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制动性能测试和数据处理已完成

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gitea 2025-01-16 19:28:57 +08:00
parent 2413d6d305
commit 26f01635df
55 changed files with 1588 additions and 1251 deletions
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1
.gitignore vendored
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@ -2,6 +2,7 @@ test.py
.idea/
.venv/
assets/logs/
assets/files/examples/
package/
code/common/__pycache__/
code/data_process/__pycache__/

BIN
assets/files/projects/NB4h_R580_3G.zip
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assets/files/projects/configs.xlsx
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assets/files/protocols/collision.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "collision.get_params"
}

6
assets/files/protocols/collision.set_params.json Normal file
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@ -0,0 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "collision.set_params",
"data": null
}

7
assets/files/protocols/collision.set_state.json Normal file
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@ -0,0 +1,7 @@
{
"module": "safety",
"command": "collision.set_state",
"data": {
"collision_state": false
}
}

8
assets/files/protocols/controller.reboot.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "controller.reboot",
"data": {
"arg": 6
}
}

8
assets/files/protocols/controller.set_params.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "controller.set_params",
"data": {
"time": "2020-02-28 15:28:30"
}
}

5
assets/files/protocols/drag.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "dynamic",
"command": "drag.get_params"
}

10
assets/files/protocols/drag.set_params.json Normal file
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@ -0,0 +1,10 @@
{
"id": "xxxxxxxxxxx",
"module": "dynamic",
"command": "drag.set_params",
"data": {
"enable": true,
"space": 0,
"type": 0
}
}

5
assets/files/protocols/fieldbus_device.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "fieldbus_device.get_params"
}

8
assets/files/protocols/fieldbus_device.load_cfg.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "fieldbus_device.load_cfg",
"data": {
"file_name": "fieldbus_device.json"
}
}

9
assets/files/protocols/fieldbus_device.set_params.json Normal file
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@ -0,0 +1,9 @@
{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "fieldbus_device.set_params",
"data": {
"device_name": "modbus_1",
"enable": true
}
}

5
assets/files/protocols/io_device.load_cfg.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "io_device.load_cfg"
}

5
assets/files/protocols/jog.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "jog.get_params"
}

10
assets/files/protocols/jog.set_params.json Normal file
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@ -0,0 +1,10 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "jog.set_params",
"data": {
"step": 1000,
"override": 0.2,
"space": 5
}
}

10
assets/files/protocols/jog.start.json Normal file
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@ -0,0 +1,10 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "jog.start",
"data": {
"index": 0,
"direction": true,
"is_ext": false
}
}

8
assets/files/protocols/log_code.data.code_list.json Normal file
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@ -0,0 +1,8 @@
{
"id": "log_code.data.code_list",
"s": {
"log_code.data": {
"code_list": []
}
}
}

5
assets/files/protocols/log_code.data.json Normal file
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@ -0,0 +1,5 @@
{
"g": {
"log_code.data": "null"
}
}

5
assets/files/protocols/modbus.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "modbus.get_params"
}

8
assets/files/protocols/modbus.get_values.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "modbus.get_values",
"data": {
"mode": "all"
}
}

8
assets/files/protocols/modbus.load_cfg.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "modbus.load_cfg",
"data": {
"file" : "registers.json"
}
}

12
assets/files/protocols/modbus.set_params.json Normal file
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@ -0,0 +1,12 @@
{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "modbus.set_params",
"data": {
"enable_slave": true,
"ip": "192.168.0.160",
"port": 502,
"slave_id": 0,
"enable_master": false
}
}

5
assets/files/protocols/move.get_joint_pos.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_joint_pos"
}

5
assets/files/protocols/move.get_monitor_cfg.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_monitor_cfg"
}

5
assets/files/protocols/move.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_params"
}

5
assets/files/protocols/move.get_pos.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_pos"
}

5
assets/files/protocols/move.get_quickstop_distance.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_quickstop_distance"
}

5
assets/files/protocols/move.get_quickturn_pos.json Normal file
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@ -0,0 +1,5 @@
{
"id" : "xxxxxxxxx",
"module": "motion",
"command": "move.get_quickturn_pos"
}

8
assets/files/protocols/move.quick_turn.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.quick_turn",
"data": {
"name":"home"
}
}

8
assets/files/protocols/move.set_monitor_cfg.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.set_monitor_cfg",
"data": {
"ref_coordinate": 1
}
}

17
assets/files/protocols/move.set_params.json Normal file
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@ -0,0 +1,17 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.set_params",
"data": {
"MOTION": {
"JOINT_MAX_SPEED": [1.0,0.0,0.0,0.0,0.0,0.0],
"JOINT_MAX_ACC": [1.0,0.0,0.0,0.0,0.0,0.0],
"JOINT_MAX_JERK": [1.0,0.0,0.0],
"TCP_MAX_SPEED": 500,
"DEFAULT_ACC_PARAMS": [0.3,1.0],
"VEL_SMOOTH_FACTOR": 3.33,
"ACC_RAMPTIME_JOG": 0.01
}
}
}

8
assets/files/protocols/move.set_quickstop_distance.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.set_quickstop_distance",
"data":{
"distance": 2
}
}

