Compare commits
8 Commits
a7984a613d
...
dial_gauge
| Author | SHA1 | Date | |
|---|---|---|---|
| 4925d899b4 | |||
| 3814d163c5 | |||
| 340d48876b | |||
| 60726d9d07 | |||
| e713485d00 | |||
| 25fc43be81 | |||
| 924fad09e0 | |||
| 04bd1238d2 |
6
.gitignore
vendored
6
.gitignore
vendored
@ -7,6 +7,10 @@ aio/venv
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aio/__pycache__/
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aio/code/automatic_test/__pycache__/
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aio/code/data_process/__pycache__/
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aio/assets/templates/c_msg.log
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aio/assets/templates/c_msg.log*
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aio/code/durable_action/__pycache__/
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aio/assets/templates/durable/
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aio/assets/templates/.__c_msg.lock
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aio/code/commons/__pycache__/
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aio/assets/templates/debug.log
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dial_gauge/results.xlsx
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@ -31,9 +31,10 @@
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### 四、打包方法
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打包时，只需要修改 clibs.py 中的 PREFIX 即可，调试时再修改回来
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```
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pyinstaller.exe -F --version-file file_version_info.txt -i .\icon.ico .\aio.py -p .\brake.py -p .\current.py
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pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --version-file ..\assets\file_version_info.txt -i ..\assets\icon.ico ..\code\aio.py -p ..\code\data_process\brake.py -p ..\code\data_process\iso.py -p ..\code\data_process\current.py -p ..\code\data_process\wavelogger.py
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pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory . --upx-dir "D:/Syncthing/common/A_Program/upx-4.2.4-win64/" --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --add-data "D:/Syncthing/company/D-测试工作/X-自动化测试/01-AIO/rokae/aio/assets/templates:templates" --version-file ../assets/file_version_info.txt -i ../assets/icon.ico ../code/aio.py -p ../code/data_process/brake.py -p ../code/data_process/iso.py -p ../code/data_process/current.py -p ../code/data_process/wavelogger.py -p ../code/commons/openapi.py -p ../code/commons/clibs.py -p ../code/automatic_test/btn_functions.py -p ../code/automatic_test/do_current.py -p ../code/automatic_test/do_brake.py -p ../code/durable_action/factory_test.py
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```
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---
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@ -563,3 +564,40 @@ v0.2.0.3(2024/07/27)
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v0.2.0.4(2024/07/30)
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1. [APIs: do_brake.py]: 修复制动数据处理过程中，只取曲线的最后 240 个数据
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2. [APIs: aio.py]: 判定版本处，删除 self.destroy()，因为该语句会导致异常发生
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- 心跳修改为 1s，因为 OOM 问题的解决依赖于长久的打开曲线开关，此时对于 hr.c_msg 的定时清理是个挑战，将心跳缩短，有利于清理日志后，避免丢失心跳
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- 新增 diagnosis.save 命令，但是执行时，有问题，待解决
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v0.2.0.5(2024/07/31)
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此版本改动较大，公共部分做了规整，放置到新建文件夹 commons 当中，并所有自定义模块引入 logging 模块，记录重要信息
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1. [t_change_ui: clibs.py]
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- 调整代码组织结构，新增模块，将公共函数以及类合并入此
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- 将一些常量放入该模块
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- 引入logging/concurrent_log_handler模块，并作初始化操作，供其他模块使用，按50M切割，最多保留10份
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- prj_to_xcore函数设置工程名部分重写，修复了多个prj工程可能不能执行的问题，并优化输入密码的部分
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2. [t_change_ui: openapi.py]
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- 完全重写了 get_from_id 函数，使更精准
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- 在 msg_storage 函数中，增加 logger，保留所有响应消息
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- 删除 heartbeat 函数中的日志保存功能部分
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- 心跳再次修改为 2s...
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3. [t_change_ui: aio.py]
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- 增加了日志初始化部分
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- detect_network 函数中修改重新实例化HR间隔为 4s，对应心跳
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- create_plot 函数中增加 close('all')，解决循环画图不销毁占用内存的问题
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4. [t_change_ui: do_brake.py]
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- 使用一直打开曲线的方法规避解决了 OOM 的问题，同时修改数据处理方式，只取最后 12s
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- 优化 ssh 输入密码的部分
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5. [t_change_ui: do_current.py]
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- 保持电流，只取最后 15s
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- 优化 ssh 输入密码的部分
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6. [t_change_ui: all the part]: 引入 commons 包，并定制了 logging 输出，后续持续优化
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7. [APIs: btn_functions.py]: 重写了告警输出函数，从日志中拿数据
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8. [APIs: aio.py]: 将日志框输出的内容，也保存至日志文件
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9. [APIs: do_brake.py]
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- 修改获取初始速度的逻辑，只获取configs文件中配置的时间内的速度
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- 新增 configs 参数 single_brake，可针对特定条件做测试
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10. [APIs: all]: 添加了 logger.setLevel(INFO)，只有添加这个，单个模块内才生效
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v0.2.0.6(2024/08/09)
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1. [t_change_ui: all files]
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- 修改了 logger 的实现
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- 尤其是 clibs.py，使用日志字典，重写了日志记录的功能
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Binary file not shown.
@ -6,8 +6,8 @@ VSVersionInfo(
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ffi=FixedFileInfo(
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# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
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# Set not needed items to zero 0.
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filevers=(0, 2, 0, 3),
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prodvers=(0, 2, 0, 3),
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filevers=(0, 2, 0, 5),
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prodvers=(0, 2, 0, 5),
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# Contains a bitmask that specifies the valid bits 'flags'r
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mask=0x3f,
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# Contains a bitmask that specifies the Boolean attributes of the file.
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@ -31,12 +31,12 @@ VSVersionInfo(
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'040904b0',
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[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
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StringStruct('FileDescription', 'All in one automatic toolbox'),
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StringStruct('FileVersion', '0.2.0.3 (2024-07-27)'),
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StringStruct('FileVersion', '0.2.0.5 (2024-08-02)'),
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StringStruct('InternalName', 'AIO.exe'),
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StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
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StringStruct('OriginalFilename', 'AIO.exe'),
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StringStruct('ProductName', 'AIO'),
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StringStruct('ProductVersion', '0.2.0.3 (2024-07-27)')])
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StringStruct('ProductVersion', '0.2.0.5 (2024-08-02)')])
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]),
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VarFileInfo([VarStruct('Translation', [1033, 1200])])
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]
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@ -1,9 +1,9 @@
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openpyxl==3.1.2
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pdfplumber==0.11.0
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concurrent_log_handler==0.9.25
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customtkinter==5.2.2
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Jinja2==3.1.4
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lxml==5.2.2
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numpy==1.26.4
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matplotlib==3.9.1
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numpy==2.0.1
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openpyxl==3.1.2
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pandas==2.2.2
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pillow==10.3.0
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pyinstaller==6.7.0
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paramiko==3.4.0
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pdfplumber==0.11.0
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pymodbus==3.6.9
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@ -1 +1 @@
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0.2.0.3 @ 07/27/2024
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0.2.0.5 @ 08/02/2024
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@ -1 +0,0 @@
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__all__ = ['automatic_test', 'data_process']
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104
aio/code/aio.py
104
aio/code/aio.py
@ -1,49 +1,36 @@
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import tkinter
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from os.path import exists, dirname
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from os import getcwd
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from os.path import exists
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from os import getcwd, remove
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from threading import Thread
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import tkinter.messagebox
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import customtkinter
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from time import time, strftime, localtime, sleep
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from urllib.request import urlopen
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from socket import setdefaulttimeout
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from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
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from data_process import *
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from automatic_test import *
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from durable_action import *
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import openapi
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import matplotlib.pyplot as plt
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from data_process import brake, current, iso, wavelogger
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from automatic_test import do_current, do_brake, btn_functions
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from durable_action import factory_test
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from commons import openapi, clibs
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from matplotlib.pyplot import rcParams, figure, subplots_adjust, close
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from matplotlib import use
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from pandas import DataFrame, read_excel
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with open(clibs.log_data_hmi, 'w') as _hmi, open(clibs.log_data_debug, 'w', encoding='utf-8') as _debug:
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for i in range(1, 11):
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try:
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remove(f'{clibs.log_data_hmi}.{i}')
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except FileNotFoundError:
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pass
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logger = clibs.log_prod
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logger.info("日志文件初始化完成...")
