179 lines
7.2 KiB
Python
179 lines
7.2 KiB
Python
from time import sleep
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from sys import argv
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from os import scandir
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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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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(data_dirs, data_files, w2t):
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if len(data_dirs) != 0 or len(data_files) != 3:
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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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
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w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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config_file = current_file = 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 == 'T_电机电流.xlsx':
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current_file = 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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
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w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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if config_file and current_file and prj_file:
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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, current_file, prj_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三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
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w2t(' 1. configs.xlsx\n 2. T_电机电流.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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# stdin, stdout, stderr = ssh.exec_command('rm /tmp/target.zip')
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# ssh.exec_command('rm /tmp/target.zip')
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sftp.put(prj_file, '/tmp/target.zip')
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cmd = 'cd /tmp; '
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cmd += 'rm -rf target/; '
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cmd += 'mkdir target; '
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cmd += 'unzip -d target/ -q target.zip; '
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cmd += '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 = f'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 modify_prj():
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pass
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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 run_rl(hr, w2t):
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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', 'current'])
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print(f"reload prj: {_response}")
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_response = execution('overview.get_cur_prj', hr, w2t)
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print(f"get cur prj name: {_response}")
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_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake'])
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print(f"set pp2main of prj: {_response}")
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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('diagnosis.open', hr, w2t, open=True, display_open=True)
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print(f"打开诊断: {_response}")
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# _response = execution('diagnosis.get_params', hr, w2t)
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# print(f"显示诊断状态: {_response}")
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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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print(f"执行采样: {_response}")
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_response = execution('rl_task.run', hr, w2t, tasks=['brake'])
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print(f"run prj: {_response}")
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sleep(10)
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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print(f"关闭诊断: {_response}")
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_response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
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_response = execution('state.switch_motor_off', hr, w2t)
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_response = execution('state.switch_manual', hr, w2t)
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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print(_msg)
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# _msg = json.loads(_msg)
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# if 'channel' in _msg and 'name' in _msg:
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# if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
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# print(f"diagnosis.result: {_msg}")
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# count += 1
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# if count * 50 > 5 * 1000:
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# break
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def main(path, hr, w2t):
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data_dirs, data_files = traversal_files(path, w2t)
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config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t)
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prj_to_xcore(prj_file)
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run_rl(hr, w2t)
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if __name__ == '__main__':
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main(*argv[1:])
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