15
assets/files/protocols/move.set_quickturn_pos.json Normal file
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@ -0,0 +1,15 @@
{
"id" : "xxxxxxxxx",
"module": "motion",
"command": "move.set_quickturn_pos",
"data": {
"enable_home": false,
"enable_drag": false,
"enable_transport": false,
"joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"joint_drag": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"end_posture": 0,
"home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0]
}
}

8
assets/files/protocols/move.stop.json Normal file
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@ -0,0 +1,8 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.stop",
"data":{
"stoptype": 0
}
}

7
assets/files/protocols/safety.safety_area.overall_enable.json Normal file
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@ -0,0 +1,7 @@
{
"c": {
"safety.safety_area.overall_enable": {
"enable": true
}
}
}

8
assets/files/protocols/safety.safety_area.safety_area_enable.json Normal file
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@ -0,0 +1,8 @@
{
"c": {
"safety.safety_area.safety_area_enable": {
"id": 0,
"enable": true
}
}
}

5
assets/files/protocols/safety.safety_area.set_param.json Normal file
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@ -0,0 +1,5 @@
{
"c": {
"safety.safety_area.set_param": null
}
}

7
assets/files/protocols/safety.safety_area.signal_enable.json Normal file
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@ -0,0 +1,7 @@
{
"c": {
"safety.safety_area.signal_enable": {
"signal": true
}
}
}

5
assets/files/protocols/safety_area_data.json Normal file
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@ -0,0 +1,5 @@
{
"g": {
"safety_area_data": null
}
}

5
assets/files/protocols/servo.clear_alarm.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "servo.clear_alarm"
}

5
assets/files/protocols/socket.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "network",
"command": "socket.get_params"
}

17
assets/files/protocols/socket.set_params.json Normal file
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@ -0,0 +1,17 @@
{
"id": "xxxxxxxxxxx",
"module": "network",
"command": "socket.set_params",
"data": {
"enable": true,
"ip": "",
"name": "c1",
"port": "8080",
"suffix": "\r",
"type": 1,
"reconnect_flag": false,
"auto_connect": true,
"disconnection_triggering_behavior": 0,
"disconnection_detection_time": 10
}
}

5
assets/files/protocols/soft_limit.get_params.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "soft_limit.get_params"
}

12
assets/files/protocols/soft_limit.set_params.json Normal file
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@ -0,0 +1,12 @@
{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "soft_limit.set_params",
"data": {
"enable": true,
"upper": [0,0,0,0,0,0,0],
"lower": [0,0,0,0,0,0,0],
"reduced_upper": [0,0,0,0,0,0,0],
"reduced_lower": [0,0,0,0,0,0,0]
}
}

5
assets/files/protocols/system_io.query_configuration.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.query_configuration"
}

5
assets/files/protocols/system_io.query_event_cfg.json Normal file
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@ -0,0 +1,5 @@
{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.query_event_cfg"
}

9
assets/files/protocols/system_io.update_configuration.json Normal file
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@ -0,0 +1,9 @@
{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.update_configuration",
"data": {
"input_system_io": {},
"output_system_io": {}
}
}

24
code/aio.py
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@ -15,7 +15,7 @@ from datetime import datetime
import os
from common import clibs, openapi
from data_process import current, brake, iso, wavelogger
from automatic_test import do_current
from automatic_test import do_current, do_brake
import threading
import re
@ -298,7 +298,7 @@ class App:
def __is_running(operation):
if clibs.running:
messagebox.showerror(title="处理中", message=f"有程序正在运行，需等待结束后，在执行{operation}操作！")
return
return "running"
def __program_start(self):
def get_data_dp():
@ -323,7 +323,8 @@ class App:
return data
def init_op():
self.__is_running("开始")
if self.__is_running("开始") == "running":
return
self.text_output.delete("1.0", ctk.END)
self.tabview_bottom.set("输出")
clibs.tl_prg = self.__toplevel_progress
@ -339,7 +340,6 @@ class App:
def exec_function():
init_op()
if self.tabview_top.get() == "数据处理":
if not clibs.running:
clibs.running = True
clibs.data_dp = get_data_dp()
try:
@ -347,10 +347,7 @@ class App:
finally:
clibs.running = False
clibs.stop = False
else:
messagebox.showinfo(title="进行中...", message="当前有程序正在运行！")
elif self.tabview_top.get() == "自动测试":
if not clibs.running:
clibs.running = True
clibs.data_at = get_data_at()
try:
@ -358,8 +355,6 @@ class App:
finally:
clibs.running = False
clibs.stop = False
else:
messagebox.showinfo(title="进行中...", message="当前有程序正在运行！")
exec_function()
@ -371,7 +366,8 @@ class App:
self.entry_path_atv.set("数据文件夹路径")
self.entry_path_atv.set("数据文件夹路径")
self.__is_running("重置")
if self.__is_running("重置") == "running":
return
if clibs.db_state == "readwrite":
res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及日志记录，且不可恢复，请确认！", default=messagebox.NO, icon=messagebox.WARNING)
@ -522,7 +518,8 @@ class App:
get_next_page()
def __load_log_db(self):
self.__is_running("加载")
if self.__is_running("加载") == "running":
return
db_file = filedialog.askopenfilename(title="加载数据库文件", defaultextension=".db", initialdir=f"{clibs.PREFIX}/logs")
if not db_file:
return
@ -979,10 +976,9 @@ class App:
clibs.c_md = openapi.ModbusRequest(clibs.ip_addr, clibs.modbus_port)
clibs.c_hr = openapi.HmiRequest(clibs.ip_addr, clibs.socket_port, clibs.xService_port)
clibs.c_pd = openapi.PreDos(clibs.ip_addr, clibs.ssh_port, clibs.username, clibs.password)
# clibs.c_md.read_scenario_time()
# clibs.c_md.write_speed_max(123.456)
# clibs.c_hr.execution('state.set_tp_mode', tp_mode='without')
# clibs.c_hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
# clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=[], frequency=50, version="1.4.1")
self.btn_conn.configure(state="normal", fg_color="#2E8B57")
except Exception:
self.btn_conn.configure(state="normal", fg_color="#979DA2")