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use('Agg')
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heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat'
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durable_data_current_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current.xlsx'
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durable_data_current_max_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current_max.xlsx'
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customtkinter.set_appearance_mode("System") # Modes: "System" (standard), "Dark", "Light"
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customtkinter.set_default_color_theme("blue") # Themes: "blue" (standard), "green", "dark-blue"
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customtkinter.set_widget_scaling(1.1) # widget dimensions and text size
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customtkinter.set_window_scaling(1.1) # window geometry dimensions
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setdefaulttimeout(3)
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# global vars
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durable_data_current = {
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'time': list(range(1, 19)),
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'axis1': [0 for _ in range(18)],
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'axis2': [0 for _ in range(18)],
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||||
'axis3': [0 for _ in range(18)],
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||||
'axis4': [0 for _ in range(18)],
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'axis5': [0 for _ in range(18)],
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||||
'axis6': [0 for _ in range(18)],
|
||||
}
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||||
durable_data_current_max = {
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'time': list(range(1, 19)),
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||||
'axis1': [0 for _ in range(18)],
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'axis2': [0 for _ in range(18)],
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||||
'axis3': [0 for _ in range(18)],
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||||
'axis4': [0 for _ in range(18)],
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'axis5': [0 for _ in range(18)],
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'axis6': [0 for _ in range(18)],
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||||
}
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btns_func = {
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'start': {'btn': '', 'row': 1, 'text': '开始运行'},
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'check': {'btn': '', 'row': 2, 'text': '检查参数'},
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@ -79,6 +66,7 @@ class App(customtkinter.CTk):
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self.flg = 0
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self.df_copy = None
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||||
self.old_curve = None
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||||
self.myThread = None
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# =====================================================================
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# configure window
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self.title("AIO - All in one automatic toolbox")
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@ -105,7 +93,7 @@ class App(customtkinter.CTk):
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btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback))
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btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback))
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# create version info
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self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.3\nDate: 07/27/2024", font=self.my_font, text_color="#4F4F4F")
|
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self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.2.0.5\nDate: 08/02/2024", font=self.my_font, text_color="#4F4F4F")
|
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self.frame_func.rowconfigure(6, weight=1)
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self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
|
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# =====================================================================
|
||||
@ -206,32 +194,32 @@ class App(customtkinter.CTk):
|
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tkinter.messagebox.showwarning(title="版本更新", message="连接服务器失败，无法确认当前是否是最新版本......")
|
||||
# functions below ↓ ----------------------------------------------------------------------------------------
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|
||||
def create_canvas(self, figure):
|
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self.canvas = FigureCanvasTkAgg(figure, self.tabview.tab('Durable Action'))
|
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def create_canvas(self, _figure):
|
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self.canvas = FigureCanvasTkAgg(_figure, self.tabview.tab('Durable Action'))
|
||||
self.canvas.draw()
|
||||
self.canvas.get_tk_widget().configure(height=600)
|
||||
self.canvas.get_tk_widget().grid(row=3, column=1, rowspan=3, columnspan=13, padx=20, pady=10, sticky="nsew")
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||||
|
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def create_plot(self):
|
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plt.rcParams['font.sans-serif'] = ['SimHei']
|
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plt.rcParams['axes.unicode_minus'] = False
|
||||
plt.rcParams['figure.dpi'] = 100
|
||||
plt.rcParams['font.size'] = 14
|
||||
plt.rcParams['lines.marker'] = 'o'
|
||||
rcParams['font.sans-serif'] = ['SimHei']
|
||||
rcParams['axes.unicode_minus'] = False
|
||||
rcParams['figure.dpi'] = 100
|
||||
rcParams['font.size'] = 14
|
||||
rcParams['lines.marker'] = 'o'
|
||||
|
||||
curvesel = widgits_da['curvesel']['optionmenu'].get()
|
||||
while True:
|
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if not self.hr.durable_lock:
|
||||
self.hr.durable_lock = 1
|
||||
if curvesel == 'device_servo_trq_feedback':
|
||||
df = read_excel(durable_data_current_xlsx)
|
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df = read_excel(clibs.durable_data_current_xlsx)
|
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_title = 'device_servo_trq_feedback'
|
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elif curvesel == '[max] device_servo_trq_feedback':
|
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_title = '[max] device_servo_trq_feedback'
|
||||
df = read_excel(durable_data_current_max_xlsx)
|
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df = read_excel(clibs.durable_data_current_max_xlsx)
|
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else:
|
||||
_title = 'device_servo_trq_feedback'
|
||||
df = read_excel(durable_data_current_xlsx)
|
||||
df = read_excel(clibs.durable_data_current_xlsx)
|
||||
self.hr.durable_lock = 0
|
||||
break
|
||||
else:
|
||||
@ -241,12 +229,13 @@ class App(customtkinter.CTk):
|
||||
self.flg = 1
|
||||
self.df_copy = df.copy()
|
||||
self.old_curve = widgits_da['curvesel']['optionmenu'].get()
|
||||
figure = plt.figure(frameon=True, facecolor='#E9E9E9')
|
||||
plt.subplots_adjust(left=0.04, right=0.98, bottom=0.1, top=0.95)
|
||||
close('all')
|
||||
_figure = figure(frameon=True, facecolor='#E9E9E9')
|
||||
subplots_adjust(left=0.04, right=0.98, bottom=0.1, top=0.95)
|
||||
|
||||
_ = df['time'].to_list()
|
||||
_xticks = [str(_i) for _i in _]
|
||||
ax = figure.add_subplot(1, 1, 1)
|
||||
ax = _figure.add_subplot(1, 1, 1)
|
||||
ax.set_xticks(range(len(_xticks)))
|
||||
ax.set_xticklabels(_xticks)
|
||||
|
||||
@ -257,7 +246,7 @@ class App(customtkinter.CTk):
|
||||
df.plot(grid=True, x='time', y='axis5', ax=ax)
|
||||
df.plot(grid=True, x='time', y='axis6', ax=ax, title=_title, legend='upper left', rot=30)
|
||||
|
||||
self.create_canvas(figure)
|
||||
self.create_canvas(_figure)
|
||||
|
||||
def thread_it(self, func, *args):
|
||||
""" 将函数打包进线程 """
|
||||
@ -272,7 +261,7 @@ class App(customtkinter.CTk):
|
||||
self.seg_button.configure(state='disabled')
|
||||
# self.tabview.configure(state='disabled')
|
||||
self.textbox.delete(index1='1.0', index2='end')
|
||||
with open(heartbeat, 'r', encoding='utf-8') as f_h:
|
||||
with open(clibs.heartbeat, 'r', encoding='utf-8') as f_h:
|
||||
c_state = f_h.read().strip()
|
||||
|
||||
if c_state == '0' and value != '功能切换':
|
||||
@ -287,12 +276,12 @@ class App(customtkinter.CTk):
|
||||
# self.tabview.configure(state='normal')
|
||||
|
||||
def detect_network(self):
|
||||
df = DataFrame(durable_data_current)
|
||||
df.to_excel(durable_data_current_xlsx, index=False)
|
||||
df = DataFrame(durable_data_current_max)
|
||||
df.to_excel(durable_data_current_max_xlsx, index=False)
|
||||
df = DataFrame(clibs.durable_data_current)
|
||||
df.to_excel(clibs.durable_data_current_xlsx, index=False)
|
||||
df = DataFrame(clibs.durable_data_current_max)
|
||||
df.to_excel(clibs.durable_data_current_max_xlsx, index=False)
|
||||
|
||||
with open(heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write('0')
