gitea
2fbe500d1d
1. [APIs: do_brake.py]: 完成了制动性能测试逻辑，只不过制动信号传递生效延迟不可控，暂时pending 2. [APIs: do_current.py]: 修改曲线数据时序，主要是value data取反即可，解决了波形锯齿明细的问题 3. [APIs: openapi.py]: modbus新增了触发急停信号的寄存器 stop0_signal，并重写了解除急停，socket新增了register.set_value协议
341 lines
18 KiB
Python
341 lines
18 KiB
Python
from time import sleep, time
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from sys import argv
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from os import scandir, mkdir
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from os.path import exists
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from paramiko import SSHClient, AutoAddPolicy
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from json import loads
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from openpyxl import load_workbook
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import pandas
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RADIAN = 57.3 # 180 / 3.1415926
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def traversal_files(path, w2t):
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if not exists(path):
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msg = f'数据文件夹{path}不存在，请确认后重试......'
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w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
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else:
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dirs = []
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files = []
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for item in scandir(path):
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if item.is_dir():
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dirs.append(item.path)
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elif item.is_file():
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files.append(item.path)
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return dirs, files
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def check_files(path, loadsel, data_dirs, data_files, w2t):
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if len(data_dirs) != 0 or len(data_files) != 5:
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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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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config_file = reach33 = reach66 = reach100 = prj_file = None
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for data_file in data_files:
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filename = data_file.split('\\')[-1]
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if filename == 'configs.xlsx':
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config_file = data_file
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elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
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reach33 = data_file
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elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
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reach66 = data_file
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elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
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reach100 = data_file
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elif filename.endswith('.zip'):
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prj_file = data_file
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else:
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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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
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if config_file and reach33 and reach66 and reach100 and prj_file:
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result_dirs = []
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mkdir(f"{path}\\j1")
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mkdir(f"{path}\\j2")
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mkdir(f"{path}\\j3")
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for _reach in ['reach33', 'reach66', 'reach100']:
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for _load in [f'load{loadsel.removeprefix("tool")}']:
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for _speed in ['speed33', 'speed66', 'speed100']:
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dir_name = '_'.join([_reach, _load, _speed])
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result_dirs.append(dir_name)
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mkdir(f"{path}\\j1\\{dir_name}")
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mkdir(f"{path}\\j2\\{dir_name}")
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if _reach == 'reach100':
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mkdir(f"{path}\\j3\\{dir_name}")
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w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
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return config_file, reach33, reach66, reach100, prj_file, result_dirs
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else:
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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五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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def prj_to_xcore(prj_file):
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ssh = SSHClient()
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ssh.set_missing_host_key_policy(AutoAddPolicy())
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ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
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sftp = ssh.open_sftp()
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sftp.put(prj_file, '/tmp/target.zip')
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cmd = 'cd /tmp; rm -rf target/; mkdir target; unzip -d target/ -q target.zip; '
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cmd += 'chmod 777 -R target/; rm target.zip'
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ssh.exec_command(cmd)
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cmd = 'sudo rm -rf /home/luoshi/bin/controller/projects/target; '
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cmd += 'sudo mv /tmp/target/ /home/luoshi/bin/controller/projects/'
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stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
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stdin.write('luoshi2019' + '\n')
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stdin.flush()
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print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
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print(stderr.read().decode()) # 顺便也执行以下stderr
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_prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
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cmd = 'cd /home/luoshi/bin/controller/; '
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cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
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stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
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stdin.write('luoshi2019' + '\n')
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stdin.flush()
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print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
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print(stderr.read().decode()) # 顺便也执行以下stderr
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ssh.close()
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def validate_resp(_id, response, w2t):
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match _id:
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case 'DATA ERR':
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w2t(f"数据处理错误，需要确认", 0, 4, 'red', tab_name='Automatic Test')
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case 'DATA READ ERR':
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w2t(f"无法读取数据，需要确认", 0, 3, 'red', tab_name='Automatic Test')
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case 'NOT SUPPORT':
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w2t(f"不支持的功能，需要确认", 0, 2, 'red', tab_name='Automatic Test')
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if not response:
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w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
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def execution(cmd, hr, w2t, **kwargs):
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_id = hr.execution(cmd, **kwargs)
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
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else:
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_response = loads(_msg)
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validate_resp(_id, _response, w2t)
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return _response
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def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
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_d2d_vel = {'hw_joint_vel_feedback': []}
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_d2d_trq = {'device_servo_trq_feedback': []}
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_d2d_stop = {'device_safety_estop': []}
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for data in curve_data:
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dict_results = data['data']
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# dict_results.reverse()
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for item in dict_results:
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item['value'].reverse()
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if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop':
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_d2d_stop['device_safety_estop'].extend(item['value'])
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df1 = pandas.DataFrame.from_dict(_d2d_vel)
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df2 = pandas.DataFrame.from_dict(_d2d_trq)
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df3 = pandas.DataFrame.from_dict(_d2d_stop)
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df = pandas.concat([df1, df2, df3], axis=1)
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_filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data"
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df.to_csv(_filename, sep='\t', index=False)
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def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
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_count = 0
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for condition in result_dirs:
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_reach = condition.split('_')[0].removeprefix('reach')
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_load = condition.split('_')[1].removeprefix('load')
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_speed = condition.split('_')[2].removeprefix('speed')
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for axis in range(1, 4):
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_get_speed_max = 0
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if axis == 3 and _reach != '100':
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continue
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for count in range(1, 4):
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_count += 1
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w2t(f"[{_count}/64-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test')
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# 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
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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md.set_stop0(1)
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md.reset_estop()
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sleep(2) # 让曲线彻底关闭
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_response = execution('state.switch_manual', hr, w2t)
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_response = execution('state.switch_motor_off', hr, w2t)
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# 2. 修改未要执行的场景