171
code/automatic_test/do_brake.py
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@ -4,33 +4,33 @@ import paramiko
import openpyxl
import pandas
import json
from commons import clibs
from common import clibs, openapi
def initialization(path, sub, data_dirs, data_files, hr, w2t):
def check_files():
if len(data_dirs) != 0 or len(data_files) != 6:
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")
msg = "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！\n"
msg += "1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n"
if len(data_dirs) != 0 or len(data_files) != 5:
w2t(msg, "red", "InitFileError")
config_file, reach33, reach66, reach100, prj_file, result_dirs = None, None, None, None, None, []
config_file, reach33_file, reach66_file, reach100_file, prj_file, result_dirs = None, None, None, None, None, []
for data_file in data_files:
filename = data_file.split("/")[-1]
if filename == "configs.xlsx":
config_file = data_file
elif filename.startswith("reach33_") and filename.endswith(".xlsx"):
reach33 = data_file
reach33_file = data_file
elif filename.startswith("reach66_") and filename.endswith(".xlsx"):
reach66 = data_file
reach66_file = data_file
elif filename.startswith("reach100_") and filename.endswith(".xlsx"):
reach100 = data_file
reach100_file = data_file
elif filename.endswith(".zip"):
prj_file = data_file
else:
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")
w2t(msg, "red", "InitFileError")
if config_file and reach33 and reach66 and reach100 and prj_file:
if config_file and reach33_file and reach66_file and reach100_file and prj_file:
os.mkdir(f"{path}/j1")
os.mkdir(f"{path}/j2")
os.mkdir(f"{path}/j3")
@ -46,10 +46,9 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
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
return config_file, prj_file, result_dirs
else:
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")
w2t(msg, "red", "InitFileError")
def get_configs():
robot_type = None
@ -76,40 +75,45 @@ 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()
clibs.c_hr.set_socket_params(True, str(clibs.external_port), "\r", 1)
clibs.c_ec = openapi.ExternalCommunication(clibs.ip_addr, clibs.external_port)
_config_file, _prj_file, _result_dirs = check_files()
_avs = get_configs()
return _config_file, _reach33, _reach66, _reach100, _prj_file, _result_dirs, _avs
return _config_file, _prj_file, _result_dirs, _avs
@clibs.db_lock
def gen_result_file(path, axis, reach, load, speed, rounds):
def gen_result_file(path, axis, t_end, reach, load, speed, rounds):
d_vel, d_trq, d_stop = [], [], []
len_records = 12 * 1000 // 50
clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(t_end-12))
end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(t_end))
clibs.cursor.execute(f"select content from logs where time between '{start_time}' and '{end_time}' and content like '%diagnosis.result%' order by id asc")
records = clibs.cursor.fetchall()
for record in records: # 保留最后12s的数据
data = eval(record)["data"]
data = eval(record[0])["data"]
for item in data:
d_item = reversed(item["value"])
if item.get("channel", None) == axis-1 and item.get("name", None) == "hw_joint_vel_feedback":
d_vel.extend(item["value"])
d_vel.extend(d_item)
elif item.get("channel", None) == axis-1 and item.get("name", None) == "device_servo_trq_feedback":
d_trq.extend(item["value"])
d_trq.extend(d_item)
elif item.get("channel", None) == 0 and item.get("name", None) == "device_safety_estop":
d_stop.extend(item["value"])
d_stop.extend(d_item)
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"
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)
def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
count, total = 0, 63
count, total, speed_target = 0, 63, 0
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})
@ -119,7 +123,9 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
get_init_speed = float(ws.cell(row=3, column=2).value)
single_brake = str(ws.cell(row=4, column=2).value)
pon = ws.cell(row=5, column=2).value
w2t(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}\n")
io_name = ws.cell(row=6, column=2).value.upper()
wb.close()
w2t(f"基本参数配置：write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}, pon = {pon}\n")
if pon == "positive":
md.write_pon(1)
@ -136,7 +142,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
speed = condition.split("_")[2].removeprefix("speed")
# for single condition test
single_axis = 0
single_axis = -1
if single_brake != "0":
total = 3
single_axis = int(single_brake.split("-")[0])
@ -145,25 +151,28 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
for axis in range(1, 4):
# for single condition test
if (single_axis != 0 and single_axis != axis) or (axis == 3 and reach != "100"):
if (single_axis != -1 and single_axis != axis) or (axis == 3 and reach != "100"):
continue
md.write_axis(axis)
w2t(f"-"*90+"\n", "purple")
for rounds in range(1, 4):
count += 1
_ = 3 if count % 3 == 0 else count % 3
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")
w2t(f"[{this_time} | {count}/{total}] 正在执行 {axis} 轴 {condition} 的第 {_} 次制动测试...\n")
# 1. 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
md.trigger_estop()
md.reset_estop()
md.clear_alarm()
md.r_soft_estop(0)
md.r_soft_estop(1)
clibs.c_ec.setdo_value(io_name, "true")
md.r_reset_estop()
md.r_clear_alarm()
md.write_act(0)
time.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) # 急停超差后，等待写诊断时间，可通过configs.xlsx配置，2.3 版本之后设置为 0 即可
while count == 1:
while count % 3 == 1:
# 2. 修改要执行的场景
rl_cmd = ""
ssh = paramiko.SSHClient()
@ -176,24 +185,24 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