|
||||
self.hr = openapi.HmiRequest(self.write2textbox)
|
||||
self.md = openapi.ModbusRequest(self.write2textbox)
|
||||
@ -301,14 +290,14 @@ class App(customtkinter.CTk):
|
||||
if self.tabview.get() == 'Durable Action':
|
||||
self.create_plot()
|
||||
|
||||
with open(heartbeat, 'r', encoding='utf-8') as f_hb:
|
||||
with open(clibs.heartbeat, 'r', encoding='utf-8') as f_hb:
|
||||
c_state = f_hb.read().strip()
|
||||
pb_color = 'green' if c_state == '1' else 'red'
|
||||
self.progressbar.configure(progress_color=pb_color)
|
||||
self.progressbar_da.configure(progress_color=pb_color)
|
||||
if c_state == '0':
|
||||
self.hr.t_bool = False
|
||||
sleep(3)
|
||||
sleep(4)
|
||||
del self.hr
|
||||
self.hr = openapi.HmiRequest(self.write2textbox)
|
||||
sleep(3)
|
||||
@ -459,6 +448,7 @@ class App(customtkinter.CTk):
|
||||
self.textbox.tag_add(color, 'insert', 'end')
|
||||
self.textbox.tag_config(tagName=color, foreground=color)
|
||||
tab_name_cur = self.tabview.get()
|
||||
logger.info(text)
|
||||
|
||||
if tab_name == tab_name_cur:
|
||||
if wait != 0:
|
||||
@ -620,10 +610,10 @@ class App(customtkinter.CTk):
|
||||
|
||||
def pre_warning(self):
|
||||
if self.tabview.get() == 'Durable Action':
|
||||
df = DataFrame(durable_data_current)
|
||||
df.to_excel(durable_data_current_xlsx, index=False)
|
||||
df = DataFrame(durable_data_current_max)
|
||||
df.to_excel(durable_data_current_max_xlsx, index=False)
|
||||
df = DataFrame(clibs.durable_data_current)
|
||||
df.to_excel(clibs.durable_data_current_xlsx, index=False)
|
||||
df = DataFrame(clibs.durable_data_current_max)
|
||||
df.to_excel(clibs.durable_data_current_max_xlsx, index=False)
|
||||
|
||||
if tkinter.messagebox.askyesno(title="开始运行", message="确认机器已按照测试规范更新固件，并提按照测试机型前修改好工程？"):
|
||||
pass
|
||||
|
||||
@ -1 +0,0 @@
|
||||
__all__ = ['btn_functions', 'do_brake', 'do_current']
|
||||
@ -1,61 +1,55 @@
|
||||
from json import loads
|
||||
from sys import argv
|
||||
from commons import clibs
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
if not _response:
|
||||
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
|
||||
return _response
|
||||
tab_name = clibs.tab_names['at']
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def trigger_estop(md, w2t):
|
||||
md.trigger_estop()
|
||||
w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
|
||||
w2t("触发急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
|
||||
|
||||
|
||||
def reset_estop(md, w2t):
|
||||
md.reset_estop()
|
||||
w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', 'Automatic Test')
|
||||
w2t("恢复急停成功，可点击机器状态验证。", 0, 0, 'green', tab_name)
|
||||
|
||||
|
||||
def get_state(hr, w2t):
|
||||
# 获取机器状态
|
||||
_response = execution('state.get_state', hr, w2t)
|
||||
_response = clibs.execution('state.get_state', hr, w2t, tab_name)
|
||||
stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
|
||||
for component, state in _response['data'].items():
|
||||
w2t(f"{stat_desc[component]}: {state}", tab_name='Automatic Test')
|
||||
w2t(f"{stat_desc[component]}: {state}", tab_name=tab_name)
|
||||
|
||||
# 获取设备伺服信息
|
||||
_response = execution('device.get_params', hr, w2t)
|
||||
_response = clibs.execution('device.get_params', hr, w2t, tab_name)
|
||||
dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'}
|
||||
dev_vers = {}
|
||||
for device in _response['data']['devices']:
|
||||
dev_vers[device['type']] = device['version']
|
||||
for i in sorted(dev_desc.keys()):
|
||||
w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name='Automatic Test')
|
||||
w2t(f"{dev_desc[i]}: {dev_vers[i]}", tab_name=tab_name)
|
||||
|
||||
# 设置示教器模式
|
||||
_response = execution('state.set_tp_mode', hr, w2t, tp_mode='without')
|
||||
_response = clibs.execution('state.set_tp_mode', hr, w2t, tab_name, tp_mode='without')
|
||||
|
||||
|
||||
def warning_info(hr, w2t):
|
||||
for msg in hr.c_msg:
|
||||
if 'alarm' in msg.lower():
|
||||
w2t(str(loads(msg)), tab_name='Automatic Test')
|
||||
for msg in hr.c_msg_xs:
|
||||
if 'alarm' in msg.lower():
|
||||
w2t(str(loads(msg)), tab_name='Automatic Test')
|
||||
for postfix in ['', '.2', '.3', '.4', '.5', '.6', '.7', '.8', '.9', '.10']:
|
||||
log_name = clibs.log_data_hmi + postfix
|
||||
try:
|
||||
with open(log_name, 'r', encoding='utf-8') as f_log:
|
||||
for line in f_log:
|
||||
if 'alarm' in line:
|
||||
w2t(line.strip(), tab_name=tab_name)
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
|
||||
|
||||
def main(hr, md, func, w2t):
|
||||
if hr is None:
|
||||
w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name='Automatic Test')
|
||||
w2t("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...", 0, 49, 'red', tab_name)
|
||||
# func: get_state/
|
||||
match func:
|
||||
case 'trigger_estop':
|
||||
|
||||
@ -1,30 +1,14 @@
|
||||
from time import sleep, time, strftime, localtime
|
||||
from sys import argv
|
||||
from os import scandir, mkdir
|
||||
from os.path import exists
|
||||
from os import mkdir
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from json import loads
|
||||
from openpyxl import load_workbook
|
||||
import pandas
|
||||
from pandas import DataFrame, concat
|
||||
from commons import clibs
|
||||
|
||||
RADIAN = 57.3 # 180 / 3.1415926
|
||||
tab_name = 'Automatic Test'
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red', tab_name)
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
tab_name = clibs.tab_names['at']
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def check_files(path, loadsel, data_dirs, data_files, w2t):
|
||||
@ -72,51 +56,11 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
|
||||
w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
|
||||
|
||||
|
||||
def prj_to_xcore(prj_file):
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
sftp = ssh.open_sftp()
|
||||
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'
|
||||
ssh.exec_command(cmd)
|
||||
|
||||
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
|
||||
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
|
||||
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
|
||||
|
||||
cmd = 'cd /home/luoshi/bin/controller/; '
|
||||
cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
|
||||
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.close()
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name)
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
if not _response:
|
||||
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name)
|
||||
return _response
|
||||
|
||||
|
||||
def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
|
||||
_d2d_vel = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq = {'device_servo_trq_feedback': []}
|
||||
_d2d_stop = {'device_safety_estop': []}
|
||||
for data in curve_data[-240:]:
|
||||
for data in curve_data[-240:]: # 保留最后12s的数据
|
||||
dict_results = data['data']
|
||||
for item in dict_results:
|
||||
try:
|
||||
@ -130,16 +74,17 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
|
||||
elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop':
|
||||
_d2d_stop['device_safety_estop'].extend(item['value'])
|
||||
|
||||
df1 = pandas.DataFrame.from_dict(_d2d_vel)
|
||||
df2 = pandas.DataFrame.from_dict(_d2d_trq)
|
||||
df3 = pandas.DataFrame.from_dict(_d2d_stop)
|
||||
df = pandas.concat([df1, df2, df3], axis=1)
|
||||
df1 = DataFrame.from_dict(_d2d_vel)
|
||||
df2 = DataFrame.from_dict(_d2d_trq)
|
||||
df3 = DataFrame.from_dict(_d2d_stop)
|
||||
df = concat([df1, df2, df3], axis=1)
|
||||
_filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data"
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
|
||||
def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
_count = 0
|
||||
_total = 63
|
||||
display_pdo_params = [
|
||||
{"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
@ -159,6 +104,9 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
ws = wb['Target']
|
||||
write_diagnosis = float(ws.cell(row=3, column=10).value)
|
||||
get_init_speed = float(ws.cell(row=4, column=10).value)
|
||||
single_brake = str(ws.cell(row=5, column=10).value)
|
||||
logger.info(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}")
|
||||
|
||||
if ws.cell(row=1, column=1).value == 'positive':
|
||||
md.write_pon(1)
|
||||
elif ws.cell(row=1, column=1).value == 'negative':
|
||||
@ -166,15 +114,26 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
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', tab_name)
|
||||
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
|
||||
clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
|
||||
for condition in result_dirs:
|
||||
_reach = condition.split('_')[0].removeprefix('reach')
|
||||
_load = condition.split('_')[1].removeprefix('load')
|
||||
_speed = condition.split('_')[2].removeprefix('speed')
|
||||
# if _speed != '100' or _reach != '100':
|
||||
# continue
|
||||
|
||||
# for single condition test
|
||||
_single_axis = 0
|
||||
if single_brake != '0':
|
||||
_total = 3
|
||||
_single_axis = int(single_brake.split('-')[0])
|
||||
if _reach != single_brake.split('-')[1] or _load != single_brake.split('-')[2] or _speed != single_brake.split('-')[3]:
|
||||
continue
|
||||
|
||||
for axis in range(1, 4):
|
||||
# for single condition test
|
||||
if _single_axis != 0 and _single_axis != axis:
|
||||
continue
|
||||
|
||||
md.write_axis(axis)
|
||||
speed_max = 0
|
||||
if axis == 3 and _reach != '100':
|
||||
@ -186,7 +145,7 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
_count += 1
|
||||
