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"addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_clear_alarm", - "len": 1, - "name": "r_clear_alarm", - "retain": false, - "type": "bool" - }, - { - "addr": 40001, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_estop_reset", - "len": 1, - "name": "r_estop_reset", - "retain": false, - "type": "bool" - }, - { - "addr": 40002, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_estop_reset_clear_alarm", - "len": 1, - "name": "r_onekey_reset", - "retain": false, - "type": "bool" - }, - { - "addr": 40003, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_motor_off", - "len": 1, - "name": "r_motor_off", - "retain": false, - "type": "bool" - }, - { - "addr": 40004, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_motor_on", - "len": 1, - "name": "r_motor_on", - "retain": false, - "type": "bool" - }, - { - "addr": 40005, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_motoron_pptomain_start", - "len": 1, - "name": "r_onekey_start", - "retain": false, - "type": "bool" - }, - { - "addr": 40006, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_motoron_start", - "len": 1, - "name": "r_motoron_start", - "retain": false, - "type": "bool" - }, - { - "addr": 40007, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_pause_motoroff", - "len": 1, - "name": "r_pause_motoroff", - "retain": false, - "type": "bool" - }, - { - "addr": 40008, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_pptomain", - "len": 1, - "name": "r_pp2main", - "retain": false, - "type": "bool" - }, - { - "addr": 40009, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_program_start", - "len": 1, - "name": "r_prog_start", - "retain": false, - "type": "bool" - }, - { - "addr": 40010, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_program_stop", - "len": 1, - "name": "r_prog_stop", - "retain": false, - "type": "bool" - }, - { - "addr": 40011, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_reduced_mode", - "len": 1, - "name": "r_reduced_mode", - "retain": false, - "type": "bool" - }, - { - "addr": 40012, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_soft_estop", - "len": 1, - "name": "r_soft_estop", - "retain": false, - "type": "bool" - }, - { - "addr": 40013, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_switch_auto_motoron", - "len": 1, - "name": "r_auto_motoron", - "retain": false, - "type": "bool" - }, - { - "addr": 40014, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_switch_operation_auto", - "len": 1, - "name": "r_switch_auto", - "retain": false, - "type": "bool" - }, - { - "addr": 40015, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "ctrl_switch_operation_manu", - "len": 1, - "name": "r_switch_manual", - "retain": false, - "type": "bool" - }, - { - "addr": 40016, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "enable_safe_region01", - "len": 1, - "name": "r_safe_region01", - "retain": false, - "type": "bool" - }, - { - "addr": 40017, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "enable_safe_region02", - "len": 1, - "name": "r_safe_region02", - "retain": false, - "type": "bool" - }, - { - "addr": 40018, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "enable_safe_region03", - "len": 1, - "name": "r_safe_region03", - "retain": false, - "type": "bool" - }, - { - "addr": 40100, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_0", - "retain": false, - "type": "bool" - }, - { - "addr": 40101, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_1", - "retain": false, - "type": "bool" - }, - { - "addr": 40102, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_2", - "retain": false, - "type": "bool" - }, - { - "addr": 40103, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_3", - "retain": false, - "type": "bool" - }, - { - "addr": 40104, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_4", - "retain": false, - "type": "bool" - }, - { - "addr": 40105, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_5", - "retain": false, - "type": "bool" - }, - { - "addr": 40106, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_6", - "retain": false, - "type": "bool" - }, - { - "addr": 40107, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_7", - "retain": false, - "type": "bool" - }, - { - "addr": 