rl_speed = f"VelSet {speed}"
rl_tool = f"tool p_tool = tool{sub.removeprefix("tool")}"
cmd = "cd /home/luoshi/bin/controller/; "
cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
cmd += f'sudo sed -i "/DONOTDELETE/i {rl_cmd}" projects/target/_build/brake/main.mod; '
cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
cmd += f'sudo sed -i "/MoveAbsJ/i {rl_speed}" projects/target/_build/brake/main.mod; '
cmd += 'sudo sed -i "/tool p_tool/d" projects/target/_build/brake/main.mod; '
cmd += f'sudo sed -i "/VelSet/i {rl_tool}" projects/target/_build/brake/main.mod; '
cmd += f'sudo sed -i "/brake_E/d" projects/{prj_name}/_build/brake/main.mod; '
cmd += f'sudo sed -i "/DONOTDELETE/i {rl_cmd}" projects/{prj_name}/_build/brake/main.mod; '
cmd += f'sudo sed -i "/VelSet/d" projects/{prj_name}/_build/brake/main.mod; '
cmd += f'sudo sed -i "/MoveAbsJ/i {rl_speed}" projects/{prj_name}/_build/brake/main.mod; '
cmd += f'sudo sed -i "/tool p_tool/d" projects/{prj_name}/_build/brake/main.mod; '
cmd += f'sudo sed -i "/VelSet/i {rl_tool}" projects/{prj_name}/_build/brake/main.mod; '
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
stdin.write(clibs.password + "\n")
stdout.read().decode() # 需要read一下才能正常执行
stderr.read().decode()
# 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
hr.execution("overview.reload", prj_path=prj_path, tasks=["brake", "stop0_related"])
hr.execution("rl_task.pp_to_main", tasks=["brake", "stop0_related"])
hr.execution("overview.reload", prj_path=prj_path, tasks=["brake"])
hr.execution("rl_task.pp_to_main", tasks=["brake"])
hr.execution("state.switch_auto")
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"])
hr.execution("rl_task.run", tasks=["brake"])
t_start = time.time()
while True:
if md.read_ready_to_go() == 1:
@ -201,21 +210,24 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
break
else:
time.sleep(1)
if (time.time() - t_start) // 20 > 1:
if (time.time() - t_start) > 20:
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
time.sleep(10) # 消除前 10s 的不稳定数据
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
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"])
end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
hr.execution("rl_task.stop", tasks=["brake"])
time.sleep(5) # 确保数据都拿到
# 找出最大速度
@clibs.db_lock
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}")
clibs.cursor.execute(f"select content from logs where time between '{start_time}' and '{end_time}' and content like '%diagnosis.result%' order by id asc")
records = clibs.cursor.fetchall()
for record in records:
data = eval(record)["data"]
data = eval(record[0])["data"]
for item in data:
if item.get("channel", None) == axis-1 and item.get("name", None) == "hw_joint_vel_feedback":
_ = clibs.RADIAN * sum(item["value"]) / len(item["value"])
@ -234,20 +246,17 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
md.write_speed_max(speed_max)
if speed_max < 10:
md.clear_alarm()
md.r_clear_alarm()
w2t("未获取到正确的速度，即将重新获取...\n", "red")
continue
else:
break
# 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
md.reset_estop() # 其实没必要
md.clear_alarm()
hr.execution("rl_task.pp_to_main", tasks=["brake", "stop0_related"])
# 5. 重新运行程序，发送继续运动信号，当速度达到最大值时，通过DO触发急停
hr.execution("rl_task.pp_to_main", tasks=["brake"])
hr.execution("state.switch_auto")
hr.execution("state.switch_motor_on")
hr.execution("rl_task.run", tasks=["brake", "stop0_related"])
hr.execution("rl_task.run", tasks=["brake"])
for i in range(3):
if md.read_ready_to_go() == 1:
md.write_act(1)
@ -258,21 +267,38 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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")
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.time()
while True:
if md.read_brake_done() == 1:
time.sleep(4) # 保证速度归零
md.write_probe(0)
break
else:
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")
def exec_brake():
flag, start, data, record = True, time.time(), None, None
while flag:
time.sleep(0.2)
if time.time() - start > 20:
w2t("20s 内未触发急停，需排查......", "red", "BrakeTimeoutError")
try:
clibs.lock.acquire(True)
clibs.cursor.execute(f"select content from logs where content like '%diagnosis.result%' order by id desc limit 1")
record = clibs.cursor.fetchone()
data = eval(record[0])["data"]
finally:
clibs.lock.release()
for item in data:
if item.get("channel", None) != axis-1 or item.get("name", None) != "hw_joint_vel_feedback":
continue
speed_moment = clibs.RADIAN * sum(item["value"]) / len(item["value"])
if (pon == "positive" and speed_moment > 0) or (pon == "negative" and speed_moment < 0):
if abs(speed_moment) > speed_target * 0.95:
clibs.c_ec.setdo_value(io_name, "false")
time.sleep(5)
flag = False
break
return time.time()
t_end = exec_brake()
# 6. 保留数据并处理输出
gen_result_file(path, axis, reach, load, speed, rounds)
gen_result_file(path, axis, t_end, reach, load, speed, rounds)
else:
w2t(f"\n{sub.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。\n", "green")
hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
@ -280,21 +306,22 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
def main():
# path, hr, md, loadsel, w2t
s_time = time.time()
path = clibs.data_at["_path"]
sub = clibs.data_at["_sub"]
w2t = clibs.w2t
hr = clibs.c_hr
md = clibs.c_md
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)
config_file, 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.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")
w2t(f"-" * 90 + "\n", "purple")
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\n", "green")
if __name__ == "__main__":