this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
|
||||
prj_path = 'target/_build/target.prj'
|
||||
w2t(f"[{this_time} | {_count}/63] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
|
||||
w2t(f"[{this_time} | {_count}/{_total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
|
||||
|
||||
# 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()
|
||||
@ -217,16 +176,15 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
cmd += f'sudo sed -i "/VelSet/i {_rl_tool}" 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
|
||||
stdout.read().decode() # 需要read一下才能正常执行
|
||||
stderr.read().decode()
|
||||
|
||||
# 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
|
||||
_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'])
|
||||
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
|
||||
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
|
||||
clibs.execution('state.switch_auto', hr, w2t, tab_name)
|
||||
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
|
||||
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
|
||||
_t_start = time()
|
||||
while True:
|
||||
if md.read_ready_to_go() == 1:
|
||||
@ -237,23 +195,26 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
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', tab_name)
|
||||
else:
|
||||
sleep(1)
|
||||
# 4. 打开诊断曲线，并执行采集，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
|
||||
sleep(get_init_speed) # 获取实际最大速度，可通过configs.xlsx配置
|
||||
_response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
|
||||
# sleep(1)
|
||||
# 4. 找出最大速度，传递给RL程序，最后清除相关记录
|
||||
sleep(get_init_speed+5) # 冗余5s，指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置
|
||||
clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['brake'])
|
||||
# 找出最大速度
|
||||
_c_msg = hr.c_msg.copy()
|
||||
_number = 0
|
||||
for _msg in _c_msg:
|
||||
if _number > get_init_speed*20: # 最开始回零点的时候，二轴速度可以达到最大值，实际摆动时，某一方向可能达不到
|
||||
break
|
||||
if 'diagnosis.result' in _msg:
|
||||
_number += 1
|
||||
dict_results = loads(_msg)['data']
|
||||
for item in dict_results:
|
||||
if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_ = RADIAN * sum(item['value']) / len(item['value'])
|
||||
_ = clibs.RADIAN * sum(item['value']) / len(item['value'])
|
||||
if ws.cell(row=1, column=1).value == 'positive':
|
||||
speed_max = max(_, speed_max)
|
||||
elif ws.cell(row=1, column=1).value == 'negative':
|
||||
speed_max = min(_, speed_max)
|
||||
print(f"speed max = {speed_max}")
|
||||
logger.info(f"speed max = {speed_max}")
|
||||
speed_max = abs(speed_max)
|
||||
speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
|
||||
if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
|
||||
@ -262,8 +223,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
md.write_speed_max(speed_max)
|
||||
|
||||
hr.c_msg_xs.clear()
|
||||
if len(hr.c_msg) > 240:
|
||||
del hr.c_msg[240:]
|
||||
if len(hr.c_msg) > 270:
|
||||
del hr.c_msg[270:]
|
||||
|
||||
if speed_max < 10:
|
||||
md.clear_alarm()
|
||||
@ -276,11 +237,11 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
md.reset_estop() # 其实没必要
|
||||
md.clear_alarm()
|
||||
|
||||
_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'])
|
||||
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
|
||||
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
|
||||
clibs.execution('state.switch_auto', hr, w2t, tab_name)
|
||||
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
|
||||
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
|
||||
for i in range(3):
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(1)
|
||||
@ -314,8 +275,8 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
curve_data.insert(0, loads(_msg))
|
||||
else:
|
||||
hr.c_msg_xs.clear()
|
||||
if len(hr.c_msg) > 240:
|
||||
del hr.c_msg[240:]
|
||||
if len(hr.c_msg) > 270:
|
||||
del hr.c_msg[270:]
|
||||
gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
|
||||
else:
|
||||
w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', tab_name)
|
||||
@ -323,9 +284,9 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
|
||||
|
||||
def main(path, hr, md, loadsel, w2t):
|
||||
_s_time = time()
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
data_dirs, data_files = clibs.traversal_files(path, w2t)
|
||||
config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
|
||||
prj_to_xcore(prj_file)
|
||||
clibs.prj_to_xcore(prj_file)
|
||||
run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t)
|
||||
_e_time = time()
|
||||
time_total = _e_time - _s_time
|
||||
|
||||
@ -1,12 +1,13 @@
|
||||
import os
|
||||
from os import mkdir
|
||||
from time import sleep, time
|
||||
from sys import argv
|
||||
from os import scandir
|
||||
from os.path import exists
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from json import loads
|
||||
import pandas
|
||||
from pandas import DataFrame, concat
|
||||
from commons import clibs
|
||||
|
||||
logger = clibs.log_prod
|
||||
tab_name = clibs.tab_names['at']
|
||||
display_pdo_params = [
|
||||
{"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
@ -22,26 +23,11 @@ display_pdo_params = [
|
||||
{"name": "device_servo_trq_feedback", "channel": 5},
|
||||
]
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
|
||||
|
||||
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')
|
||||
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)
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
|
||||
|
||||
config_file = current_file = prj_file = None
|
||||
for data_file in data_files:
|
||||
@ -53,62 +39,22 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
|
||||
elif filename.endswith('.zip'):
|
||||
prj_file = data_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')
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
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)
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
|
||||
|
||||
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')
|
||||
w2t("数据目录合规性检查结束，未发现问题......", tab_name=tab_name)
|
||||
if loadsel == 'tool100':
|
||||
os.mkdir(f"{path}\\single")
|
||||
os.mkdir(f"{path}\\s_1")
|
||||
os.mkdir(f"{path}\\s_2")
|
||||
os.mkdir(f"{path}\\s_3")
|
||||
mkdir(f"{path}\\single")
|
||||
mkdir(f"{path}\\s_1")
|
||||
mkdir(f"{path}\\s_2")
|
||||
mkdir(f"{path}\\s_3")
|
||||
elif loadsel == 'inertia':
|
||||
os.mkdir(f"{path}\\inertia")
|
||||
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')
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
|
||||
|
||||
|
||||
def prj_to_xcore(prj_file):
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
sftp = ssh.open_sftp()
|
||||
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'
|
||||
ssh.exec_command(cmd)
|
||||
|
||||
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
|
||||
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
|
||||
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
|
||||
|
||||
cmd = 'cd /home/luoshi/bin/controller/; '
|
||||
cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
|
||||
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.close()
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 7, 'red', tab_name='Automatic Test')
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
if not _response:
|
||||
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
|
||||
return _response
|
||||
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)
|
||||
w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
|
||||
|
||||
|
||||
def data_proc_regular(path, filename, channel, scenario_time):
|
||||
@ -117,7 +63,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
lines = f_obj.readlines()
|
||||
_d2d_vel = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq = {'device_servo_trq_feedback': []}
|
||||
for line in lines:
|
||||
for line in lines[-500:]: # 保留最后25s的数据
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
try:
|
||||
@ -129,9 +75,9 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
elif item.get('channel', None) == channel 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)
|
||||
df1 = DataFrame.from_dict(_d2d_vel)
|
||||
df2 = DataFrame.from_dict(_d2d_trq)
|
||||
df = concat([df1, df2], axis=1)
|
||||
_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)):
|
||||
@ -181,39 +127,39 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
|
||||
|
||||
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)
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_0)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_0)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_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)
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_1)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_1)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_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)
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_2)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_2)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_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)
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_3)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_3)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_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)
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_4)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_4)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_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)
|
||||
df_01 = DataFrame.from_dict(_d2d_vel_5)
|
||||
df_02 = DataFrame.from_dict(_d2d_trq_5)
|
