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优化了制动和电机电流自动测试代码

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gitea 2025-01-18 12:33:29 +08:00
parent 46ce714462
commit 7f815ac63e
7 changed files with 147 additions and 246 deletions
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assets/files/projects/autotest.xml
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@ -17,7 +17,7 @@
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@ -37,7 +37,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -57,7 +57,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
<c name="value"/> <c name="value"/>
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@ -77,7 +77,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -97,7 +97,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -117,7 +117,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -137,7 +137,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -157,7 +157,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -177,7 +177,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -197,7 +197,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -217,7 +217,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -237,7 +237,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -257,7 +257,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -277,7 +277,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -297,7 +297,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -317,7 +317,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -337,7 +337,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -357,7 +357,7 @@
<c name="rw" type="10" value="rd"/> <c name="rw" type="10" value="rd"/>
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@ -377,7 +377,7 @@
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@ -397,87 +397,7 @@
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="pc to robot，急停开始标志"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40101"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="probe"/>
<c name="retain" type="1" value="false"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="pc to robot，指示正负方向拍急停，positive or negtive"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40102"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="pon"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="pc to robot，轴的位置"/>
<c name="dev_name" type="10" value="autotest"/>
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<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="pc to robot，指定工况下的速度最大值"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40106"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="speed_max"/>
<c name="retain" type="1" value="false"/>
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<c name="type" type="10" value="float"/>
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@ -497,7 +417,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
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@ -517,7 +437,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
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<c name="bias" type="2" value="0"/> <c name="bias" type="2" value="0"/>
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<l> <l>
@ -537,7 +457,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -557,7 +477,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
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@ -577,7 +497,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -597,7 +517,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
<c name="value"/> <c name="value"/>
<c name="value_single" type="10" value=""/> <c name="value_single" type="10" value="false"/>
<c name="bias" type="2" value="0"/> <c name="bias" type="2" value="0"/>
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@ -617,7 +537,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -637,7 +557,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -657,7 +577,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
<c name="value"/> <c name="value"/>
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@ -677,7 +597,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
<c name="value"/> <c name="value"/>
<c name="value_single" type="10" value=""/> <c name="value_single" type="10" value="true"/>
<c name="bias" type="2" value="0"/> <c name="bias" type="2" value="0"/>
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@ -697,7 +617,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -717,7 +637,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
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@ -737,7 +657,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -757,7 +677,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
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@ -777,7 +697,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -797,7 +717,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
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@ -817,7 +737,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
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@ -857,35 +777,7 @@
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<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40532"/>
<c name="function" type="10" value="sta_jnt_vel"/>
<c name="len" type="2" value="7"/>
<c name="name" type="10" value="w_jnt_vel"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/>
<c name="value">
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
<l type="10" value=""/>
</c>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/> <c name="bias" type="2" value="0"/>
</l> </l>
<l> <l>
@ -905,7 +797,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/> <c name="type" type="10" value="bool"/>
<c name="value"/> <c name="value"/>
<c name="value_single" type="10" value=""/> <c name="value_single" type="10" value="false"/>
<c name="bias" type="2" value="0"/> <c name="bias" type="2" value="0"/>
</l> </l>
<l> <l>
@ -925,27 +817,7 @@
<c name="rw" type="10" value="rdwr"/> <c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="float"/> <c name="type" type="10" value="float"/>
<c name="value"/> <c name="value"/>
<c name="value_single" type="10" value=""/> <c name="value_single" type="10" value="35.047000885009766"/>
<c name="bias" type="2" value="0"/>
</l>
<l>
<c name="addr" type="2" value="40603"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value="robot to pc，表示已触发急停标志"/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40603"/>
<c name="function" type="10" value=""/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="brake_done"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
<c name="bias" type="2" value="0"/> <c name="bias" type="2" value="0"/>
</l> </l>
</m> </m>

