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自动化测试电机电流功能迁移完成

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gitea
2025-01-16 09:38:46 +08:00
parent 855448664c
commit 2413d6d305
40 changed files with 870678 additions and 135 deletions
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87
code/automatic_test/do_brake.py
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@@ -1,8 +1,8 @@
from time import sleep, time, strftime, localtime
from os import mkdir
from paramiko import SSHClient, AutoAddPolicy
from openpyxl import load_workbook
from pandas import DataFrame, concat
import time
import os
import paramiko
import openpyxl
import pandas
import json
from commons import clibs
@@ -13,7 +13,7 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
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！", "red")
w2t("1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n", "red", "InitFileError")
config_file, reach33, reach66, reach100, prj_file = None, None, None, None, None
config_file, reach33, reach66, reach100, prj_file, result_dirs = None, None, None, None, None, []
for data_file in data_files:
filename = data_file.split("/")[-1]
if filename == "configs.xlsx":
@@ -31,20 +31,19 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
w2t("1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n", "red", "InitFileError")
if config_file and reach33 and reach66 and reach100 and prj_file:
result_dirs = []
mkdir(f"{path}/j1")
mkdir(f"{path}/j2")
mkdir(f"{path}/j3")
os.mkdir(f"{path}/j1")
os.mkdir(f"{path}/j2")
os.mkdir(f"{path}/j3")
load = f"load{sub.removeprefix("tool")}"
for reach in ["reach33", "reach66", "reach100"]:
for speed in ["speed33", "speed66", "speed100"]:
dir_name = "_".join([reach, load, speed])
result_dirs.append(dir_name)
mkdir(f"{path}/j1/{dir_name}")
mkdir(f"{path}/j2/{dir_name}")
os.mkdir(f"{path}/j1/{dir_name}")
os.mkdir(f"{path}/j2/{dir_name}")
if reach == "reach100":
mkdir(f"{path}/j3/{dir_name}")
os.mkdir(f"{path}/j3/{dir_name}")
w2t("数据目录合规性检查结束，未发现问题......\n", "blue")
return config_file, reach33, reach66, reach100, prj_file, result_dirs
@@ -77,10 +76,10 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
clibs.insert_logdb("INFO", "do_brake", f"get_configs: 各关节角速度 {avs}")
return avs
config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files()
avs = get_configs()
_config_file, _reach33, _reach66, _reach100, _prj_file, _result_dirs = check_files()
_avs = get_configs()
return config_file, reach33, reach66, reach100, prj_file, result_dirs, avs
return _config_file, _reach33, _reach66, _reach100, _prj_file, _result_dirs, _avs
@clibs.db_lock
@@ -101,10 +100,10 @@ def gen_result_file(path, axis, reach, load, speed, rounds):
elif item.get("channel", None) == 0 and item.get("name", None) == "device_safety_estop":
d_stop.extend(item["value"])
df1 = DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
df2 = DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
df3 = DataFrame.from_dict({"device_safety_estop": d_stop})
df = concat([df1, df2, df3], axis=1)
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
df3 = pandas.DataFrame.from_dict({"device_safety_estop": d_stop})
df = pandas.concat([df1, df2, df3], axis=1)
filename = f"{path}\\j{axis}\\reach{reach}_load{load}_speed{speed}\\reach{reach}_load{load}_speed{speed}_{rounds}.data"
df.to_csv(filename, sep="\t", index=False)
@@ -114,7 +113,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
prj_name = prj_file.split("/")[-1].split(".")[0]
display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback"] for chl in range(6)]
display_pdo_params.append({"name": "device_safety_estop", "channel": 0})
wb = load_workbook(config_file, read_only=True)
wb = openpyxl.load_workbook(config_file, read_only=True)
ws = wb["Target"]
write_diagnosis = float(ws.cell(row=2, column=2).value)
get_init_speed = float(ws.cell(row=3, column=2).value)
@@ -150,11 +149,10 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
continue
md.write_axis(axis)
speed_max = 0