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ssh = SSHClient()
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ssh.set_missing_host_key_policy(AutoAddPolicy())
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ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
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_rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
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_rl_speed = f"VelSet {_speed}"
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cmd = 'cd /home/luoshi/bin/controller/; '
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cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
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cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; '
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cmd += f'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
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cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod; '
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stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
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stdin.write('luoshi2019' + '\n')
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stdin.flush()
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print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
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print(stderr.read().decode()) # 顺便也执行以下stderr
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# 3. reload工程后，pp2main，并且自动模式和上电
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prj_path = 'target/_build/target.prj'
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_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
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_response = execution('overview.get_cur_prj', hr, w2t)
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_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
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_response = execution('state.switch_auto', hr, w2t)
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_response = execution('state.switch_motor_on', hr, w2t)
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# 4. 第一次开始运行程序，运行两轮
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_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
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for i in range(3):
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if md.read_ready_to_go() == 1:
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md.write_act(True)
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sleep(1)
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md.write_act(False)
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break
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else:
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sleep(1)
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else:
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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')
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if _get_speed_max == 0:
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# 5. 第一次打开诊断曲线，并执行采集
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_get_speed_max = 1
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_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
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display_pdo_params = [
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{"name": "hw_joint_vel_feedback", "channel": 0},
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{"name": "hw_joint_vel_feedback", "channel": 1},
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{"name": "hw_joint_vel_feedback", "channel": 2},
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{"name": "hw_joint_vel_feedback", "channel": 3},
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{"name": "hw_joint_vel_feedback", "channel": 4},
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{"name": "hw_joint_vel_feedback", "channel": 5},
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{"name": "device_servo_trq_feedback", "channel": 0},
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{"name": "device_servo_trq_feedback", "channel": 1},
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{"name": "device_servo_trq_feedback", "channel": 2},
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{"name": "device_servo_trq_feedback", "channel": 3},
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{"name": "device_servo_trq_feedback", "channel": 4},
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{"name": "device_servo_trq_feedback", "channel": 5},
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{"name": "device_safety_estop", "channel": 0},
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]
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
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sleep(8) # 前八秒获取实际最大速度
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# 6. 关闭诊断曲线，并处理数据，找出最大速度
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_response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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# 找出最大速度
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speed_max = 0
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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dict_results = loads(_msg)['data']
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for item in dict_results:
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if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
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_ = abs(RADIAN*sum(item['value'])/len(item['value']))
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speed_max = max(_, speed_max)
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wb = load_workbook(config_file, read_only=True)
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ws = wb['Target']
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speed_target = float(ws.cell(row=3, column=axis+1).value)
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if speed_max < speed_target*0.95:
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w2t(f"Axis: {axis}-{count} | Speed: {speed_max*RADIAN} | Shouldbe: {speed_target}", 0, 0, 'indigo')
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# 7. 清零c_msg，重新运行程序，并打开曲线发送继续运动信号，开始运动，当速度达到最大值时，通过DO触发急停
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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_index = hr.c_msg.index(_msg)
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del hr.c_msg[_index:]
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hr.c_msg_xs.clear()
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break
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_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
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_response = execution('state.switch_auto', hr, w2t)
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_response = execution('state.switch_motor_on', hr, w2t)
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_response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
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for i in range(3):
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if md.read_ready_to_go() == 1:
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md.write_act(True)
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sleep(1)
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md.write_act(False)
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break
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else:
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sleep(1)
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else:
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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')
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_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
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sleep(4)
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_flg = 1
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_t_start = time()
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while _flg:
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sleep(0.05)
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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if _flg == 0:
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break
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dict_results = loads(_msg)['data']
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for item in dict_results:
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if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
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_ = abs(RADIAN*sum(item['value'])/len(item['value']))
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if abs(_-speed_max) < 5:
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print(f"speed actual = {_}")
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print(f"speed max = {speed_max}")
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print(f"speed target = {speed_target*float(_speed)/100}")
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print(f"abs minus = {abs(_-speed_max)}")
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for _i in range(5):
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# md.set_stop0(0) # 触发IO急停
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_response = execution('register.set_value', hr, w2t, name='stop0_signal', type='bool', bias=0, value=0)
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sleep(0.02)
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_flg = 0
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break
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else:
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if (time() - _t_start) // 60 > 1:
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w2t(f"规定时间内未找到合适的点触发急停，需要确认RL/Python程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
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else:
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break
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# 8. 关闭诊断曲线，且换成手动模式
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sleep(1) # 保证所有数据均已返回
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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_response = execution('state.switch_manual', hr, w2t)
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# 9. 保留数据并处理输出
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curve_data = []
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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curve_data.insert(0, loads(_msg))
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else:
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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_index = hr.c_msg.index(_msg)
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del hr.c_msg[_index:]
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hr.c_msg_xs.clear()
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break
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gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
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else:
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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', 'Automatic Test')
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def main(path, hr, md, loadsel, w2t):
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_s_time = time()
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data_dirs, data_files = traversal_files(path, w2t)
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config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
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prj_to_xcore(prj_file)
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run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
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_e_time = time()
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time_total = _e_time - _s_time
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w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s")
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if __name__ == '__main__':
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main(*argv[1:])
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