118
code/aio.py
View File

@ -224,9 +224,7 @@ class App:
for idx in sorted(infos.keys()): for idx in sorted(infos.keys()):
for k, v in infos[idx].items(): for k, v in infos[idx].items():
self.__w2t(f"{k}: {v}\n") self.__w2t(f"{k}: {v}\n")
t = threading.Thread(target=get_robot_info) self.__thread_it(get_robot_info)
t.daemon = True
t.start()
def __trig_estop(self): def __trig_estop(self):
def trig_estop(): def trig_estop():
@ -234,9 +232,9 @@ class App:
self.text_output.delete("1.0", "end") self.text_output.delete("1.0", "end")
self.__w2t("触发软急停信号已发送...\n") self.__w2t("触发软急停信号已发送...\n")
clibs.c_md.r_soft_estop(0) clibs.c_md.r_soft_estop(0)
t = threading.Thread(target=trig_estop) clibs.running = False
t.daemon = True raise Exception("StopProcRunning")
t.start() self.__thread_it(trig_estop)
def __reset_estop(self): def __reset_estop(self):
def reset_estop(): def reset_estop():
@ -245,15 +243,14 @@ class App:
self.__w2t("解除软急停信号已发送...\n") self.__w2t("解除软急停信号已发送...\n")
clibs.c_md.r_soft_estop(1) clibs.c_md.r_soft_estop(1)
clibs.c_md.r_clear_alarm() clibs.c_md.r_clear_alarm()
t = threading.Thread(target=reset_estop) self.__thread_it(reset_estop)
t.daemon = True
t.start()
def __thread_it(self, func, *args): @staticmethod
def __thread_it(func, *args):
""" 将函数打包进线程，必须使用 lambda """ """ 将函数打包进线程，必须使用 lambda """
self.myThread = threading.Thread(target=func, args=args) t = threading.Thread(target=func, args=args)
self.myThread.daemon = True # 主线程退出就直接让子线程跟随退出,不论是否运行完成。 t.daemon = True # 主线程退出就直接让子线程跟随退出,不论是否运行完成。
self.myThread.start() t.start()
def __set_geometry(self, widget, width, height): def __set_geometry(self, widget, width, height):
x = self.root.winfo_x() x = self.root.winfo_x()
@ -327,7 +324,8 @@ class App:
def init_op(): def init_op():
if self.__is_running("开始") == "running": if self.__is_running("开始") == "running":
return return "running"
self.text_output.delete("1.0", ctk.END) self.text_output.delete("1.0", ctk.END)
self.tabview_bottom.set("输出") self.tabview_bottom.set("输出")
clibs.tl_prg = self.__toplevel_progress clibs.tl_prg = self.__toplevel_progress
@ -341,7 +339,9 @@ class App:
self.__get_realtime_log() self.__get_realtime_log()
def exec_function(): def exec_function():
init_op() if init_op() == "running":
return
if self.tabview_top.get() == "数据处理": if self.tabview_top.get() == "数据处理":
clibs.running = True clibs.running = True
clibs.data_dp = get_data_dp() clibs.data_dp = get_data_dp()
@ -368,37 +368,44 @@ class App:
self.entry_ip_atv.set("192.168.0.160") self.entry_ip_atv.set("192.168.0.160")
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.entry_path_atv.set("数据文件夹路径") self.entry_path_atv.set("数据文件夹路径")
try:
clibs.c_hr.close()
clibs.c_md.close()
except Exception:
...
if self.__is_running("重置") == "running": def do_reset():
return if self.__is_running("重置") == "running":
return
if clibs.db_state == "readwrite": 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) 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)
if res: if res:
self.text_output.delete("1.0", ctk.END) self.text_output.delete("1.0", ctk.END)
try: try:
clibs.lock.acquire(True) clibs.lock.acquire(True)
clibs.cursor.execute("delete from logs") clibs.cursor.execute("delete from logs")
clibs.cursor.execute("delete from sqlite_sequence") # 主键归零 clibs.cursor.execute("delete from sqlite_sequence") # 主键归零
except Exception: except Exception:
self.__w2t("主键归零操作失败", "red") ...
finally: finally:
clibs.lock.release() clibs.lock.release()
self.treeview_logs.delete(*self.treeview_logs.get_children()) self.treeview_logs.delete(*self.treeview_logs.get_children())
self.label_pages_logs.set("-.-.-.-.-.-") self.label_pages_logs.set("-.-.-.-.-.-")
reset_methods() reset_methods()