8
code/automatic_test/do_current.py
View File

@ -201,7 +201,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
# 4. 执行采集
time.sleep(10) # 消除前 10s 的不稳定数据
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
single_time, stall_time, scenario_time = 30, 10, 0
single_time, stall_time, scenario_time = 40, 10, 0
if number < 6: # 单轴
time.sleep(single_time)
elif number < 12: # 堵转
@ -234,6 +234,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
def main():
s_time = time.time()
path = clibs.data_at["_path"]
sub = clibs.data_at["_sub"]
w2t = clibs.w2t
@ -245,6 +246,11 @@ def main():
clibs.c_pd.push_prj_to_server(prj_file)
run_rl(path, prj_file, hr, md, sub, w2t)
e_time = time.time()
time_total = e_time - s_time
w2t(f"-" * 90 + "\n", "purple")
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")
if __name__ == "__main__":
main()

1996
code/common/openapi.py
View File

File diff suppressed because it is too large Load Diff

245
code/data_process/brake.py
View File

@ -1,13 +1,14 @@
import openpyxl
import json
import os.path
import time
import pandas
import threading
import openpyxl
import re
from common import clibs
def check_files(path, rawdata_dirs, result_files, w2t):
def check_files(rawdata_dirs, result_files, w2t):
msg_wrong = "需要有四个文件和若干个数据文件夹，可参考如下确认：\n"
msg_wrong += "1. reach33_XXXXXXX.xlsx\n2. reach66_XXXXXXX.xlsx\n3. reach100_XXXXXXX.xlsx\n4. *.cfg\n"
msg_wrong += "- reach33_load33_speed33\nreach33_load33_speed66\n......\nreach100_load100_speed66\nreach100_load100_speed100\n"
@ -33,8 +34,10 @@ def check_files(path, rawdata_dirs, result_files, w2t):
reach_s = ['reach33', 'reach66', 'reach100']
load_s = ['load33', 'load66', 'load100']
speed_s = ['speed33', 'speed66', 'speed100']
prefix = []
for rawdata_dir in rawdata_dirs:
components = rawdata_dir.split("/")[-1].split('_') # reach_load_speed
prefix.append(components[0])
if components[0] not in reach_s or components[1] not in load_s or components[2] not in speed_s:
msg = f"报错信息：数据目录 {rawdata_dir} 命名不合规，请参考如下形式\n"
msg += "命名规则：reachAA_loadBB_speedCC，AA/BB/CC 指的是臂展/负载/速度的比例\n"
@ -47,161 +50,139 @@ def check_files(path, rawdata_dirs, result_files, w2t):
w2t(msg, "red", "WrongDataFile")
for rawdata_file in rawdata_files:
if not rawdata_file.endswith(".data"):
msg = f"数据文件 {rawdata_file} 后缀错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
msg = f"数据文件 {rawdata_file} 后缀错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件\n"
w2t(msg, "red", "WrongDataFile")
w2t("数据目录合规性检查结束，未发现问题......")
result_files = []
for _ in [reach33_file, reach66_file, reach100_file]:
if _.split("/")[-1].split("_")[0] in set(prefix):
result_files.append(_)
w2t("数据目录合规性检查结束，未发现问题......\n")
return config_file, result_files
def get_configs(configfile, w2t):
axis = configfile.split('\\')[-2][-1]
if axis not in ['1', '2', '3']:
w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", 0, 9, 'red')
else:
axis = int(axis)
def get_configs(config_file, w2t):
try:
with open(config_file, mode="r", encoding="utf-8") as f_config:
configs = json.load(f_config)
except Exception as Err:
clibs.insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，获取配置文件参数错误 {Err}")
w2t(f"无法打开 {config_file}", color="red", desc="OpenFileError")
_wb = load_workbook(configfile, read_only=True)
_ws = _wb['Target']
rr = float(_ws.cell(row=2, column=axis + 1).value)
av = float(_ws.cell(row=3, column=axis + 1).value)
p_dir = config_file.split('/')[-2]
if not re.match("^[jJ][123]$", p_dir):
w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")
axis = int(p_dir[-1])
rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio
avs = configs["MOTION"]["JOINT_MAX_SPEED"]
rr = rrs[axis-1]
av = avs[axis-1]
return av, rr
def now_doing_msg(docs, flag, w2t):
# 功能：输出正在处理的文件或目录
# 参数：文件或目录，start 或 done 标识
# 返回值：-
now = strftime('%Y-%m-%d %H:%M:%S', localtime(time()))
file_type = 'file' if isfile(docs) else 'dir'
now = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()))
file_type = 'file' if os.path.isfile(docs) else 'dir'
if flag == 'start' and file_type == 'dir':
w2t(f"[{now}] 正在处理目录 {docs} 中的数据......")
w2t(f"[{now}] 正在处理目录 {docs} 中的数据......\n")
elif flag == 'start' and file_type == 'file':
w2t(f"[{now}] 正在处理文件 {docs} 中的数据......")
w2t(f"[{now}] 正在处理文件 {docs} 中的数据......\n")
elif flag == 'done' and file_type == 'dir':
w2t(f"[{now}] 目录 {docs} 数据文件已处理完毕")
w2t(f"[{now}] 目录 {docs} 数据文件已处理完毕\n")
elif flag == 'done' and file_type == 'file':
w2t(f"[{now}] 文件 {docs} 数据已处理完毕")
w2t(f"[{now}] 文件 {docs} 数据已处理完毕\n")
def w2t_local(msg, wait, w2t):
