gitea
aedac4c90c
1. [APIs: openapi.py] - 增加了modbus的python实现 - heartbeat函数修改发送间隔为1s - 清除了绝大部分调试性输出，发现太多的这种输出也会导致心跳丢包...，不清楚这个原理是什么 - 在get_response函数中的while self.pkg > 0循环中，删除了else语句，因为它永不会被执行到 - 在get_response函数中，修复一个bug，在flag==0的else语句中，补齐了index==6的情况 2. [APIs: do_current.py] - 完成了六个轴的电机电流动作的执行，以及数据采集 - 完成了对应的RL程序的编写 3[APIs: aio.py] - 引入modbus实例化，并以参数的形式，传递给相应的tabview - 新增pre_warning函数，在做自动化测试之前，确保所有条件皆具备
219 lines
9.6 KiB
Python
219 lines
9.6 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 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, 0, '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, md, w2t):
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# need to run
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conditions = [
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" scenario(0, j1_p, j1_n, p_speed, p_tool)",
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" scenario(0, j2_p, j2_n, p_speed, p_tool)",
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" scenario(0, j3_p, j3_n, p_speed, p_tool)",
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" scenario(0, j4_p, j4_n, p_speed, p_tool)",
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" scenario(0, j5_p, j5_n, p_speed, p_tool)",
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" scenario(0, j6_p, j6_n, p_speed, p_tool)",
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" scenario(1, j5_p, j5_n, p_speed, p_tool)",
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" scenario(2, j5_p, j5_n, p_speed, p_tool)",
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" scenario(3, j5_p, j5_n, p_speed, p_tool)",
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]
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for condition in conditions:
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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'}
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number = conditions.index(condition)
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w2t(f"正在执行{disc[number]}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
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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md.trigger_estop()
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md.reset_estop()
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_response = execution('state.switch_manual', hr, w2t)
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# 3. 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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cmd = f'cd /home/luoshi/bin/controller/; '
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cmd += f'sudo sed -i "/scenario/d" projects/target/current/main.mod; '
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cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/current/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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# 4. reload工程后，pp2main
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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=['current'])
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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=['current'])
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print(f"set pp2main of prj: {_response}")
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# 5. 切换自动并上电
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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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# 6. 开始运行程序，单轴运行15s
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_response = execution('rl_task.run', hr, w2t, tasks=['current'])
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print(f"run prj: {_response}")
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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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continue
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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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# 7. 打开诊断曲线，并执行采集
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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)
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# 8. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
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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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sleep(1)
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# 9. 处理数据并输出文件
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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, md, 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, md, w2t)
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if __name__ == '__main__':
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main(*argv[1:])
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