40108, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_8", - "retain": false, - "type": "bool" - }, - { - "addr": 40109, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "", - "len": 1, - "name": "signal_9", - "retain": false, - "type": "bool" - } - ], - "rdwr": [ - { - "addr": 40500, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_alarm", - "len": 1, - "name": "w_alarm_state", - "retain": false, - "type": "bool" - }, - { - "addr": 40501, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_collision", - "len": 1, - "name": "w_clsn_alarm_stat", - "retain": false, - "type": "bool" - }, - { - "addr": 40502, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_collision_open", - "len": 1, - "name": "w_clsn_open_stat", - "retain": false, - "type": "bool" - }, - { - "addr": 40503, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_controller_is_running", - "len": 1, - "name": "w_controller_running", - "retain": false, - "type": "bool" - }, - { - "addr": 40504, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_encoder_low_battery", - "len": 1, - "name": "w_encoder_low", - "retain": false, - "type": "bool" - }, - { - "addr": 40505, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_estop", - "len": 1, - "name": "w_estop_stat", - "retain": false, - "type": "bool" - }, - { - "addr": 40506, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_motor", - "len": 1, - "name": "w_motor_stat", - "retain": false, - "type": "bool" - }, - { - "addr": 40507, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_operation_mode", - "len": 1, - "name": "w_operation_mode", - "retain": false, - "type": "bool" - }, - { - "addr": 40508, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_program", - "len": 1, - "name": "w_prog_stat", - "retain": false, - "type": "bool" - }, - { - "addr": 40509, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_program_not_run", - "len": 1, - "name": "w_prog_not_run", - "retain": false, - "type": "bool" - }, - { - "addr": 40510, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_program_reset", - "len": 1, - "name": "w_prog_reset", - "retain": false, - "type": "bool" - }, - { - "addr": 40511, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_reduced_mode", - "len": 1, - "name": "w_reduced_mode_stat", - "retain": false, - "type": "bool" - }, - { - "addr": 40512, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_robot_is_busy", - "len": 1, - "name": "w_robot_is_busy", - "retain": false, - "type": "bool" - }, - { - "addr": 40513, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_robot_moving", - "len": 1, - "name": "w_robot_moving", - "retain": false, - "type": "bool" - }, - { - "addr": 40514, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_safe_door", - "len": 1, - "name": "w_safe_door", - "retain": false, - "type": "bool" - }, - { - "addr": 40515, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_safe_region01", - "len": 1, - "name": "w_safe_region01", - "retain": false, - "type": "bool" - }, - { - "addr": 40516, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_safe_region02", - "len": 1, - "name": "w_safe_region02", - "retain": false, - "type": "bool" - }, - { - "addr": 40517, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_safe_region03", - "len": 1, - "name": "w_safe_region03", - "retain": false, - "type": "bool" - }, - { - "addr": 40518, - "addr_1st": 0, - "addr_2nd": 0, - "bit_bias": 0, - "byte_bias": 0, - "function": "sta_soft_estop", - "len": 1, - "name": "w_soft_estop_stat", - "retain": false, - "type": "bool" - } - ] - } - } - ] -} diff --git a/code/aio.py b/code/aio.py index 25ff35f..9f05b4e 100644 --- a/code/aio.py +++ b/code/aio.py @@ -261,6 +261,7 @@ class App: eval(clibs.data_dp["_main"] + ".main()") 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": @@ -271,6 +272,7 @@ class App: eval("do_" + clibs.data_at["_main"] + ".main()") finally: clibs.running = False + clibs.stop = False else: messagebox.showinfo(title="进行中...", message="当前有程序正在运行！") diff --git a/code/automatic_test/do_brake.py b/code/automatic_test/do_brake.py index eba2cff..07f2359 100644 --- a/code/automatic_test/do_brake.py +++ b/code/automatic_test/do_brake.py @@ -1,153 +1,164 @@ from time import sleep, time, strftime, localtime -from sys import argv from os import mkdir from paramiko import SSHClient, AutoAddPolicy -from json import loads from openpyxl import load_workbook from pandas import DataFrame, concat +import json from commons import clibs -tab_name = clibs.tab_names['at'] -logger = clibs.log_prod +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") -def check_files(path, loadsel, data_dirs, data_files, w2t): - if len(data_dirs) != 0 or len(data_files) != 5: - 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！', 0, 0, 'red', tab_name) - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name) + config_file, reach33, reach66, reach100, prj_file = 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 + elif filename.startswith("reach66_") and filename.endswith(".xlsx"): + reach66 = data_file + elif filename.startswith("reach100_") and filename.endswith(".xlsx"): + reach100 = 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") - config_file = reach33 = reach66 = reach100 = prj_file = 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 - elif filename.startswith('reach66_') and filename.endswith('.xlsx'): - reach66 = data_file - elif filename.startswith('reach100_') and filename.endswith('.xlsx'): - reach100 = 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！', 0, 0, 'red', tab_name) - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name) + if config_file and reach33 and reach66 and reach100 and prj_file: + result_dirs = [] + mkdir(f"{path}/j1") + mkdir(f"{path}/j2") + mkdir(f"{path}/j3") - if config_file and reach33 and reach66 and reach100 and prj_file: - result_dirs = [] - mkdir(f"{path}\\j1") - mkdir(f"{path}\\j2") - mkdir(f"{path}\\j3") - - for _reach in ['reach33', 'reach66', 'reach100']: - for _load in [f'load{loadsel.removeprefix("tool")}']: - for _speed in ['speed33', 'speed66', 'speed100']: - dir_name = '_'.join([_reach, _load, _speed]) + load = f"load{sub.removeprefix("tool")}" + for reach in ["reach33", "reach66", "reach100"]: + for speed in ["speed33", "speed66", "speed100"]: + dir_name = "_".join([reach, load, speed]) result_dirs.append(dir_name) - mkdir(f"{path}\\j1\\{dir_name}") - mkdir(f"{path}\\j2\\{dir_name}") - if _reach == 'reach100': - mkdir(f"{path}\\j3\\{dir_name}") + mkdir(f"{path}/j1/{dir_name}") + mkdir(f"{path}/j2/{dir_name}") + if reach == "reach100": + mkdir(f"{path}/j3/{dir_name}") - w2t("数据目录合规性检查结束，未发现问题......", 0, 0, 'blue', tab_name) - return config_file, reach33, reach66, reach100, 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！', 0, 0, 'red', tab_name) - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_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 + 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") + + def get_configs(): + robot_type = None + msg_id, state = hr.execution("controller.get_params") + records = hr.get_from_id(msg_id, state) + for record in records: + if "请求发送成功" not in record[0]: + robot_type = eval(record[0])["data"]["robot_type"] + server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg" + local_file = path + f"/{robot_type}.cfg" + clibs.c_pd.pull_file_from_server(server_file, local_file) + + try: + with open(local_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 {local_file}，获取配置文件参数错误 {Err}") + w2t(f"无法打开 {local_file}", color="red", desc="OpenFileError") + + # 最大角速度，额定电流，减速比，额定转速 + version = configs["VERSION"] + avs = configs["MOTION"]["JOINT_MAX_SPEED"] + clibs.insert_logdb("INFO", "do_brake", f"get_configs: 机型文件版本 {robot_type}_{version}") + clibs.insert_logdb("INFO", "do_brake", f"get_configs: 各关节角速度 {avs}") + return avs + + config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files() + avs = get_configs() + + return config_file, reach33, reach66, reach100, prj_file, result_dirs, avs -def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count): - _d2d_vel = {'hw_joint_vel_feedback': []} - _d2d_trq = {'device_servo_trq_feedback': []} - _d2d_stop = {'device_safety_estop': []} - for data in curve_data[-240:]: # 保留最后12s的数据 - dict_results = data['data'] - for item in dict_results: - try: - item['value'].reverse() - except KeyError: - continue - if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == axis-1 and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 0 and