while True:
global stop
if stop == 0 and wait != 0:
sleep(1)
w2t(msg, wait, 0, 'orange')
else:
break
def copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop):
# 功能：将数据文件中有效数据拷贝至结果文件对应的 sheet
# 参数：如上
# 返回值：-
# 结果文件数据清零
def data2result(df, ws_result, row_start, row_end, vel, trq, estop):
data = []
for _row in range(row_start, row_end + 1):
data.append(df.iloc[_row, vel - 1])
data.append(df.iloc[_row, trq - 1])
data.append(df.iloc[_row, estop - 1])
for row in range(row_start, row_end):
data.append(df.iloc[row, vel - 1])
data.append(df.iloc[row, trq - 1])
data.append(df.iloc[row, estop - 1])
i = 0
row_max = 2000 if row_end - row_start < 2000 else row_end - row_start + 20
for _row in range(2, row_max):
row_max = 1000 if row_end - row_start < 1000 else row_end - row_start + 100
for row in range(2, row_max):
try:
ws_result.cell(row=_row, column=1).value = data[i]
ws_result.cell(row=_row, column=2).value = data[i + 1]
ws_result.cell(row=_row, column=3).value = data[i + 2]
ws_result.cell(row=row, column=1).value = data[i]
ws_result.cell(row=row, column=2).value = data[i + 1]
ws_result.cell(row=row, column=3).value = data[i + 2]
i += 3
except:
ws_result.cell(row=_row, column=1).value = None
ws_result.cell(row=_row, column=2).value = None
ws_result.cell(row=_row, column=3).value = None
except Exception:
ws_result.cell(row=row, column=1).value = None
ws_result.cell(row=row, column=2).value = None
ws_result.cell(row=row, column=3).value = None
def find_row_start(data_file, df, conditions, av, rr, vel, estop, w2t):
# 功能：查找数据文件中有效数据的行号，也即最后一个速度下降的点位
# 参数：如上
# 返回值：速度下降点位，最后的数据点位
def get_row_range(data_file, df, conditions, av, rr, vel, estop, w2t):
row_start, row_end = 0, 0
ratio = float(conditions[2].removeprefix('speed')) / 100
av_max = av * ratio
row_max = df.index[-1]
threshold = 0.95
for _row in range(row_max, -1, -1):
if df.iloc[_row, estop - 1] != 0:
row_start = _row - 20 if _row - 20 > 0 else 0
for row in range(df.index[-1] - 1, -1, -10):
if df.iloc[row, estop - 1] != 0:
row_start = row - 20 if row - 20 > 0 else 0 # 急停前找 20 个点
break
else:
w2t(f"数据文件 {data_file} 采集的数据中没有 ESTOP 为非 0 的情况，需要确认", 0, 9, 'red')
w2t(f"数据文件 {data_file} 采集的数据中没有 ESTOP 为非 0 的情况，需要确认\n", "red", "StartNotFoundError")
for _row in range(row_start, row_max):
speed_row = (df.iloc[_row, vel - 1] * 180) / 3.1415926 * rr * 60 / 360
for row in range(row_start, df.index[-1] - 1, 10):
speed_row = df.iloc[row, vel - 1] * clibs.RADIAN * rr * 60 / 360
if abs(speed_row) < 1:
row_end = _row + 100 if _row + 100 <= row_max else row_max
row_end = row + 100 if row + 100 <= df.index[-1] - 1 else df.index[-1] - 1
break
else:
w2t(f"数据文件 {data_file} 最后的速度未降为零 ", 0, 10, 'red')
w2t(f"数据文件 {data_file} 最后的速度未降为零\n", "red", "SpeedNotZeroError")
av_estop = abs((df.iloc[row_start - 10:row_start + 10, vel - 1].abs().mean() * 180) / 3.1415926)
av_estop = abs(df.iloc[row_start - 20:row_start, vel - 1].abs().mean() * clibs.RADIAN)
if abs(av_estop / av_max) < threshold:
filename = data_file.split('\\')[-1]
w2t(f"[av_estop: {av_estop:.2f} | shouldbe: {av_max:.2f}] 数据文件 {filename} 触发 ESTOP 时未采集到指定百分比的最大速度，需要检查", 0, 0, '#8A2BE2')
filename = data_file.split("/")[-1]
w2t(f"[av_estop: {av_estop:.2f} | shouldbe: {av_max:.2f}] 数据文件 {filename} 触发 ESTOP 时未采集到指定百分比的最大速度，需要检查\n", "#8A2BE2")
return row_start, row_end
def find_result_sheet_name(conditions, count):
# 功能：获取结果文件准确的sheet页名称
# 参数：臂展和速度的列表
# 返回值：结果文件对应的sheet name
# 33%负载_33%速度_1 - ['loadxx', 'reachxx', 'speedxx']
load = conditions[0].removeprefix('load')
def get_shtname(conditions, count):
# 33%负载_33%速度_1 - reach/load/speed
load = conditions[1].removeprefix('load')
speed = conditions[2].removeprefix('speed')
result_sheet_name = f"{load}%负载_{speed}%速度_{count}"
return result_sheet_name
def single_file_process(data_file, wb_result, count, av, rr, vel, trq, estop, w2t):
# 功能：完成单个数据文件的处理
# 参数：如上
# 返回值：-
df = read_csv(data_file, sep='\t')
def single_file_process(data_file, wb, count, av, rr, vel, trq, estop, w2t):
df = pandas.read_csv(data_file, sep='\t')
conditions = data_file.split("/")[-2].split("_") # reach/load/speed
shtname = get_shtname(conditions, count)
ws = wb[shtname]
conditions = sorted(data_file.split('\\')[-2].split('_')) # ['loadxx', 'reachxx', 'speedxx']
result_sheet_name = find_result_sheet_name(conditions, count)
ws_result = wb_result[result_sheet_name]
row_start, row_end = find_row_start(data_file, df, conditions, av, rr, vel, estop, w2t)
copy_data_to_result(df, ws_result, row_start, row_end, vel, trq, estop)
