diff --git a/code/aio.py b/code/aio.py index cb170c5..80815f1 100644 --- a/code/aio.py +++ b/code/aio.py @@ -22,6 +22,7 @@ class App: # ======================================================================== self.root = ctk.CTk() self.__set_root() + self.__t = datetime.now().strftime("%Y%m%d%H%M%S") # ======================================================================== self.style = ttk.Style() self.style.configure("tv.Treeview", font=self.f_treeview, rowheight=25) @@ -596,8 +597,7 @@ class App: @clibs.db_lock def __quit_preparation(self): os.chdir(clibs.log_path) - t = datetime.now().strftime("%Y%m%d%H%M%S") - disk_conn = sqlite3.connect(f"log_{t}.db", isolation_level=None, check_same_thread=False, cached_statements=256) + disk_conn = sqlite3.connect(f"log_{self.__t}.db", isolation_level=None, check_same_thread=False, cached_statements=256) disk_cursor = disk_conn.cursor() if clibs.db_state == "readonly": diff --git a/code/automatic_test/do_brake.py b/code/automatic_test/do_brake.py index 21ba1e3..ed25197 100644 --- a/code/automatic_test/do_brake.py +++ b/code/automatic_test/do_brake.py @@ -87,14 +87,17 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t): return _config_file, _prj_file, _result_dirs, _avs -@clibs.db_lock -def gen_result_file(path, axis, t_end, reach, load, speed, rounds): - d_vel, d_trq, d_stop = [], [], [] +def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, w2t): + d_vel, d_trq, d_stop, threshold = [], [], [], 0.95 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() + try: + clibs.lock.acquire(True) + 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() + finally: + clibs.lock.release() for record in records: # 保留最后12s的数据 data = eval(record[0])["data"] @@ -107,12 +110,19 @@ def gen_result_file(path, axis, t_end, reach, load, speed, rounds): elif item.get("channel", None) == 0 and item.get("name", None) == "device_safety_estop": d_stop.extend(d_item) + idx = d_stop.index(0) + av_estop = sum(d_vel[idx - 20:idx])/20 * clibs.RADIAN + if av_estop / speed_target < threshold: + 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") + return False + 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) + return True def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): @@ -244,7 +254,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): 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: - w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", "indigo") + w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}\n", "indigo") clibs.insert_logdb("WARNING", "do_brake", f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}") md.write_speed_max(speed_max) @@ -255,53 +265,61 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): else: break - # 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"]) - for i in range(3): - if md.read_ready_to_go() == 1: - md.write_act(1) - break + while 1: + clibs.c_ec.setdo_value(io_name, "true") + md.r_reset_estop() + md.r_clear_alarm() + md.write_act(0) + # 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"]) + for i in range(3): + if md.read_ready_to_go() == 1: + md.write_act(1) + break + else: + time.sleep(1) else: - 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") + 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 + 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 - 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") + def exec_brake(): + flag, start, data, record = True, time.time(), None, None + while flag: + time.sleep(0.1) + 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() + 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 + 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() + 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(3) + flag = False + break + return time.time() + + t_end = exec_brake() + # 6. 保留数据并处理输出 + ret = gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, w2t) + if ret: + break - t_end = exec_brake() - # 6. 保留数据并处理输出 - 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)