elif clibs.db_state == "readonly": elif clibs.db_state == "readonly":
res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及恢复本次的日志记录，请确认！", default=messagebox.NO, icon=messagebox.INFO) res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及恢复本次的日志记录，请确认！", default=messagebox.NO, icon=messagebox.INFO)
if res: if res:
self.text_output.delete("1.0", ctk.END) self.text_output.delete("1.0", ctk.END)
clibs.cursor.close() clibs.cursor.close()
clibs.conn.close() clibs.conn.close()
clibs.conn = self.conn clibs.conn = self.conn
clibs.cursor = self.cursor clibs.cursor = self.cursor
clibs.db_state = "readwrite" clibs.db_state = "readwrite"
self.__get_realtime_log() self.__get_realtime_log()
reset_methods() reset_methods()
self.__thread_it(do_reset)
@clibs.db_lock @clibs.db_lock
def __get_realtime_log(self): def __get_realtime_log(self):
@ -995,9 +1002,21 @@ class App:
... ...
finally: finally:
self.btn_conn.configure(state="normal", fg_color="#979DA2") self.btn_conn.configure(state="normal", fg_color="#979DA2")
t = threading.Thread(target=conn_or_disconn) self.__thread_it(conn_or_disconn)
t.daemon = True
t.start() def pending_a_while(event):
def pending():
self.btn_start.configure(state="disabled")
time.sleep(2)
self.btn_start.configure(state="normal")
self.__thread_it(pending)
def change_sub_at(event):
def detect_change():
if self.om_main_at.get() == "current":
self.om_sub_at.set("tool100")
self.root.after(200, detect_change)
# ======================================================================== # ========================================================================
self.root.rowconfigure(0, weight=1) self.root.rowconfigure(0, weight=1)
self.root.rowconfigure(1, weight=99) self.root.rowconfigure(1, weight=99)
@ -1013,6 +1032,7 @@ class App:
self.label_logo.grid(row=0, column=0, sticky="new", padx=20, pady=(20, 40)) self.label_logo.grid(row=0, column=0, sticky="new", padx=20, pady=(20, 40))
self.btn_start.grid(row=1, column=0, sticky="new", padx=15, pady=1, ipady=4) self.btn_start.grid(row=1, column=0, sticky="new", padx=15, pady=1, ipady=4)
self.btn_reset_state.grid(row=2, column=0, sticky="new", padx=15, pady=(0, 1), ipady=4) self.btn_reset_state.grid(row=2, column=0, sticky="new", padx=15, pady=(0, 1), ipady=4)
self.btn_start.bind("<Button-1>", pending_a_while)
# ======================================================================== # ========================================================================
# self.tabview_top.tab("数据处理").grid_rowconfigure([0, 1], weight=1) # self.tabview_top.tab("数据处理").grid_rowconfigure([0, 1], weight=1)
self.tabview_top.tab("数据处理").grid_columnconfigure(11, weight=1) self.tabview_top.tab("数据处理").grid_columnconfigure(11, weight=1)
@ -1052,6 +1072,8 @@ class App:
self.btn_trig_estop.grid(row=0, column=1, padx=(0, 10), pady=0) self.btn_trig_estop.grid(row=0, column=1, padx=(0, 10), pady=0)
self.btn_reset_estop.grid(row=0, column=2, padx=(0, 10), pady=0) self.btn_reset_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
# self.om_main_at.bind("<<ComboboxSelected>>", change_sub_at)
self.om_main_at.bind("<Button-1>", change_sub_at)
self.entry_path_at.bind("<Button-1>", select_path) self.entry_path_at.bind("<Button-1>", select_path)
self.entry_ip_at.bind("<Button-3>", show_popupmenu_ip, add="+") self.entry_ip_at.bind("<Button-3>", show_popupmenu_ip, add="+")
self.btn_conn.bind("<Button-1>", conn_change) self.btn_conn.bind("<Button-1>", conn_change)
@ -1102,9 +1124,7 @@ class App:
def show(self): def show(self):
if self.server_vers: if self.server_vers:
# if True: # if True:
t = threading.Thread(target=self.__detect_network) self.__thread_it(self.__detect_network)
t.daemon = True
t.start()
self.root.mainloop() self.root.mainloop()