||||
df = concat([df_01, df_02], axis=1)
|
||||
_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)):
|
||||
@ -221,7 +167,7 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
lines = f_obj.readlines()
|
||||
_d2d_vel = {'hw_joint_vel_feedback': []}
|
||||
_d2d_trq = {'device_servo_trq_feedback': []}
|
||||
for line in lines:
|
||||
for line in lines[-300:]: # 保留最后15s的数据
|
||||
data = eval(line.strip())['data']
|
||||
for item in data:
|
||||
try:
|
||||
@ -233,9 +179,9 @@ def data_proc_regular(path, filename, channel, scenario_time):
|
||||
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)
|
||||
df1 = DataFrame.from_dict(_d2d_vel)
|
||||
df2 = DataFrame.from_dict(_d2d_trq)
|
||||
df = concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
@ -257,9 +203,9 @@ def data_proc_inertia(path, filename, channel):
|
||||
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)
|
||||
df1 = DataFrame.from_dict(_d2d_vel)
|
||||
df2 = DataFrame.from_dict(_d2d_trq)
|
||||
df = concat([df1, df2], axis=1)
|
||||
_filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
|
||||
df.to_csv(_filename, sep='\t', index=False)
|
||||
|
||||
@ -313,39 +259,38 @@ def run_rl(path, hr, md, loadsel, w2t):
|
||||
disc = disc_inertia
|
||||
|
||||
# preparation 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
|
||||
_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.save', hr, w2t, save=True) # 这条命令有问题
|
||||
clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
|
||||
clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
|
||||
# clibs.execution('diagnosis.save', hr, w2t, tab_name, save=True) # 这条命令有问题
|
||||
md.trigger_estop()
|
||||
md.reset_estop()
|
||||
|
||||
for condition in conditions:
|
||||
number = conditions.index(condition)
|
||||
w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', 'Automatic Test')
|
||||
w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', tab_name)
|
||||
|
||||
# 1. 将act重置为False，并修改未要执行的场景
|
||||
md.write_act(False)
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
ssh.connect(clibs.ip_addr, 22, username='luoshi', password='luoshi2019')
|
||||
cmd = 'cd /home/luoshi/bin/controller/; '
|
||||
cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; '
|
||||
cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/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
|
||||
stdout.read().decode() # 需要read一下才能正常执行
|
||||
stderr.read().decode()
|
||||
|
||||
# 2. reload工程后，pp2main，并且自动模式和上电
|
||||
prj_path = 'target/_build/target.prj'
|
||||
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
|
||||
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
|
||||
_response = execution('state.switch_auto', hr, w2t)
|
||||
_response = execution('state.switch_motor_on', hr, w2t)
|
||||
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
|
||||
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
|
||||
clibs.execution('state.switch_auto', hr, w2t, tab_name)
|
||||
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
|
||||
|
||||
# 3. 开始运行程序，单轴运行35s
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
|
||||
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
|
||||
_t_start = time()
|
||||
while True:
|
||||
if md.read_ready_to_go() == 1:
|
||||
@ -353,7 +298,7 @@ def run_rl(path, hr, md, loadsel, w2t):
|
||||
break
|
||||
else:
|
||||
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')
|
||||
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', tab_name)
|
||||
else:
|
||||
sleep(1)
|
||||
|
||||
@ -369,11 +314,11 @@ def run_rl(path, hr, md, loadsel, w2t):
|
||||
while True:
|
||||
scenario_time = md.read_scenario_time()
|
||||
if float(scenario_time) > 1:
|
||||
w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', 'Automatic Test')
|
||||
w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
|
||||
break
|
||||
else:
|
||||
if (time()-_t_start)//60 > 3:
|
||||
w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
|
||||
w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
|
||||
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
|
||||
@ -381,27 +326,27 @@ def run_rl(path, hr, md, loadsel, w2t):
|
||||
sleep(float(scenario_time)*0.2) # 再运行周期的20%即可
|
||||
|
||||
# 5.停止程序运行，保留数据并处理输出
|
||||
_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
|
||||
clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['current'])
|
||||
_c_msg = hr.c_msg.copy()
|
||||
for _msg in _c_msg:
|
||||
if 'diagnosis.result' in _msg:
|
||||
disc[number][1].insert(0, loads(_msg))
|
||||
else:
|
||||
hr.c_msg_xs.clear()
|
||||
if len(hr.c_msg) > 240:
|
||||
del hr.c_msg[240:]
|
||||
if len(hr.c_msg) > 270:
|
||||
del hr.c_msg[270:]
|
||||
gen_result_file(path, loadsel, disc, number, scenario_time)
|
||||
else:
|
||||
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')
|
||||
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', tab_name)
|
||||
elif loadsel == 'inertia':
|
||||
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')
|
||||
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', tab_name)
|
||||
|
||||
|
||||
def main(path, hr, md, loadsel, w2t):
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
data_dirs, data_files = clibs.traversal_files(path, w2t)
|
||||
config_file, current_file, prj_file = check_files(path, loadsel, data_dirs, data_files, w2t)
|
||||
prj_to_xcore(prj_file)
|
||||
clibs.prj_to_xcore(prj_file)
|
||||
run_rl(path, hr, md, loadsel, w2t)
|
||||
|
||||
|
||||
|
||||
191
aio/code/commons/clibs.py
Normal file
191
aio/code/commons/clibs.py
Normal file
@ -0,0 +1,191 @@
|
||||
from os import scandir
|
||||
from threading import Thread
|
||||
from time import sleep
|
||||
from os.path import exists
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from socket import setdefaulttimeout
|
||||
from logging import getLogger
|
||||
from logging.config import dictConfig
|
||||
import concurrent_log_handler
|
||||
|
||||
ip_addr = '192.168.0.160' # for product
|
||||
# ip_addr = '192.168.84.129' # for test
|
||||
RADIAN = 57.3 # 180 / 3.1415926
|
||||
MAX_FRAME_SIZE = 1024
|
||||
TIMEOUT = 5
|
||||
setdefaulttimeout(TIMEOUT)
|
||||
tab_names = {'dp': 'Data Process', 'at': 'Automatic Test', 'da': 'Duration Action', 'op': 'openapi'}
|
||||
# PREFIX = '' # for pyinstaller packaging
|
||||
PREFIX = '../assets/' # for source code debug
|
||||
log_data_hmi = f'{PREFIX}templates/c_msg.log'
|
||||
log_data_debug = f'{PREFIX}templates/debug.log'
|
||||
heartbeat = f'{PREFIX}templates/heartbeat'
|
||||
durable_data_current_xlsx = f'{PREFIX}templates/durable/durable_data_current.xlsx'
|
||||
durable_data_current_max_xlsx = f'{PREFIX}templates/durable/durable_data_current_max.xlsx'
|
||||
durable_data_current = {
|
||||
'time': list(range(1, 19)),
|
||||
'axis1': [0 for _ in range(18)],
|
||||
'axis2': [0 for _ in range(18)],
|
||||
'axis3': [0 for _ in range(18)],
|
||||
'axis4': [0 for _ in range(18)],
|
||||
'axis5': [0 for _ in range(18)],
|
||||
'axis6': [0 for _ in range(18)],
|
||||
}
|
||||
durable_data_current_max = {
|
||||
'time': list(range(1, 19)),
|
||||
'axis1': [0 for _ in range(18)],
|
||||
'axis2': [0 for _ in range(18)],
|
||||
'axis3': [0 for _ in range(18)],
|
||||
'axis4': [0 for _ in range(18)],
|
||||
'axis5': [0 for _ in range(18)],
|
||||
'axis6': [0 for _ in range(18)],
|
||||
}
|
||||
|
||||
# version：表示版本，该键值为从1开始的整数。该key必选，除此之外，其它key都是可选。
|
||||
# formatters：日志格式化器，其value值为一个字典，该字典的每个键值对都代表一个Formatter，键值对中，key代表Formatter ID(自定义ID)，value为字典，描述如何配置相应的Formatter实例。默认格式为 ‘%(message)s’
|
||||
# filters：日志过滤器，其value值为一个字典，该字典的每个键值对都代表一个Filter，键值对中，key代表Filter ID(自定义ID)，value为字典，描述如何配置相应的Filter实例。
|
||||
# handlers：日志处理器，其value值为一个字典，该字典的每个键值对都代表一个Handler，键值对中，key代表Handler ID(自定义ID)，value为字典，描述如何配置相应的Handler实例，包含以下配置key：
|
||||
# class (必选)：日志处理器类全称
|
||||
# level (可选)：指定该日志处理器需要处理哪些级别的日志，低于该级别的日志将不被该handler处理。level可以为代表日志级别的整数或者表大写字符串，字符串日志级别和数字日志级别对应关系如下：
|
||||
# CRITICAL 50
|
||||
# ERROR 40
|
||||
# WARNING 30
|
||||
# INFO 20
|
||||
# DEBUG 10
|
||||
# NOTSET 0
|
||||
f_complex = '%(asctime)s # %(name)s-%(levelname)s-%(module)s-%(funcName)s-%(lineno)d # %(message)s'
|
||||
f_simple = '%(levelname)s-%(module)s-%(funcName)s-%(lineno)d: %(message)s'
|
||||
log_dicts = {
|
||||
'version': 1,
|
||||
'disable_existing_loggers': True,
|
||||
'formatters': {
|
||||
'standard': {
|
||||
'format': f_complex,
|
||||
'style': '%',
|
||||
'datefmt': '%Y-%m-%dT%H:%M:%S',
|
||||
},
|
||||
'test': {
|
||||
'format': f_simple,
|
||||
'style': '%',
|
||||
'datefmt': '%Y-%m-%dT%H:%M:%S',
|
||||
},
|
||||
},
|
||||
'filters': {},
|
||||
'handlers': {
|
||||
'console': {
|
||||
'level': 'DEBUG',
|
||||
'class': 'logging.StreamHandler',
|
||||
'formatter': 'test',
|
||||
},
|
||||
'hmi.log': {
|
||||
'level': 'DEBUG',
|
||||
'class': 'concurrent_log_handler.ConcurrentRotatingFileHandler',
|
||||
'filename': log_data_hmi,
|
||||
'maxBytes': 1024*1024*50,
|
||||
'backupCount': 10,
|
||||
'encoding': 'utf-8',
|
||||
'formatter': 'standard',
|
||||
},
|
||||
'debug.log': {
|
||||
'level': 'INFO',
|
||||
'class': 'logging.FileHandler',
|
||||
'filename': log_data_debug,
|
||||
'encoding': 'utf-8',
|
||||
'formatter': 'standard',
|
||||
},
|
||||
},
|
||||
'loggers': {
|
||||
'normal': {
|
||||
'handlers': ['hmi.log', 'debug.log'],
|
||||
'level': 'DEBUG',
|
||||
'propagate': False
|
||||
},
|
||||
'debug': {
|
||||
'handlers': ['console'],
|
||||
'level': 'DEBUG',
|
||||
'propagate': False
|
||||
},
|
||||
'': {
|
||||
'handlers': ['hmi.log', 'debug.log'],
|
||||
'level': 'DEBUG',
|
||||
'propagate': False
|
||||
},