item.get('name', None) == 'device_safety_estop': - _d2d_stop['device_safety_estop'].extend(item['value']) +@clibs.db_lock +def gen_result_file(path, axis, reach, load, speed, rounds): + d_vel, d_trq, d_stop = [], [], [] - df1 = DataFrame.from_dict(_d2d_vel) - df2 = DataFrame.from_dict(_d2d_trq) - df3 = DataFrame.from_dict(_d2d_stop) + len_records = 12 * 1000 // 50 + clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}") + records = clibs.cursor.fetchall() + + for record in records: # 保留最后12s的数据 + data = eval(record)["data"] + for item in data: + if item.get("channel", None) == axis-1 and item.get("name", None) == "hw_joint_vel_feedback": + d_vel.extend(item["value"]) + elif item.get("channel", None) == axis-1 and item.get("name", None) == "device_servo_trq_feedback": + d_trq.extend(item["value"]) + elif item.get("channel", None) == 0 and item.get("name", None) == "device_safety_estop": + d_stop.extend(item["value"]) + + df1 = DataFrame.from_dict({"hw_joint_vel_feedback": d_vel}) + df2 = DataFrame.from_dict({"device_servo_trq_feedback": d_trq}) + df3 = DataFrame.from_dict({"device_safety_estop": d_stop}) df = concat([df1, df2, df3], axis=1) - _filename = f"{path}\\j{axis}\\reach{_reach}_load{_load}_speed{_speed}\\reach{_reach}_load{_load}_speed{_speed}_{count}.data" - df.to_csv(_filename, sep='\t', index=False) + 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, loadsel, hr, md, config_file, result_dirs, w2t): - _count = 0 - _total = 63 - display_pdo_params = [ - {"name": "hw_joint_vel_feedback", "channel": 0}, - {"name": "hw_joint_vel_feedback", "channel": 1}, - {"name": "hw_joint_vel_feedback", "channel": 2}, - {"name": "hw_joint_vel_feedback", "channel": 3}, - {"name": "hw_joint_vel_feedback", "channel": 4}, - {"name": "hw_joint_vel_feedback", "channel": 5}, - {"name": "device_servo_trq_feedback", "channel": 0}, - {"name": "device_servo_trq_feedback", "channel": 1}, - {"name": "device_servo_trq_feedback", "channel": 2}, - {"name": "device_servo_trq_feedback", "channel": 3}, - {"name": "device_servo_trq_feedback", "channel": 4}, - {"name": "device_servo_trq_feedback", "channel": 5}, - {"name": "device_safety_estop", "channel": 0}, - ] +def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): + count, total = 0, 63 + prj_name = prj_file.split("/")[-1].split(".")[0] + display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback"] for chl in range(6)] + display_pdo_params.append({"name": "device_safety_estop", "channel": 0}) wb = load_workbook(config_file, read_only=True) - ws = wb['Target'] - write_diagnosis = float(ws.cell(row=3, column=10).value) - get_init_speed = float(ws.cell(row=4, column=10).value) - single_brake = str(ws.cell(row=5, column=10).value) - logger.info(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}") + ws = wb["Target"] + write_diagnosis = float(ws.cell(row=2, column=2).value) + 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") - if ws.cell(row=1, column=1).value == 'positive': + if pon == "positive": md.write_pon(1) - elif ws.cell(row=1, column=1).value == 'negative': + elif pon == "negative": md.write_pon(0) else: - w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name) + 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") - clibs.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True) - clibs.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params) + 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: - _reach = condition.split('_')[0].removeprefix('reach') - _load = condition.split('_')[1].removeprefix('load') - _speed = condition.split('_')[2].removeprefix('speed') + reach = condition.split("_")[0].removeprefix("reach") + load = condition.split("_")[1].removeprefix("load") + speed = condition.split("_")[2].removeprefix("speed") # for single condition test - _single_axis = 0 - if single_brake != '0': - _total = 3 - _single_axis = int(single_brake.split('-')[0]) - if _reach != single_brake.split('-')[1] or _load != single_brake.split('-')[2] or _speed != single_brake.split('-')[3]: + single_axis = 0 + if single_brake != "0": + total = 3 + single_axis = int(single_brake.split("-")[0]) + if reach != single_brake.split("-")[1] or load != single_brake.split("-")[2] or speed != single_brake.split("-")[3]: continue for axis in range(1, 