46
code/automatic_test/do_brake.py
View File

@ -1,3 +1,4 @@
import random
import time import time
import os import os
import paramiko import paramiko
@ -111,10 +112,15 @@ def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds,
d_stop.extend(d_item) d_stop.extend(d_item)
idx = d_stop.index(0) idx = d_stop.index(0)
av_estop = sum(d_vel[idx - 20:idx])/20 * clibs.RADIAN av_estop = abs(sum(d_vel[idx - 20:idx])/20 * clibs.RADIAN)
if av_estop / speed_target < threshold: 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") 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 clibs.count += 1
if clibs.count < 3:
return "retry"
else:
clibs.count = 0
w2t(f"尝试三次后仍无法获取正确数据，本次数据无效，继续执行...\n", "red")
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel}) df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq}) df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
@ -122,14 +128,18 @@ def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds,
df = pandas.concat([df1, df2, df3], axis=1) 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) df.to_csv(filename, sep="\t", index=False)
return True
def change_curve_state(hr, stat_1, stat_2):
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})
hr.execution("diagnosis.open", open=stat_1, display_open=stat_2, overrun=True, turn_area=True, delay_motion=False)
hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
count, total, speed_target = 0, 63, 0 count, total, speed_target = 0, 63, 0
prj_name = prj_file.split("/")[-1].split(".")[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})
wb = openpyxl.load_workbook(config_file, read_only=True) wb = openpyxl.load_workbook(config_file, read_only=True)
ws = wb["Target"] ws = wb["Target"]
write_diagnosis = float(ws.cell(row=2, column=2).value) write_diagnosis = float(ws.cell(row=2, column=2).value)
@ -147,8 +157,6 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
else: else:
w2t("configs.xlsx 中 Target 页面 B5 单元格填写不正确，检查后重新运行...", "red", "DirectionError") w2t("configs.xlsx 中 Target 页面 B5 单元格填写不正确，检查后重新运行...", "red", "DirectionError")
hr.execution("diagnosis.open", open=True, display_open=True, overrun=True, turn_area=True, delay_motion=False)
hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
for condition in result_dirs: for condition in result_dirs:
reach = condition.split("_")[0].removeprefix("reach") reach = condition.split("_")[0].removeprefix("reach")
load = condition.split("_")[1].removeprefix("load") load = condition.split("_")[1].removeprefix("load")
@ -226,12 +234,13 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
if (time.time() - t_start) > 20: 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") 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 # 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 time.sleep(5) # 消除前 5s 的不稳定数据
change_curve_state(hr, True, True)
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time())) 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 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
end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time())) end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
hr.execution("rl_task.stop", tasks=["brake"]) hr.execution("rl_task.stop", tasks=["brake"])
time.sleep(5) # 确保数据都拿到 change_curve_state(hr, False, False)
# 找出最大速度 # 找出最大速度
@clibs.db_lock @clibs.db_lock
@ -284,12 +293,13 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
else: 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(5+random.randint(1, 5)) # 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(): def exec_brake():
flag, start, data, record = True, time.time(), None, None flag, start, data, record = True, time.time(), None, None
change_curve_state(hr, True, True)
while flag: while flag:
time.sleep(0.1) time.sleep(0.05)
if time.time() - start > 20: if time.time() - start > 20:
w2t("20s 内未触发急停，需排查......", "red", "BrakeTimeoutError") w2t("20s 内未触发急停，需排查......", "red", "BrakeTimeoutError")
@ -306,24 +316,22 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
continue continue
speed_moment = clibs.RADIAN * sum(item["value"]) / len(item["value"]) 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:
if abs(speed_moment) > speed_target * 0.95: if (pon == "positive" and speed_moment > 0) or (pon == "negative" and speed_moment < 0):
clibs.c_ec.setdo_value(io_name, "false") clibs.c_ec.setdo_value(io_name, "false")
time.sleep(3) time.sleep(2)
change_curve_state(hr, False, False)
flag = False flag = False
break
return time.time() return time.time()
t_end = exec_brake() t_end = exec_brake()
# 6. 保留数据并处理输出 # 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) ret = gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, w2t)
if ret: if ret != "retry":
clibs.count = 0
break break
else: 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") 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)
hr.execution("diagnosis.set_params", display_pdo_params=[], frequency=50, version="1.4.1")
def main(): def main():