|
||||
}
|
||||
}
|
||||
dictConfig(log_dicts)
|
||||
log_prod = getLogger('normal')
|
||||
log_debug = getLogger('debug')
|
||||
|
||||
|
||||
class GetThreadResult(Thread):
|
||||
def __init__(self, func, args=()):
|
||||
super(GetThreadResult, self).__init__()
|
||||
self.func = func
|
||||
self.args = args
|
||||
self.result = 0
|
||||
|
||||
def run(self):
|
||||
sleep(1)
|
||||
self.result = self.func(*self.args)
|
||||
|
||||
def get_result(self):
|
||||
Thread.join(self) # 等待线程执行完毕
|
||||
try:
|
||||
return self.result
|
||||
except Exception as Err:
|
||||
return None
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
|
||||
|
||||
def prj_to_xcore(prj_file):
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect(ip_addr, 22, username='luoshi', password='luoshi2019')
|
||||
sftp = ssh.open_sftp()
|
||||
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'
|
||||
ssh.exec_command(cmd)
|
||||
|
||||
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
|
||||
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdout.read().decode() # 需要read一下才能正常执行
|
||||
stderr.read().decode()
|
||||
|
||||
cmd = 'cd /home/luoshi/bin/controller/; '
|
||||
cmd += 'sudo chmod -R 755 projects; rm /tmp/*.prj; sudo mv projects/target/_build/*.prj /tmp; cd /tmp; '
|
||||
cmd += 'prj=($(ls *.prj)); sudo mv ${prj[0]} /home/luoshi/bin/controller/projects/target/_build/target.prj; '
|
||||
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||||
stdin.write('luoshi2019' + '\n')
|
||||
stdout.read().decode() # 需要read一下才能正常执行
|
||||
stderr.read().decode()
|
||||
ssh.close()
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, tab_name, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name)
|
||||
else:
|
||||
return eval(_msg.split('#')[2])
|
||||
@ -1,17 +1,14 @@
|
||||
from json import load, dumps, loads
|
||||
from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
|
||||
from socket import socket, AF_INET, SOCK_STREAM
|
||||
from threading import Thread
|
||||
import selectors
|
||||
from time import time, sleep
|
||||
from os.path import dirname
|
||||
from pymodbus.client.tcp import ModbusTcpClient
|
||||
from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
|
||||
from pymodbus.constants import Endian
|
||||
from commons import clibs
|
||||
|
||||
MAX_FRAME_SIZE = 1024
|
||||
setdefaulttimeout(2)
|
||||
current_path = dirname(__file__)
|
||||
heartbeat = f'{current_path}/../assets/templates/heartbeat'
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
class ModbusRequest(object):
|
||||
@ -19,7 +16,7 @@ class ModbusRequest(object):
|
||||
super().__init__()
|
||||
self.w2t = w2t
|
||||
self.tab_name = 'openapi'
|
||||
self.host = '192.168.0.160'
|
||||
self.host = clibs.ip_addr
|
||||
self.port = 502
|
||||
self.interval = 0.3
|
||||
self.c = ModbusTcpClient(self.host, self.port)
|
||||
@ -195,21 +192,19 @@ class HmiRequest(object):
|
||||
|
||||
def sock_conn(self):
|
||||
# while True:
|
||||
with open(heartbeat, "r", encoding='utf-8') as f_hb:
|
||||
with open(clibs.heartbeat, "r", encoding='utf-8') as f_hb:
|
||||
c_state = f_hb.read().strip()
|
||||
if c_state == '0':
|
||||
try:
|
||||
self.c = socket(AF_INET, SOCK_STREAM)
|
||||
self.c.connect(('192.168.0.160', 5050))
|
||||
# self.c.connect(('192.168.84.129', 5050))
|
||||
self.c.connect((clibs.ip_addr, 5050))
|
||||
self.c.setblocking(False)
|
||||
self.c_xs = socket(AF_INET, SOCK_STREAM)
|
||||
self.c_xs.connect(('192.168.0.160', 6666))
|
||||
# self.c_xs.connect(('192.168.84.129', 6666))
|
||||
self.c_xs.connect((clibs.ip_addr, 6666))
|
||||
self.c_xs.setblocking(False)
|
||||
|
||||
self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
|
||||
with open(heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write('1')
|
||||
md = ModbusRequest(self.w2t)
|
||||
md.reset_estop()
|
||||
@ -219,7 +214,7 @@ class HmiRequest(object):
|
||||
md.write_axis(1)
|
||||
except Exception as Err:
|
||||
self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
|
||||
with open(heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write('0')
|
||||
|
||||
def header_check(self, index, data):
|
||||
@ -247,33 +242,29 @@ class HmiRequest(object):
|
||||
# print(f"in head check data: {data}")
|
||||
|
||||
self.broke = 100
|
||||
index += MAX_FRAME_SIZE
|
||||
index += clibs.MAX_FRAME_SIZE
|
||||
return index, 0, 0
|
||||
|
||||
def heartbeat(self):
|
||||
while self.t_bool:
|
||||
_id = self.execution('controller.heart')
|
||||
_flag = '0' if self.get_from_id(_id) is None else '1'
|
||||
print(f"hb = {_flag}", end=' ')
|
||||
print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
|
||||
print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
|
||||
with open(heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
# print(f"hb = {_flag}", end=' ')
|
||||
# print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
|
||||
# print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end='\n')
|
||||
with open(clibs.heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write(_flag)
|
||||
if _flag == '0':
|
||||
self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
|
||||
t = time()
|
||||
with open(f"{current_path}/../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
|
||||
for msg in self.c_msg:
|
||||
f.write(str(t) + '-' + str(loads(msg)) + '\n')
|
||||
sleep(1)
|
||||
|
||||
sleep(2)
|
||||
|
||||
def msg_storage(self, response, flag=0):
|
||||
# response是解码后的字符串
|
||||
messages = self.c_msg if flag == 0 else self.c_msg_xs
|
||||
logger.debug(f"{loads(response)}")
|
||||
if 'move.monitor' in response:
|
||||
pass
|
||||
elif len(messages) < 20000:
|
||||
elif len(messages) < 10000:
|
||||
messages.insert(0, response)
|
||||
else:
|
||||
messages.insert(0, response)
|
||||
@ -317,7 +308,7 @@ class HmiRequest(object):
|
||||
# print(f"broke == 0 index = {self.index-8}")
|
||||
# print(f"broke == 0 INIT pkg size = {self.pkg_size}")
|
||||
# print(f"broke == 0 data = {data}")
|
||||
if self.index > MAX_FRAME_SIZE:
|
||||
if self.index > clibs.MAX_FRAME_SIZE:
|
||||
break
|
||||
# 详见解包原理数据.txt，self.pkg_size 永远是除了当前data之外剩余未处理的数据大小
|
||||
if self.pkg_size <= len(data) - self.index:
|
||||
@ -361,15 +352,15 @@ class HmiRequest(object):
|
||||
# print('flag = 0 encounter broke == 3')
|
||||
self.broke = 3
|
||||
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.index += clibs.MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
|
||||
break # 因为 index + 2 的大小超过 clibs.MAX_FRAME_SIZE
|
||||
|
||||
elif self.index+_frame_size-6 > len(data):
|
||||
self.response = data[self.index:].decode()
|
||||
self.pkg_size -= (len(data) - self.index) # 详见解包原理数据.txt，self.pkg_size
|
||||
self.leftover = (_frame_size-6-(len(data)-self.index))
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.index += clibs.MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
|
||||
# print(f"in flag=0 else data = {data}")
|
||||
@ -438,9 +429,9 @@ class HmiRequest(object):
|
||||
# print('flag = 1 encounter broke == 3')
|
||||
self.broke = 3
|
||||
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.index += clibs.MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
|
||||
break # 因为 index + 2 的大小超过 clibs.MAX_FRAME_SIZE
|
||||
# print(f"in pkg size > 0 loop after if data = {data}")
|
||||
# print(f"in pkg size > 0 loop after if index = {self.index}")
|
||||
# print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
|
||||
@ -457,7 +448,7 @@ class HmiRequest(object):
|
||||
self.response += data[self.index:].decode()
|
||||
self.leftover -= (len(data) - self.index)
|
||||
self.pkg_size -= (len(data) - self.index)
|
||||
self.index += MAX_FRAME_SIZE
|
||||
self.index += clibs.MAX_FRAME_SIZE
|
||||
self.reset_index = 1
|
||||
# print(f"in pkg size > 0 loop after else data = {data}")
|
||||
# print(f"in pkg size > 0 loop after else index = {self.index}")
|
||||
@ -511,14 +502,20 @@ class HmiRequest(object):
|
||||
|
||||
def get_from_id(self, msg_id, flag=0):
|
||||
for i in range(3):
|
||||
messages = self.c_msg if flag == 0 else self.c_msg_xs
|
||||
for msg in messages:
|
||||
if msg_id is None:
|
||||
return None
|
||||
elif msg_id in msg:
|
||||
return msg
|
||||
with open(clibs.log_data_hmi, mode='r', encoding='utf-8') as f_log:
|
||||
for line in f_log:
|
||||
if msg_id in line.strip():
|
||||
return line
|
||||
sleep(1)
|
||||
else:
|
||||
else: # 尝试在上一次分割的日志中查找，只做一次
|
||||
sleep(1)
|
||||
try:
|
||||
with open(clibs.log_data_hmi+'.1', mode='r', encoding='utf-8') as f_log:
|
||||
for line in f_log:
|
||||
if msg_id in line.strip():
|
||||
return line
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
return None
|
||||
|
||||
def package(self, cmd):
|
||||
@ -533,7 +530,7 @@ class HmiRequest(object):
|
||||
|
||||
def unpackage(self, sock):
|
||||
def to_read(conn, mask):
|
||||
data = conn.recv(MAX_FRAME_SIZE)
|
||||
data = conn.recv(clibs.MAX_FRAME_SIZE)
|
||||
if data:
|
||||
# print(data)
|
||||
self.get_response(data)
|
||||
@ -580,7 +577,7 @@ class HmiRequest(object):
|
||||
if flg == 0: # for old protocols
|
||||
req = None
|
||||
try:
|
||||
with open(f'{current_path}/../assets/templates/json/{command}.json', encoding='utf-8',
|
||||
with open(f'{clibs.PREFIX}templates/json/{command}.json', encoding='utf-8',
|
||||
mode='r') as f_json:
|
||||
req = load(f_json)
|
||||
except:
|
||||
@ -618,7 +615,7 @@ class HmiRequest(object):
|
||||
self.c.send(self.package(cmd))
|
||||
sleep(0.5)
|
||||
except Exception as Err:
|
||||
self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
|
||||
