from time import sleep from sys import argv from os import scandir from os.path import exists from paramiko import SSHClient, AutoAddPolicy from json import loads 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(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') config_file = current_file = prj_file = None for data_file in data_files: filename = data_file.split('\\')[-1] if filename == 'configs.xlsx': config_file = data_file elif filename == 'T_电机电流.xlsx': current_file = data_file 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') 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') 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() # stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip') # ssh.exec_command('rm /tmp/target.zip') sftp.put(prj_file, '/tmp/target.zip') cmd = 'cd /tmp; ' cmd += 'rm -rf target/; ' cmd += 'mkdir target; ' cmd += 'unzip -d target/ -q target.zip; ' cmd += '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 _prj_name = prj_file.split('\\')[-1].removesuffix('.zip') cmd = f'cd /home/luoshi/bin/controller/; ' cmd += f'sudo mv projects/target/_build/{_prj_name}.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 validate_resp(_id, response, w2t): match _id: case 'DATA ERR': w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test') case 'DATA READ ERR': w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test') case 'NOT SUPPORT': w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test') if not response: w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test') 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, 0, 'red', tab_name='Automatic Test') else: _response = loads(_msg) validate_resp(_id, _response, w2t) return _response def run_rl(hr, md, w2t): # need to run conditions = [ " scenario(0, j1_p, j1_n, p_speed, p_tool)", " scenario(0, j2_p, j2_n, p_speed, p_tool)", " scenario(0, j3_p, j3_n, p_speed, p_tool)", " scenario(0, j4_p, j4_n, p_speed, p_tool)", " scenario(0, j5_p, j5_n, p_speed, p_tool)", " scenario(0, j6_p, j6_n, p_speed, p_tool)", " scenario(1, j5_p, j5_n, p_speed, p_tool)", " scenario(2, j5_p, j5_n, p_speed, p_tool)", " scenario(3, j5_p, j5_n, p_speed, p_tool)", ] for condition in conditions: disc = {0: '一轴', 1: '二轴', 2: '三轴', 3: '四轴', 4: '五轴', 5: '六轴', 6: '场景一', 7: '场景二', 8: '场景三'} number = conditions.index(condition) w2t(f"正在执行{disc[number]}测试......", 0, 0, 'purple', 'Automatic Test') # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来 _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) md.trigger_estop() md.reset_estop() _response = execution('state.switch_manual', hr, w2t) # 3. 修改未要执行的场景 ssh = SSHClient() ssh.set_missing_host_key_policy(AutoAddPolicy()) ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') cmd = f'cd /home/luoshi/bin/controller/; ' cmd += f'sudo sed -i "/scenario/d" projects/target/current/main.mod; ' cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/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 # 4. reload工程后，pp2main prj_path = 'target/_build/target.prj' _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current']) _response = execution('overview.get_cur_prj', hr, w2t) _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current']) print(f"set pp2main of prj: {_response}") # 5. 切换自动并上电 _response = execution('state.switch_auto', hr, w2t) _response = execution('state.switch_motor_on', hr, w2t) # 6. 开始运行程序，单轴运行15s _response = execution('rl_task.run', hr, w2t, tasks=['current']) print(f"run prj: {_response}") for i in range(3): if md.read_ready_to_go() == 1: md.write_act(True) sleep(1) md.write_act(False) break else: sleep(1) continue else: w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test') # 7. 打开诊断曲线，并执行采集 _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) display_pdo_params = [ {"name": "hw_joint_vel_feedback", "channel": 0}, {"name": "hw_joint_vel_feedback", "channel": 1}, {"name": "hw_joint_vel_feedback", "channel": 2}, {"name": "hw_joint_vel_feedback", "channel": 3}, {"name": "hw_joint_vel_feedback", "channel": 4}, {"name": "hw_joint_vel_feedback", "channel": 5}, {"name": "device_servo_trq_feedback", "channel": 0}, {"name": "device_servo_trq_feedback", "channel": 1}, {"name": "device_servo_trq_feedback", "channel": 2}, {"name": "device_servo_trq_feedback", "channel": 3}, {"name": "device_servo_trq_feedback", "channel": 4}, {"name": "device_servo_trq_feedback", "channel": 5}, {"name": "device_safety_estop", "channel": 0}, ] _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) sleep(8) # 8. 关闭诊断曲线，停止程序运行，下电并且换成手动模式 _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) _response = execution('rl_task.stop', hr, w2t, tasks=['current']) _response = execution('state.switch_motor_off', hr, w2t) _response = execution('state.switch_manual', hr, w2t) sleep(1) # 9. 处理数据并输出文件 # for _msg in hr.c_msg: # if 'diagnosis.result' in _msg: # print(_msg) # _msg = json.loads(_msg) # if 'channel' in _msg and 'name' in _msg: # if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback': # print(f"diagnosis.result: {_msg}") # count += 1 # if count * 50 > 5 * 1000: # break def main(path, hr, md, w2t): data_dirs, data_files = traversal_files(path, w2t) config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t) prj_to_xcore(prj_file) run_rl(hr, md, w2t) if __name__ == '__main__': main(*argv[1:])