w2t(f"-"*90+"\n", "purple")
for rounds in range(1, 4):
count += 1
this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
this_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
prj_path = f"{prj_name}/_build/{prj_name}.prj"
w2t(f"[{this_time} | {count}/{total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...\n")
@@ -163,13 +161,13 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
md.reset_estop()
md.clear_alarm()
md.write_act(0)
sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置
time.sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置
while count == 1:
# 2. 修改要执行的场景
rl_cmd = ""
ssh = SSHClient()
ssh.set_missing_host_key_policy(AutoAddPolicy())
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect(hostname=clibs.ip_addr, port=clibs.ssh_port, username=clibs.username, password=clibs.password)
if pon == "positive":
rl_cmd = f"brake_E(j{axis}_{reach}_p, j{axis}_{reach}_n, p_speed, p_tool)"
@@ -196,23 +194,23 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
hr.execution("state.switch_motor_on")
hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
hr.execution("rl_task.run", tasks=["brake", "stop0_related"])
t_start = time()
t_start = time.time()
while True:
if md.read_ready_to_go() == 1:
md.write_act(True)
break
else:
sleep(1)
if (time() - t_start) // 20 > 1:
time.sleep(1)
if (time.time() - t_start) // 20 > 1:
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...", "red", "ReadySignalTimeoutError")
# 4. 找出最大速度，传递给RL程序，最后清除相关记录
sleep(get_init_speed) # 指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置
time.sleep(get_init_speed) # 指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置
clibs.execution("rl_task.stop", tasks=["brake"])
# 找出最大速度
@clibs.db_lock
def get_speed_max(axis, pon):
speed_max = 0
def get_speed_max():
_speed_max = 0
len_records = int(get_init_speed * 20) + 1 # 1000 / 50 = 20
clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
records = clibs.cursor.fetchall()
@@ -222,12 +220,12 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
if item.get("channel", None) == axis-1 and item.get("name", None) == "hw_joint_vel_feedback":
_ = clibs.RADIAN * sum(item["value"]) / len(item["value"])
if pon == "positive":
speed_max = max(_, speed_max)
_speed_max = max(_, _speed_max)
elif pon == "negative":
speed_max = min(_, speed_max)
return speed_max
_speed_max = min(_, _speed_max)
return _speed_max
speed_max = abs(get_speed_max(axis, pon))
speed_max = abs(get_speed_max())
speed_target = avs[axis-1] * float(speed) / 100
clibs.insert_logdb("INFO", "do_brake", f"axis = {axis}, direction = {pon}, max speed = {speed_max}")
if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
@@ -255,21 +253,21 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
md.write_act(1)
break
else:
sleep(1)
time.sleep(1)
else:
w2t("3s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...", "red", "ReadySignalTimeoutError")
sleep(10) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
time.sleep(10) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
md.write_probe(1)
t_start = time()
t_start = time.time()
while True:
if md.read_brake_done() == 1:
sleep(4) # 保证速度归零
time.sleep(4) # 保证速度归零
md.write_probe(0)
break
else:
sleep(1)
if (time() - t_start) > 30:
time.sleep(1)
if (time.time() - t_start) > 30:
md.write_probe(0)
w2t(f"30s 内未触发急停，该条数据无效，需要确认 RL/Python 程序配置正确并正常执行，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...", "red", "NoEstopTriggeredError")
@@ -288,14 +286,13 @@ def main():
w2t = clibs.w2t
hr = clibs.c_hr
md = clibs.c_md
insert_logdb = clibs.insert_logdb
s_time = time()
s_time = time.time()
data_dirs, data_files = clibs.traversal_files(path, w2t)
config_file, reach33, reach66, reach100, prj_file, result_dirs, avs = initialization(path, sub, data_dirs, data_files, hr, w2t)
clibs.c_pd.push_prj_to_server(prj_file)
run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t)
e_time = time()
e_time = time.time()
time_total = e_time - s_time
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", "green")