self.w2t(f"{cmd}: 请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
|
||||
|
||||
return req['id']
|
||||
|
||||
@ -1 +0,0 @@
|
||||
__all__ = ['brake', 'current', 'iso', 'wavelogger']
|
||||
@ -1,49 +1,12 @@
|
||||
# coding: utf-8
|
||||
from os import scandir
|
||||
from os.path import isfile, exists
|
||||
from os.path import isfile
|
||||
from sys import argv
|
||||
from openpyxl import load_workbook
|
||||
from time import time, sleep, strftime, localtime
|
||||
from threading import Thread
|
||||
from pandas import read_csv
|
||||
from commons import clibs
|
||||
|
||||
|
||||
class GetThreadResult(Thread):
|
||||
def __init__(self, func, args=()):
|
||||
super(GetThreadResult, self).__init__()
|
||||
self.func = func
|
||||
self.args = args
|
||||
self.result = 0
|
||||
|
||||
def run(self):
|
||||
sleep(1)
|
||||
self.result = self.func(*self.args)
|
||||
|
||||
def get_result(self):
|
||||
Thread.join(self) # 等待线程执行完毕
|
||||
try:
|
||||
return self.result
|
||||
except Exception as Err:
|
||||
return None
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def check_files(path, raw_data_dirs, result_files, w2t):
|
||||
@ -83,7 +46,7 @@ def check_files(path, raw_data_dirs, result_files, w2t):
|
||||
规则解释：AA/BB/CC 指的是臂展/负载/速度的比例，例如reach66_load100_speed33：66%臂展，100%负载以及33%速度情况下的测试结果文件夹"""
|
||||
w2t(msg, 0, 4, 'red')
|
||||
|
||||
_, raw_data_files = traversal_files(raw_data_dir, w2t)
|
||||
_, raw_data_files = clibs.traversal_files(raw_data_dir, w2t)
|
||||
if len(raw_data_files) != 3:
|
||||
msg = f"数据目录 {raw_data_dir} 下数据文件个数错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
|
||||
w2t(msg, 0, 5, 'red')
|
||||
@ -109,6 +72,7 @@ def get_configs(configfile, w2t):
|
||||
|
||||
return av, rr
|
||||
|
||||
|
||||
def now_doing_msg(docs, flag, w2t):
|
||||
# 功能：输出正在处理的文件或目录
|
||||
# 参数：文件或目录，start 或 done 标识
|
||||
@ -228,7 +192,7 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
|
||||
|
||||
global stop
|
||||
stop = 0
|
||||
t_excel = GetThreadResult(load_workbook, args=(result_file, ))
|
||||
t_excel = clibs.GetThreadResult(load_workbook, args=(result_file, ))
|
||||
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
|
||||
t_excel.start()
|
||||
t_wait.start()
|
||||
@ -242,7 +206,7 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
|
||||
for raw_data_dir in raw_data_dirs:
|
||||
if raw_data_dir.split('\\')[-1].split('_')[0] == prefix:
|
||||
now_doing_msg(raw_data_dir, 'start', w2t)
|
||||
_, data_files = traversal_files(raw_data_dir, w2t)
|
||||
_, data_files = clibs.traversal_files(raw_data_dir, w2t)
|
||||
# 数据文件串行处理模式---------------------------------
|
||||
# count = 1
|
||||
# for data_file in data_files:
|
||||
@ -280,7 +244,7 @@ def main(path, vel, trq, estop, w2t):
|
||||
# 参数：initialization函数的返回值
|
||||
# 返回值：-
|
||||
time_start = time()
|
||||
raw_data_dirs, result_files = traversal_files(path, w2t)
|
||||
raw_data_dirs, result_files = clibs.traversal_files(path, w2t)
|
||||
|
||||
try:
|
||||
# threads = []
|
||||
|
||||
@ -1,31 +1,13 @@
|
||||
from openpyxl import load_workbook
|
||||
from os import scandir
|
||||
from os.path import exists
|
||||
from sys import argv
|
||||
from pandas import read_csv, concat, set_option
|
||||
from re import match
|
||||
from threading import Thread
|
||||
from time import sleep
|
||||
from csv import reader, writer
|
||||
from commons import clibs
|
||||
|
||||
|
||||
class GetThreadResult(Thread):
|
||||
def __init__(self, func, args=()):
|
||||
super(GetThreadResult, self).__init__()
|
||||
self.func = func
|
||||
self.args = args
|
||||
self.result = 0
|
||||
|
||||
def run(self):
|
||||
sleep(1)
|
||||
self.result = self.func(*self.args)
|
||||
|
||||
def get_result(self):
|
||||
Thread.join(self) # 等待线程执行完毕
|
||||
try:
|
||||
return self.result
|
||||
except Exception as Err:
|
||||
return None
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def w2t_local(msg, wait, w2t):
|
||||
@ -38,27 +20,8 @@ def w2t_local(msg, wait, w2t):
|
||||
break
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 8, 'red')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
|
||||
|
||||
def initialization(path, sub, w2t):
|
||||
_, data_files = traversal_files(path, w2t)
|
||||
_, data_files = clibs.traversal_files(path, w2t)
|
||||
count = 0
|
||||
|
||||
for data_file in data_files:
|
||||
@ -69,8 +32,8 @@ def initialization(path, sub, w2t):
|
||||
count += 1
|
||||
else:
|
||||
if not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)):
|
||||
print(f"不合规 {data_file}")
|
||||
msg = f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。"
|
||||
msg = f"不合规 {data_file}\n"
|
||||
msg += f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。"
|
||||
w2t(msg, 0, 6, 'red')
|
||||
|
||||
if not ((sub == 'cycle' and count == 2) or (sub != 'cycle' and count == 1)):
|
||||
@ -174,7 +137,7 @@ def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
|
||||
w2t(f"正在打开文件 {result}，需要 10s 左右", 1, 0, 'orange')
|
||||
global stop
|
||||
stop = 0
|
||||
t_excel = GetThreadResult(load_workbook, args=(result, ))
|
||||
t_excel = clibs.GetThreadResult(load_workbook, args=(result, ))
|
||||
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
|
||||
t_excel.start()
|
||||
t_wait.start()
|
||||
@ -268,7 +231,7 @@ def p_single(wb, single, vel, trq, rpms, rrs, w2t):
|
||||
col_names = list(df.columns)
|
||||
df_1 = df[col_names[vel-1]].multiply(rpm*addition)
|
||||
df_2 = df[col_names[trq-1]].multiply(scale)
|
||||
print(df_1.abs().max())
|
||||
# print(df_1.abs().max())
|
||||
df = concat([df_1, df_2], axis=1)
|
||||
|
||||
_step = 5 if data_file.endswith('.csv') else 50
|
||||
|
||||
@ -1,27 +1,10 @@
|
||||
# _*_ encoding：utf-8 _*_
|
||||
import pdfplumber
|
||||
from openpyxl import load_workbook
|
||||
from os import scandir, remove
|
||||
from os.path import exists
|
||||
from os import remove
|
||||
from sys import argv
|
||||
from commons import clibs
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red')
|
||||
else:
|
||||
dirs = files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def p_iso(file, p_files, ws, tmpfile):
|
||||
@ -153,7 +136,7 @@ def p_iso_1000(file, p_files, ws, tmpfile):
|
||||
|
||||
|
||||
def main(path, w2t):
|
||||
dirs, files = traversal_files(path, 1)
|
||||
dirs, files = clibs.traversal_files(path, 1)
|
||||
|
||||
try:
|
||||
wb = load_workbook(path + "/iso-results.xlsx")
|
||||
|
||||
@ -1,31 +1,10 @@
|
||||
import os
|
||||
import random
|
||||
|
||||
from pandas import read_csv
|
||||
from csv import reader
|
||||
from sys import argv
|
||||
from os.path import exists
|
||||
from os import scandir, remove
|
||||
from openpyxl import Workbook
|
||||
from random import randint
|
||||
from commons import clibs
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
# 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
|
||||
# 参数：路径
|
||||
# 返回值：路径下的文件夹列表 路径下的文件列表
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red')
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
logger = clibs.log_prod
|
||||
|
||||
|
||||
def find_point(bof, step, pos, data_file, flag, df, row, w2t):
|
||||
@ -95,7 +74,7 @@ def get_cycle_info(data_file, df, row, step, w2t):
|
||||
|
||||
|
||||
def initialization(path, w2t):
|
||||
_, data_files = traversal_files(path, w2t)
|
||||
_, data_files = clibs.traversal_files(path, w2t)
|
||||
|
||||
for data_file in data_files:
|
||||
if not data_file.lower().endswith('.csv'):
|
||||
@ -126,7 +105,7 @@ def single_file_proc(ws, data_file, df, low, high, cycle, w2t):
|
||||
_step = 5
|
||||
_data = {}
|
||||
row_max = df.index[-1]-100
|
||||
print(data_file)
|
||||
# print(data_file)
|
||||
while _row < row_max:
|
||||
if count not in _data.keys():
|
||||
_data[count] = []
|
||||
@ -149,7 +128,7 @@ def single_file_proc(ws, data_file, df, low, high, cycle, w2t):
|
||||
ws.cell(row=1, column=i).value = f"第{i-1}次测试"
|
||||
ws.cell(row=i, column=1).value = f"第{i-1}次精度变化"
|
||||
|
||||
print(_data)
|
||||
# print(_data)
|
||||
for i in sorted(_data.keys()):
|
||||
_row = 2
|
||||
_column = i + 1
|
||||
@ -162,9 +141,9 @@ def execution(data_files, w2t):
|
||||
wb = Workbook()
|
||||
for data_file in data_files:
|
||||
ws, df, low, high, cycle = preparation(data_file, wb, w2t)
|
||||
print(f"low = {low}")
|
||||
print(f"high = {high}")
|
||||
print(f"cycle = {cycle}")
|
||||
# print(f"low = {low}")
|
||||
# print(f"high = {high}")
|
||||
# print(f"cycle = {cycle}")
|
||||
single_file_proc(ws, data_file, df, low, high, cycle, w2t)
|
||||
|
||||
wd = data_files[0].split('\\')
|
||||
|
||||
@ -1 +0,0 @@
|
||||
__all__ = ['factory_test']
|
||||
@ -1,7 +1,4 @@
|
||||
from sys import argv
|
||||
from os.path import exists, dirname
|
||||
from os import scandir
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from json import loads
|
||||
from time import sleep, time, strftime, localtime
|
||||
from pandas import DataFrame
|
||||
@ -9,11 +6,11 @@ from openpyxl import load_workbook
|
||||
from math import sqrt
|
||||
from numpy import power
|
||||
from csv import writer
|
||||
from commons import clibs
|
||||
|
||||
tab_name = 'Durable Action'
|
||||
logger = clibs.log_prod
|
||||
tab_name = clibs.tab_names['da']
|
||||
count = 0
|
||||
durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx'
|
||||
durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx'
|
||||
display_pdo_params = [
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
@ -34,22 +31,6 @@ title = [
|
||||
]
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
if not exists(path):
|
||||
msg = f'数据文件夹{path}不存在，请确认后重试......'
