.readlines()
+        _d2d_vel = {'hw_joint_vel_feedback': []}
+        _d2d_trq = {'device_servo_trq_feedback': []}
+        for line in lines:
+            data = eval(line.strip())['data']
+            for item in data:
+                if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback':
+                    _d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
+                elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
+                    _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}\\inertia\\j{channel+4}_inertia.data'
+        df.to_csv(_filename, sep='\t', index=False)
+
+
+def gen_result_file(path, loadsel, disc, number, scenario_time):
     filename = path + f'\\data.txt'
     with open(filename, 'w', encoding='utf-8') as f_obj:
         for line in disc[number][1]:
             f_obj.write(str(line)+'\n')
 
     if loadsel == 'tool100':
-        data_proc(path, filename, number)
+        data_proc_regular(path, filename, number, scenario_time)
     elif loadsel == 'inertia':
-        data_proc(path, filename, 'all')
+        data_proc_inertia(path, filename, number)
 
 
-def regular_load(path, hr, md, loadsel, w2t):
+def run_rl(path, hr, md, loadsel, w2t):
-    conditions = [
+    c_regular = [
-        "	scenario(0, j1_p, j1_n, p_speed, p_tool)",
+        "scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
-        "	scenario(0, j2_p, j2_n, p_speed, p_tool)",
+        "scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
-        "	scenario(0, j3_p, j3_n, p_speed, p_tool)",
+        "scenario(0, j3_p, j3_n, p_speed, p_tool, i_tool)",
-        "	scenario(0, j4_p, j4_n, p_speed, p_tool)",
+        "scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)",
-        "	scenario(0, j5_p, j5_n, p_speed, p_tool)",
+        "scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)",
-        "	scenario(0, j6_p, j6_n, p_speed, p_tool)",
+        "scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)",
-        "	scenario(1, j5_p, j5_n, p_speed, p_tool)",
+        "scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
-        "	scenario(2, j5_p, j5_n, p_speed, p_tool)",
+        "scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
-        "	scenario(3, j5_p, j5_n, p_speed, p_tool)",
+        "scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
+        "scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)",
+        "scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)",
     ]
+    c_inertia = [
+        "scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)",
+        "scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)",
+        "scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)",
+    ]
+    disc_regular = {
+        0: ['一轴', []], 1: ['二轴', []], 2: ['三轴', []], 3: ['四轴', []], 4: ['五轴', []], 5: ['六轴', []],
+        6: ['场景一', []], 7: ['场景二', []], 8: ['场景三', []], 9: ['一轴保持', []], 10: ['二轴保持', []],
+        11: ['三轴保持', []], 12: ['四轴保持', []], 13: ['五轴保持', []], 14: ['六轴保持', []]
+    }
+    disc_inertia = {0: ['四轴惯量', []], 1: ['五轴惯量', []], 2: ['六轴惯量', []]}
+    if loadsel == 'tool100':
+        conditions = c_regular
+        disc = disc_regular
+    elif loadsel == 'inertia':
+        conditions = c_inertia
+        disc = disc_inertia
+
     for condition in conditions:
-        disc = {
-            0: ['一轴', []], 1: ['二轴', []], 2: ['三轴', []], 3: ['四轴', []], 4: ['五轴', []], 5: ['六轴', []],
-            6: ['场景一', []], 7: ['场景二', []], 8: ['场景三', []]
-        }
         number = conditions.index(condition)
         w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test')
 
@@ -283,6 +340,7 @@ def regular_load(path, hr, md, loadsel, w2t):
             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')
 
         # 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
         _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
         display_pdo_params = [
             {"name": "hw_joint_vel_feedback", "channel": 0},
@@ -300,7 +358,8 @@ def regular_load(path, hr, md, loadsel, w2t):
             {"name": "device_safety_estop", "channel": 0},
         ]
         _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-        if number < 6:
+        scenario_time = 0
+        if number < 6 or number > 8:
             sleep(15)
         else:
             _t_start = time()
@@ -315,14 +374,15 @@ def regular_load(path, hr, md, loadsel, w2t):
                     else:
                         sleep(5)
             sleep(1)  # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
-            sleep(float(md.read_scenario_time())*0.2)  # 再运行周期的20%即可
+            scenario_time = md.read_scenario_time()
+            sleep(float(scenario_time)*0.2)  # 再运行周期的20%即可
 
         # 6. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
         _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
         _response = execution('rl_task.stop', hr, w2t, tasks=['current'])
         _response = execution('state.switch_motor_off', hr, w2t)
         _response = execution('state.switch_manual', hr, w2t)
-        sleep(2)  # 保证所有数据均已返回
+        sleep(1)  # 保证所有数据均已返回
         # 7. 保留数据并处理输出
         for _msg in hr.c_msg:
             if 'diagnosis.result' in _msg:
@@ -333,27 +393,19 @@ def regular_load(path, hr, md, loadsel, w2t):
                 if 'diagnosis.result' in _msg:
                     _index = hr.c_msg.index(_msg)
                     break
-            del hr.c_msg[_index-10:]
+            del hr.c_msg[_index:]
             hr.c_msg_xs.clear()
-            gen_result_file(path, loadsel, disc, number)
+            gen_result_file(path, loadsel, disc, number, scenario_time)
     else:
-        w2t("满载情况下，单轴和场景电机电流采集完毕。", 0, 0, 'green', 'Automatic Test')
+        if loadsel == 'tool100':
-
+            w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。", 0, 0, 'green', 'Automatic Test')
-
+        elif loadsel == 'inertia':
-def inertia_load(path, hr, md, loadsel, w2t):
+            w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。", 0, 0, 'green', 'Automatic Test')
-    pass
-
-
-def run_rl(path, hr, md, loadsel, w2t):
-    if loadsel == 'tool100':
-        regular_load(path, hr, md, loadsel, w2t)
-    elif loadsel == 'inertia':
-        inertia_load(path, hr, md, loadsel, w2t)
 
 
 def main(path, hr, md, loadsel, w2t):
     data_dirs, data_files = traversal_files(path, w2t)
-    config_file, current_file, prj_file = check_files(path, data_dirs, data_files, w2t)
+    config_file, current_file, prj_file = check_files(path, loadsel, data_dirs, data_files, w2t)
     prj_to_xcore(prj_file)
     run_rl(path, hr, md, loadsel, w2t)