279 lines
15 KiB
Python
279 lines
15 KiB
Python
from time import sleep, time, strftime, localtime
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from sys import argv
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from os import mkdir
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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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from pandas import DataFrame, concat
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from logging import getLogger
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from commons import clibs
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tab_name = clibs.tab_names['at']
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logger = getLogger(__file__)
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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)
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
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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)
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name)
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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......", 0, 0, 'blue', tab_name)
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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)
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name)
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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[-240:]:
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dict_results = data['data']
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for item in dict_results:
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try:
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item['value'].reverse()
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except KeyError:
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continue
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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 = DataFrame.from_dict(_d2d_vel)
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df2 = DataFrame.from_dict(_d2d_trq)
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df3 = DataFrame.from_dict(_d2d_stop)
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df = 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, result_dirs, w2t):
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_count = 0
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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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wb = load_workbook(config_file, read_only=True)
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ws = wb['Target']
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write_diagnosis = float(ws.cell(row=3, column=10).value)
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get_init_speed = float(ws.cell(row=4, column=10).value)
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if ws.cell(row=1, column=1).value == 'positive':
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md.write_pon(1)
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elif ws.cell(row=1, column=1).value == 'negative':
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md.write_pon(0)
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else:
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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)
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clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
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clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
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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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md.write_axis(axis)
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speed_max = 0
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if axis == 3 and _reach != '100':
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continue
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w2t(f"-"*90, 0, 0, 'purple', tab_name)
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for count in range(1, 4):
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_count += 1
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this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
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prj_path = 'target/_build/target.prj'
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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)
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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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md.trigger_estop()
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md.reset_estop()
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md.clear_alarm()
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md.write_act(0)
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sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置
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while count == 1:
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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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if ws.cell(row=1, column=1).value == 'positive':
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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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elif ws.cell(row=1, column=1).value == 'negative':
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_rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
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else:
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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)
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_rl_speed = f"VelSet {_speed}"
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_rl_tool = f"tool p_tool = tool{loadsel.removeprefix('tool')}"
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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 += '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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cmd += 'sudo sed -i "/tool p_tool/d" projects/target/_build/brake/main.mod; '
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cmd += f'sudo sed -i "/VelSet/i {_rl_tool}" 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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stdout.read().decode() # 需要read一下才能正常执行
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stderr.read().decode()
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# 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
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clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
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clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
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clibs.execution('state.switch_auto', hr, w2t, tab_name)
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clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
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clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
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_t_start = time()
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while True:
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if md.read_ready_to_go() == 1:
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md.write_act(True)
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break
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else:
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if (time() - _t_start) // 20 > 1:
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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)
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else:
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sleep(1)
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# 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
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sleep(get_init_speed) # 获取实际最大速度，可通过configs.xlsx配置
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clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['brake'])
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# 找出最大速度
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_c_msg = hr.c_msg.copy()
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for _msg in _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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_ = clibs.RADIAN * sum(item['value']) / len(item['value'])
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if ws.cell(row=1, column=1).value == 'positive':
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speed_max = max(_, speed_max)
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elif ws.cell(row=1, column=1).value == 'negative':
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speed_max = min(_, speed_max)
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print(f"speed max = {speed_max}")
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speed_max = abs(speed_max)
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speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
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if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
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w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', tab_name)
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md.write_speed_max(speed_max)
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hr.c_msg_xs.clear()
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if len(hr.c_msg) > 270:
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del hr.c_msg[270:]
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if speed_max < 10:
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md.clear_alarm()
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w2t("未获取到正确的速度，即将重新获取...", 0, 0, 'red', tab_name)
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continue
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else:
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break
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# 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停
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md.reset_estop() # 其实没必要
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md.clear_alarm()
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clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related'])
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clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related'])
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clibs.execution('state.switch_auto', hr, w2t, tab_name)
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clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
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clibs.execution('rl_task.run', hr, w2t, tab_name, 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(1)
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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', tab_name)
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sleep(10) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
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md.write_probe(1)
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_t_start = time()
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while True:
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if md.read_brake_done() == 1:
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sleep(1) # 保证速度归零
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md.write_probe(0)
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break
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else:
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if (time() - _t_start) > 30:
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w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题，比如正负方向速度是否一致...", 0, 0, 'red', tab_name)
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md.write_probe(0)
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break
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else:
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sleep(1)
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# 6. 保留数据并处理输出
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curve_data = []
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_c_msg = hr.c_msg.copy()
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for _msg in _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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hr.c_msg_xs.clear()
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if len(hr.c_msg) > 270:
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del hr.c_msg[270:]
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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', tab_name)
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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 = clibs.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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clibs.prj_to_xcore(prj_file)
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run_rl(path, loadsel, hr, md, config_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", 0, 0, 'green', tab_name)
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if __name__ == '__main__':
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main(*argv[1:])
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