row_start, row_end = get_row_range(data_file, df, conditions, av, rr, vel, estop, w2t)
data2result(df, ws, row_start, row_end, vel, trq, estop)
def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
# 功能：完成一个结果文件的数据处理
# 参数：结果文件，数据目录，以及预读取的参数
# 返回值：-
file_name = result_file.split('\\')[-1]
w2t(f"正在打开文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
def data_process(result_file, rawdata_dirs, av, rr, vel, trq, estop, w2t):
filename = result_file.split("/")[-1]
global stop
stop = 0
t_excel = clibs.GetThreadResult(load_workbook, args=(result_file,))
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
clibs.stop = True
w2t(f"正在打开文件 {filename} 需要 1min 左右......\n", "blue")
t_excel = clibs.GetThreadResult(openpyxl.load_workbook, args=(result_file, ))
t_excel.daemon = True
t_excel.start()
t_wait.start()
t_excel.join()
wb_result = t_excel.get_result()
stop = 1
sleep(1.1)
w2t('')
t_progress = threading.Thread(target=clibs.tl_prg, args=("Processing......", ))
t_progress.daemon = True
t_progress.start()
wb = t_excel.get_result()
prefix = result_file.split('\\')[-1].split('_')[0]
for raw_data_dir in raw_data_dirs:
if raw_data_dir.split('\\')[-1].split('_')[0] == prefix:
now_doing_msg(raw_data_dir, 'start', w2t)
_, data_files = clibs.traversal_files(raw_data_dir, w2t)
prefix = filename.split('_')[0]
for rawdata_dir in rawdata_dirs:
if rawdata_dir.split("/")[-1].split('_')[0] == prefix:
now_doing_msg(rawdata_dir, 'start', w2t)
_, data_files = clibs.traversal_files(rawdata_dir, w2t)
# 数据文件串行处理模式---------------------------------
# count = 1
# for data_file in data_files:
@ -212,59 +193,41 @@ def data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t):
# ---------------------------------------------------
# 数据文件并行处理模式---------------------------------
threads = [
Thread(target=single_file_process, args=(data_files[0], wb_result, 1, av, rr, vel, trq, estop, w2t)),
Thread(target=single_file_process, args=(data_files[1], wb_result, 2, av, rr, vel, trq, estop, w2t)),
Thread(target=single_file_process, args=(data_files[2], wb_result, 3, av, rr, vel, trq, estop, w2t))
threading.Thread(target=single_file_process, args=(data_files[0], wb, 1, av, rr, vel, trq, estop, w2t)),
threading.Thread(target=single_file_process, args=(data_files[1], wb, 2, av, rr, vel, trq, estop, w2t)),
threading.Thread(target=single_file_process, args=(data_files[2], wb, 3, av, rr, vel, trq, estop, w2t))
]
[t.start() for t in threads]
[t.join() for t in threads]
# ---------------------------------------------------
now_doing_msg(raw_data_dir, 'done', w2t)
now_doing_msg(rawdata_dir, 'done', w2t)
now_doing_msg(result_file, 'done', w2t)
w2t(f"正在保存文件 {file_name} 需要 1min 左右", 1, 0, 'orange')
stop = 0
t_excel = Thread(target=wb_result.save, args=(result_file,))
t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
w2t(f"正在保存文件 {filename} 需要 1min 左右......\n\n", "blue")
t_excel = threading.Thread(target=wb.save, args=(result_file, ))
t_excel.daemon = True
t_excel.start()
t_wait.start()
t_excel.join()
stop = 1
sleep(1.1)
w2t('\n')
wb.close()
clibs.stop = False
t_progress.join()
def main():
# path, vel, trq, estop, w2t
time_start = time.time()
path = clibs.data_dp["_path"]
vel = int(clibs.data_dp["_vel"])
trq = int(clibs.data_dp["_trq"])
estop = int(clibs.data_dp["_estop"])
w2t = clibs.w2t
insert_logdb = clibs.insert_logdb
time_start = time.time()
rawdata_dirs, result_files = clibs.traversal_files(path, w2t)
config_file, result_files = check_files(rawdata_dirs, result_files, w2t)
av, rr = get_configs(config_file, w2t)
# threads = []
check_files(path, rawdata_dirs, result_files, w2t)
# av, rr = get_configs(path + '\\configs.xlsx', w2t)
#
# prefix = []
# for raw_data_dir in rawdata_dirs:
# prefix.append(raw_data_dir.split('\\')[-1].split("_")[0])
#
# for result_file in result_files:
# if result_file.split('\\')[-1].split('_')[0] not in set(prefix):
# continue
# else:
# now_doing_msg(result_file, 'start', w2t)
# data_process(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t)
# # threads.append(Thread(target=data_process, args=(result_file, raw_data_dirs, av, rr, vel, trq, estop, w2t)))
# # [t.start() for t in threads]
# # [t.join() for t in threads]
for result_file in result_files:
data_process(result_file, rawdata_dirs, av, rr, vel, trq, estop, w2t)
w2t("----------------------------------------------------------\n")
w2t("全部处理完毕\n")
w2t("-"*60 + "\n全部处理完毕\n")
time_end = time.time()
time_total = time_end - time_start
msg = f"数据处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s\n"