15
code/automatic_test/do_current.py
View File

@ -121,9 +121,14 @@ def gen_result_file(path, number, start_time, end_time, scenario_time):
p.start() p.start()
def change_curve_state(hr, stat_1, stat_2):
display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback"] for chl in range(6)]
hr.execution("diagnosis.open", open=stat_1, display_open=stat_2, overrun=True, turn_area=True, delay_motion=False)
hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
def run_rl(path, prj_file, hr, md, sub, w2t): def run_rl(path, prj_file, hr, md, sub, w2t):
prj_name = prj_file.split("/")[-1].split(".")[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", "hw_sensor_trq_feedback"] for chl in range(6)]
c_regular = [ c_regular = [
"scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)", "scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
"scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)", "scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
@ -155,8 +160,6 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
conditions, disc = c_inertia, disc_inertia conditions, disc = c_inertia, disc_inertia
# 打开诊断曲线，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 # 打开诊断曲线，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
hr.execution("diagnosis.open", open=True, display_open=True, overrun=True, turn_area=True, delay_motion=False)
hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
md.r_soft_estop(0) md.r_soft_estop(0)
md.r_soft_estop(1) md.r_soft_estop(1)
md.r_clear_alarm() md.r_clear_alarm()
@ -200,6 +203,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
# 4. 执行采集 # 4. 执行采集
time.sleep(10) # 消除前 10s 的不稳定数据 time.sleep(10) # 消除前 10s 的不稳定数据
change_curve_state(hr, True, True)
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time())) start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
single_time, stall_time, scenario_time = 40, 10, 0 single_time, stall_time, scenario_time = 40, 10, 0
if number < 6: # 单轴 if number < 6: # 单轴
@ -222,15 +226,14 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
# 5.停止程序运行，保留数据并处理输出 # 5.停止程序运行，保留数据并处理输出
end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time())) end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
hr.execution("rl_task.stop", tasks=["current"]) hr.execution("rl_task.stop", tasks=["current"])
time.sleep(5) # 确保数据都拿到 time.sleep(2) # 确保数据都拿到
change_curve_state(hr, False, False)
gen_result_file(path, number, start_time, end_time, scenario_time) gen_result_file(path, number, start_time, end_time, scenario_time)
else: else:
if sub == "tool100": if sub == "tool100":
w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。\n", "green") w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。\n", "green")
elif sub == "inertia": elif sub == "inertia":
w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。\n", "green") w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。\n", "green")
hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
hr.execution("diagnosis.set_params", display_pdo_params=[], frequency=50, version="1.4.1")
def main(): def main():

4
code/common/clibs.py
View File

@ -107,9 +107,7 @@ conn, cursor, w2t, tl_prg, f_records, stop, running = None, None, None, None, No
ip_addr = "192.168.0.160" ip_addr = "192.168.0.160"
ssh_port, socket_port, xService_port, external_port, modbus_port, upgrade_port = 22, 5050, 6666, 8080, 502, 4567 ssh_port, socket_port, xService_port, external_port, modbus_port, upgrade_port = 22, 5050, 6666, 8080, 502, 4567
username, password = "luoshi", "luoshi2019" username, password = "luoshi", "luoshi2019"
interval = 0.5 # interval after actions being triggered, such as modbus/socket/external communication operations interval, RADIAN, MAX_FRAME_SIZE, count = 0.5, 57.3, 1024, 0
RADIAN = 57.3 # 180 / 3.1415926
MAX_FRAME_SIZE = 1024
c_md, c_hr, c_ec, c_pd = None, None, None, None c_md, c_hr, c_ec, c_pd = None, None, None, None
lock = threading.Lock() lock = threading.Lock()