完善制动性能测试
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ea05c9bd41
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@ -22,6 +22,7 @@ class App:
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# ========================================================================
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self.root = ctk.CTk()
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self.__set_root()
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self.__t = datetime.now().strftime("%Y%m%d%H%M%S")
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# ========================================================================
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self.style = ttk.Style()
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self.style.configure("tv.Treeview", font=self.f_treeview, rowheight=25)
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@ -596,8 +597,7 @@ class App:
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@clibs.db_lock
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def __quit_preparation(self):
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os.chdir(clibs.log_path)
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t = datetime.now().strftime("%Y%m%d%H%M%S")
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disk_conn = sqlite3.connect(f"log_{t}.db", isolation_level=None, check_same_thread=False, cached_statements=256)
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disk_conn = sqlite3.connect(f"log_{self.__t}.db", isolation_level=None, check_same_thread=False, cached_statements=256)
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disk_cursor = disk_conn.cursor()
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if clibs.db_state == "readonly":
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@ -87,14 +87,17 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
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return _config_file, _prj_file, _result_dirs, _avs
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@clibs.db_lock
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def gen_result_file(path, axis, t_end, reach, load, speed, rounds):
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d_vel, d_trq, d_stop = [], [], []
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def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, w2t):
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d_vel, d_trq, d_stop, threshold = [], [], [], 0.95
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start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(t_end-12))
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end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(t_end))
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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")
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records = clibs.cursor.fetchall()
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try:
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clibs.lock.acquire(True)
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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")
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records = clibs.cursor.fetchall()
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finally:
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clibs.lock.release()
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for record in records: # 保留最后12s的数据
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data = eval(record[0])["data"]
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@ -107,12 +110,19 @@ def gen_result_file(path, axis, t_end, reach, load, speed, rounds):
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elif item.get("channel", None) == 0 and item.get("name", None) == "device_safety_estop":
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d_stop.extend(d_item)
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idx = d_stop.index(0)
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av_estop = sum(d_vel[idx - 20:idx])/20 * clibs.RADIAN
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if av_estop / speed_target < threshold:
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w2t(f"[av_estop: {av_estop:.2f} | shouldbe: {speed_target:.2f}] 本次触发 ESTOP 时未采集到指定百分比的最大速度，即将重试！\n", "#8A2BE2")
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return False
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df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
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df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
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df3 = pandas.DataFrame.from_dict({"device_safety_estop": d_stop})
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df = pandas.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}_{rounds}.data"
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df.to_csv(filename, sep="\t", index=False)
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return True
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def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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@ -244,7 +254,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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speed_target = avs[axis-1] * float(speed) / 100
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clibs.insert_logdb("INFO", "do_brake", f"axis = {axis}, direction = {pon}, max speed = {speed_max}")
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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}", "indigo")
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w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}\n", "indigo")
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clibs.insert_logdb("WARNING", "do_brake", f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}")
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md.write_speed_max(speed_max)
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@ -255,53 +265,61 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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else:
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break
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# 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
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hr.execution("rl_task.pp_to_main", tasks=["brake"])
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hr.execution("state.switch_auto")
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hr.execution("state.switch_motor_on")
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hr.execution("rl_task.run", tasks=["brake"])
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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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while 1:
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clibs.c_ec.setdo_value(io_name, "true")
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md.r_reset_estop()
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md.r_clear_alarm()
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md.write_act(0)
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# 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
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hr.execution("rl_task.pp_to_main", tasks=["brake"])
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hr.execution("state.switch_auto")
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hr.execution("state.switch_motor_on")
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hr.execution("rl_task.run", tasks=["brake"])
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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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time.sleep(1)
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else:
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time.sleep(1)
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else:
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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")
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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")
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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
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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
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def exec_brake():
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flag, start, data, record = True, time.time(), None, None
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while flag:
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time.sleep(0.2)
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if time.time() - start > 20:
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w2t("20s 内未触发急停，需排查......", "red", "BrakeTimeoutError")
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def exec_brake():
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flag, start, data, record = True, time.time(), None, None
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while flag:
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time.sleep(0.1)
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if time.time() - start > 20:
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w2t("20s 内未触发急停，需排查......", "red", "BrakeTimeoutError")
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try:
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clibs.lock.acquire(True)
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clibs.cursor.execute(f"select content from logs where content like '%diagnosis.result%' order by id desc limit 1")
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record = clibs.cursor.fetchone()
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data = eval(record[0])["data"]
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finally:
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clibs.lock.release()
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try:
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clibs.lock.acquire(True)
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clibs.cursor.execute(f"select content from logs where content like '%diagnosis.result%' order by id desc limit 1")
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record = clibs.cursor.fetchone()
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data = eval(record[0])["data"]
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finally:
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clibs.lock.release()
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for item in data:
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if item.get("channel", None) != axis-1 or item.get("name", None) != "hw_joint_vel_feedback":
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continue
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for item in data:
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if item.get("channel", None) != axis-1 or item.get("name", None) != "hw_joint_vel_feedback":
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continue
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speed_moment = clibs.RADIAN * sum(item["value"]) / len(item["value"])
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if (pon == "positive" and speed_moment > 0) or (pon == "negative" and speed_moment < 0):
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if abs(speed_moment) > speed_target * 0.95:
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clibs.c_ec.setdo_value(io_name, "false")
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time.sleep(5)
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flag = False
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break
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return time.time()
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speed_moment = clibs.RADIAN * sum(item["value"]) / len(item["value"])
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if (pon == "positive" and speed_moment > 0) or (pon == "negative" and speed_moment < 0):
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if abs(speed_moment) > speed_target * 0.95:
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clibs.c_ec.setdo_value(io_name, "false")
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time.sleep(3)
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flag = False
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break
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return time.time()
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t_end = exec_brake()
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# 6. 保留数据并处理输出
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ret = gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, w2t)
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if ret:
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break
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t_end = exec_brake()
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# 6. 保留数据并处理输出
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gen_result_file(path, axis, t_end, reach, load, speed, rounds)
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else:
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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")
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hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
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