|
||||
w2t(msg, 0, 1, 'red', tab_name=tab_name)
|
||||
else:
|
||||
dirs = []
|
||||
files = []
|
||||
for item in scandir(path):
|
||||
if item.is_dir():
|
||||
dirs.append(item.path)
|
||||
elif item.is_file():
|
||||
files.append(item.path)
|
||||
|
||||
return dirs, files
|
||||
|
||||
|
||||
def check_files(data_dirs, data_files, w2t):
|
||||
if len(data_dirs) != 0 or len(data_files) != 2:
|
||||
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文件，确认后重新运行！\n1. target.zip\n2. configs.xlsx', 0, 10, 'red', tab_name)
|
||||
@ -63,50 +44,10 @@ def check_files(data_dirs, data_files, w2t):
|
||||
return data_files
|
||||
|
||||
|
||||
def prj_to_xcore(prj_file):
|
||||
ssh = SSHClient()
|
||||
ssh.set_missing_host_key_policy(AutoAddPolicy())
|
||||
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
|
||||
sftp = ssh.open_sftp()
|
||||
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'
|
||||
ssh.exec_command(cmd)
|
||||
|
||||
cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
|
||||
cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
|
||||
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
|
||||
|
||||
cmd = 'cd /home/luoshi/bin/controller/; '
|
||||
cmd += 'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
|
||||
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.close()
|
||||
|
||||
|
||||
def execution(cmd, hr, w2t, **kwargs):
|
||||
_id = hr.execution(cmd, **kwargs)
|
||||
_msg = hr.get_from_id(_id)
|
||||
if not _msg:
|
||||
w2t(f"无法获取{_id}请求的响应信息", 0, 7, 'red', tab_name=tab_name)
|
||||
else:
|
||||
_response = loads(_msg)
|
||||
if not _response:
|
||||
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name=tab_name)
|
||||
return _response
|
||||
|
||||
|
||||
def run_rl(path, config_file, data_all, hr, md, w2t):
|
||||
# 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
|
||||
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
|
||||
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
|
||||
clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
|
||||
clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
|
||||
md.trigger_estop()
|
||||
md.reset_estop()
|
||||
md.write_act(False)
|
||||
@ -114,13 +55,13 @@ def run_rl(path, config_file, data_all, hr, md, w2t):
|
||||
|
||||
# 2. reload工程后，pp2main，并且自动模式和上电
|
||||
prj_path = 'target/_build/target.prj'
|
||||
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
|
||||
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
|
||||
_response = execution('state.switch_auto', hr, w2t)
|
||||
_response = execution('state.switch_motor_on', hr, w2t)
|
||||
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
|
||||
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
|
||||
clibs.execution('state.switch_auto', hr, w2t, tab_name)
|
||||
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
|
||||
|
||||
# 3. 开始运行程序
|
||||
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
|
||||
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
|
||||
_t_start = time()
|
||||
while True:
|
||||
if md.read_ready_to_go() == 1:
|
||||
@ -178,8 +119,8 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
|
||||
_data_list.insert(0, loads(_msg))
|
||||
else:
|
||||
hr.c_msg_xs.clear()
|
||||
if len(hr.c_msg) > 240:
|
||||
del hr.c_msg[240:]
|
||||
if len(hr.c_msg) > 270:
|
||||
del hr.c_msg[270:]
|
||||
|
||||
# with open(f'{path}\\log.txt', 'w', encoding='utf-8') as f_obj:
|
||||
# for _ in _data_list:
|
||||
@ -253,8 +194,8 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
|
||||
while True:
|
||||
if not hr.durable_lock:
|
||||
hr.durable_lock = 1
|
||||
_df_1.to_excel(durable_data_current_xlsx, index=False)
|
||||
_df_2.to_excel(durable_data_current_max_xlsx, index=False)
|
||||
_df_1.to_excel(clibs.durable_data_current_xlsx, index=False)
|
||||
_df_2.to_excel(clibs.durable_data_current_max_xlsx, index=False)
|
||||
hr.durable_lock = 0
|
||||
break
|
||||
else:
|
||||
@ -272,28 +213,10 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, md, w2t):
|
||||
|
||||
|
||||
def main(path, hr, md, w2t):
|
||||
durable_data_current = {
|
||||
'time': list(range(1, 19)),
|
||||
'axis1': [0 for _ in range(18)],
|
||||
'axis2': [0 for _ in range(18)],
|
||||
'axis3': [0 for _ in range(18)],
|
||||
'axis4': [0 for _ in range(18)],
|
||||
'axis5': [0 for _ in range(18)],
|
||||
'axis6': [0 for _ in range(18)],
|
||||
}
|
||||
durable_data_current_max = {
|
||||
'time': list(range(1, 19)),
|
||||
'axis1': [0 for _ in range(18)],
|
||||
'axis2': [0 for _ in range(18)],
|
||||
'axis3': [0 for _ in range(18)],
|
||||
'axis4': [0 for _ in range(18)],
|
||||
'axis5': [0 for _ in range(18)],
|
||||
'axis6': [0 for _ in range(18)],
|
||||
}
|
||||
data_all = [durable_data_current, durable_data_current_max]
|
||||
data_dirs, data_files = traversal_files(path, w2t)
|
||||
data_all = [clibs.durable_data_current, clibs.durable_data_current_max]
|
||||
data_dirs, data_files = clibs.traversal_files(path, w2t)
|
||||
config_file, prj_file = check_files(data_dirs, data_files, w2t)
|
||||
prj_to_xcore(prj_file)
|
||||
clibs.prj_to_xcore(prj_file)
|
||||
run_rl(path, config_file, data_all, hr, md, w2t)
|
||||
|
||||
|
||||
|
||||
2
dial_gauge/README.md
Normal file
2
dial_gauge/README.md
Normal file
@ -0,0 +1,2 @@
|
||||
## 千分表数据自动采集
|
||||
|
||||
6
dial_gauge/conf.ini
Normal file
6
dial_gauge/conf.ini
Normal file
@ -0,0 +1,6 @@
|
||||
[md_rtu]
|
||||
port = COM10
|
||||
|
||||
[md_tcp]
|
||||
addr = 192.168.0.160
|
||||
port = 502
|
||||
99
dial_gauge/gauge.py
Normal file
99
dial_gauge/gauge.py
Normal file
@ -0,0 +1,99 @@
|
||||
from configparser import ConfigParser
|
||||
from pymodbus.client import ModbusSerialClient, ModbusTcpClient
|
||||
from time import sleep, strftime, localtime, time
|
||||
from openpyxl import load_workbook, Workbook
|
||||
from os import rename
|
||||
# import pymodbus
|
||||
# pymodbus.pymodbus_apply_logging_config("DEBUG")
|
||||
|
||||
|
||||
def initializations():
|
||||
try:
|
||||
now = strftime("%Y%m%d%H%M%S", localtime(time()))
|
||||
rename('results.xlsx', f'results_{now}.xlsx')
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
|
||||
wb = Workbook()
|
||||
ws = wb.active
|
||||
ws.title = 'results'
|
||||
ws['A1'].value = '时间'
|
||||
ws['B1'].value = '次数'
|
||||
ws['C1'].value = '结果'
|
||||
wb.save('results.xlsx')
|
||||
wb.close()
|
||||
|
||||
|
||||
def do_connections():
|
||||
configs = ConfigParser()
|
||||
configs.read('conf.ini')
|
||||
|
||||
# ================ 配置Modbus TCP客户端 ================
|
||||
tcp_host = configs.get('md_tcp', 'addr')
|
||||
tcp_port = configs.getint('md_tcp', 'port')
|
||||
|
||||
client_tcp = ModbusTcpClient(tcp_host, tcp_port)
|
||||
if client_tcp.connect():
|
||||
print(f"Modbus TCP已连接到{tcp_host}:{tcp_port}...")
|
||||
else:
|
||||
raise Exception(f"Modbus TCP无法连接到{tcp_host}:{tcp_port}...")
|
||||
|
||||
# ================ 配置Modbus RTU客户端 ================
|
||||
rtu_port = configs.get('md_rtu', 'port')
|
||||
|
||||
client_rtu = ModbusSerialClient(
|
||||
method='rtu',
|
||||
port=rtu_port, # 根据实际情况调整端口，Windows上可能是 'COM3'
|
||||
baudrate=38400, # 根据协议设定波特率为38400
|
||||
timeout=1,
|
||||
parity='N', # 无奇偶校验
|
||||
stopbits=2, # 2个停止位
|
||||
bytesize=8 # 8个数据位
|
||||
)
|
||||
if client_rtu.connect():
|
||||
print(f"Modbus RTU已连接到系统{rtu_port}端口...")
|
||||
else:
|
||||
raise Exception(f"Modbus RTU无法连接到系统{rtu_port}端口...")
|
||||
|
||||
return client_tcp, client_rtu
|
||||
|
||||
|
||||
def get_gauge_data(client_tcp, client_rtu):
|
||||
count = 2
|
||||
client_tcp.write_register(41000, 1) # 将 act 信号置为 True
|
||||
# ================ 功能实现 ================
|
||||
while True:
|
||||
while True:
|
||||
res_tcp = client_tcp.read_holding_registers(41001, 1) # 获取 time_to_go 的值
|
||||
sleep(0.5)
|
||||
if not res_tcp.registers[0]:
|
||||
continue
|
||||
else:
|
||||
break
|
||||
try:
|
||||
res_rtu = client_rtu.read_holding_registers(0x0000, 2, slave=1)
|
||||
plus_or_minus = 1 if res_rtu.registers[0] == 0 else -1
|
||||
result = res_rtu.registers[1] * plus_or_minus / 10000
|
||||
now = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
|
||||
wb = load_workbook('results.xlsx')
|
||||
ws = wb['results']
|
||||
ws[f'A{count}'].value = now
|
||||
ws[f'B{count}'].value = count-1
|
||||
ws[f'C{count}'].value = float(result)
|
||||
wb.save('results.xlsx')
|
||||
wb.close()
|
||||
count += 1
|
||||
except:
|
||||
client_tcp.write_register(41000, 0) # 将 act 信号置为 False
|
||||
|
||||
sleep(2) #
|
||||
|
||||
|
||||
def main():
|
||||
initializations()
|
||||
client_tcp, client_rtu = do_connections()
|
||||
get_gauge_data(client_tcp, client_rtu)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
43
dial_gauge/gauge.xml
Normal file
43
dial_gauge/gauge.xml
Normal file
@ -0,0 +1,43 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<m>
|
||||
<l>
|
||||
<c name="addr" type="2" value="41000"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value="pc to robot"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="41000"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="act"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rd"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="41001"/>
|
||||
<c name="addr_1st" type="2" value="0"/>
|
||||
<c name="addr_2nd" type="2" value="0"/>
|
||||
<c name="bit_bias" type="2" value="0"/>
|
||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value="robot to pc"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="41001"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="time_to_go"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
</m>
|
||||
BIN
dial_gauge/target_dial_gauge.zip
Normal file
BIN
dial_gauge/target_dial_gauge.zip
Normal file
Binary file not shown.
Reference in New Issue
Block a user