16
code/data_process/current.py
View File

@ -4,6 +4,7 @@ import openpyxl
import pandas
import re
import csv
import time
from common import clibs
@ -161,12 +162,10 @@ def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, ins
t_excel.daemon = True
t_excel.start()
t_excel.join()
wb.close()
clibs.stop = False
t_progress.join()
w2t("----------------------------------------------------------\n")
w2t("全部处理完毕")
def find_point(data_file, df, flag, row_s, row_e, threshold, step, end_point, skip_scale, axis, seq, w2t, insert_logdb):
if flag == "lt":
@ -255,7 +254,7 @@ def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb):
row_e = df.index[-1]
row_s = row_e - end_point
speed_avg = df.iloc[row_s:row_e].abs().mean()
if speed_avg < 2:
if speed_avg < threshold:
# 第一次过滤：消除速度为零的数据，找到速度即将大于零的上升临界点
row_s, row_e = find_point(data_file, df, "lt", row_s, row_e, threshold, step, end_point, skip_scale, axis, "pre-1", w2t, insert_logdb)
row_e -= end_point*skip_scale
@ -281,7 +280,7 @@ def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb):
# 正式第三次采集：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, 3, w2t, insert_logdb)
row_start = get_row_number(threshold, "start", df, row_s, row_e, axis, insert_logdb)
elif speed_avg > 2:
elif speed_avg > threshold:
# 第一次过滤：消除速度大于零的数据，找到速度即将趋近于零的下降临界点
row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, "pre-1", w2t, insert_logdb)
row_e -= end_point*skip_scale
@ -409,6 +408,7 @@ def get_configs(config_file, w2t, insert_logdb):
def main():
time_start = time.time()
sub = clibs.data_dp["_sub"]
path = clibs.data_dp["_path"]
vel = int(clibs.data_dp["_vel"])
@ -429,6 +429,12 @@ def main():
elif sub == "cycle":
current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb)
w2t("-"*60 + "\n全部处理完毕\n")
time_end = time.time()
time_total = time_end - time_start
msg = f"数据处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s\n"
w2t(msg)
if __name__ == '__main__':
main()