4): # for single condition test - if _single_axis != 0 and _single_axis != axis: + if (single_axis != 0 and single_axis != axis) or (axis == 3 and reach != "100"): continue md.write_axis(axis) speed_max = 0 - if axis == 3 and _reach != '100': - continue - - w2t(f"-"*90, 0, 0, 'purple', tab_name) - - for count in range(1, 4): - _count += 1 + w2t(f"-"*90+"\n", "purple") + for rounds in range(1, 4): + count += 1 this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time())) - prj_path = 'target/_build/target.prj' - w2t(f"[{this_time} | {_count}/{_total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name) + 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") - # 1. 关闭诊断曲线，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，切手动模式并下电 + # 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() @@ -156,80 +167,77 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): while count == 1: # 2. 修改要执行的场景 + rl_cmd = "" ssh = SSHClient() ssh.set_missing_host_key_policy(AutoAddPolicy()) - ssh.connect(hostname=clibs.ip_addr, port=22, username='luoshi', password='luoshi2019') - if ws.cell(row=1, column=1).value == 'positive': - _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)" - elif ws.cell(row=1, column=1).value == 'negative': - _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" - else: - w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name) - _rl_speed = f"VelSet {_speed}" - _rl_tool = f"tool p_tool = tool{loadsel.removeprefix('tool')}" - cmd = 'cd /home/luoshi/bin/controller/; ' + ssh.connect(hostname=clibs.ip_addr, port=clibs.ssh_port, username=clibs.username, password=clibs.password) + if pon == "positive": + rl_cmd = f"brake_E(j{axis}_{reach}_p, j{axis}_{reach}_n, p_speed, p_tool)" + elif pon == "negative": + rl_cmd = f"brake_E(j{axis}_{reach}_n, j{axis}_{reach}_p, p_speed, p_tool)" + 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 += 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 += 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 "/VelSet/i {rl_tool}" projects/target/_build/brake/main.mod; ' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) - stdin.write('luoshi2019' + '\n') + 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 - clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related']) - clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related']) - clibs.execution('state.switch_auto', hr, w2t, tab_name) - clibs.execution('state.switch_motor_on', hr, w2t, tab_name) - clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0) - clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related']) - _t_start = time() + 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("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"]) + t_start = time() while True: if md.read_ready_to_go() == 1: md.write_act(True) break else: - if (time() - _t_start) // 20 > 1: - w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name) - else: - sleep(1) + sleep(1) + if (time() - t_start) // 20 > 1: + w2t("20s 内未收到机器人的运行信号，需要确认 RL 程序编写正确并正常执行...", "red", "ReadySignalTimeoutError") # 4. 找出最大速度，传递给RL程序，最后清除相关记录 - sleep(get_init_speed+5) # 冗余5s，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', hr, w2t, tab_name, tasks=['brake']) + sleep(get_init_speed) # 指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置 + clibs.execution("rl_task.stop", tasks=["brake"]) + # 找出最大速度 - _c_msg = hr.c_msg.copy() - _number = 0 - for _msg in _c_msg: - if _number > get_init_speed*20: # 最开始回零点的时候，二轴速度可以达到最大值，实际摆动时，某一方向可能达不到 - break - if 'diagnosis.result' in _msg: - _number += 1 - dict_results = loads(_msg)['data'] - for item in dict_results: - if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback': - _ = clibs.RADIAN * sum(item['value']) / len(item['value']) - if ws.cell(row=1, column=1).value == 'positive': + @clibs.db_lock + def get_speed_max(axis, pon): + speed_max = 0 + len_records = int(get_init_speed * 20) + 1 # 1000 / 50 = 20 + clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}") + records = clibs.cursor.fetchall() + for record in records: + data = eval(record)["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"]) + if pon == "positive": speed_max = max(_, speed_max) - elif ws.cell(row=1, column=1).value == 'negative': + elif pon == "negative": speed_max = min(_, speed_max) - logger.info(f"speed max = {speed_max}") - speed_max = abs(speed_max) - speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100 + return speed_max + + speed_max = abs(get_speed_max(axis, pon)) + 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}", 0, 0, 'indigo', tab_name) - + w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", "indigo") + clibs.insert_logdb("WARNING", "do_brake", f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}") md.write_speed_max(speed_max) - hr.c_msg_xs.clear() - if len(hr.c_msg) > 270: - del hr.c_msg[270:] - if speed_max < 10: md.clear_alarm() - w2t("未获取到正确的速度，即将重新获取...", 0, 0, 'red', tab_name) + w2t("未获取到正确的速度，即将重新获取...\n", "red") continue else: break @@ -238,11 +246,10 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): md.reset_estop() # 其实没必要 md.clear_alarm() - # clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['brake', 'stop0_related']) - clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['brake', 'stop0_related']) - clibs.execution('state.switch_auto', hr, w2t, tab_name) - clibs.execution('state.switch_motor_on', hr, w2t, tab_name) - clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['brake', 'stop0_related']) + hr.execution("rl_task.pp_to_main", tasks=["brake", "stop0_related"]) + hr.execution("state.switch_auto") + hr.execution("state.switch_motor_on") + hr.execution("rl_task.run", tasks=["brake", "stop0_related"]) for i in range(3): if md.read_ready_to_go() == 1: md.write_act(1) @@ -250,49 +257,48 @@ def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t): else: sleep(1) else: - w2t("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...", 0, 111, 'red', tab_name) + w2t("3s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...", "red", "ReadySignalTimeoutError") sleep(10) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间 md.write_probe(1) - _t_start = time() + t_start = time() while True: if md.read_brake_done() == 1: sleep(4) # 保证速度归零 md.write_probe(0) break else: - if (time() - _t_start) > 30: - w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，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...", 0, 0, 'red', tab_name) + sleep(1) + if (time() - t_start) > 30: md.write_probe(0) - break - else: - sleep(1) + 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") # 6. 保留数据并处理输出 - curve_data = [] - _c_msg = hr.c_msg.copy() - for _msg in _c_msg: - if 'diagnosis.result' in _msg: - curve_data.insert(0, loads(_msg)) - else: - hr.c_msg_xs.clear() - if len(hr.c_msg) > 270: - del hr.c_msg[270:] - gen_result_file(path, curve_data, axis, _reach, _load, _speed, count) + gen_result_file(path, axis, reach, load, speed, rounds) else: - w2t(f"\n{loadsel.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。", 0, 0, 'green', tab_name) + 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(path, hr, md, loadsel, w2t): - _s_time = time() +def main(): + # path, hr, md, loadsel, w2t + path = clibs.data_at["_path"] + sub = clibs.data_at["_sub"] + w2t = clibs.w2t + hr = clibs.c_hr + md = clibs.c_md + insert_logdb = clibs.insert_logdb + + s_time = time() data_dirs, data_files = clibs.traversal_files(path, w2t) - config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t) - clibs.prj_to_xcore(prj_file) - run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t) - _e_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", 0, 0, 'green', tab_name) + config_file, reach33, reach66, reach100, prj_file, result_dirs, avs = initialization(path, sub, data_dirs, data_files, hr, w2t) + clibs.c_pd.push_prj_to_server(prj_file) + run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t) + e_time = time() + 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") -if __name__ == '__main__': - main(*argv[1:]) +if __name__ == "__main__": + main() diff --git a/code/automatic_test/do_current.py b/code/automatic_test/do_current.py index 9e01abd..f7355cd 100644 --- a/code/automatic_test/do_current.py +++ b/code/automatic_test/do_current.py @@ -1,15 +1,9 @@ -import json -from os import mkdir +import os import time -from time import sleep, time -from sys import argv -from paramiko import SSHClient, AutoAddPolicy -from json import loads -from pandas import DataFrame, concat +import paramiko +import pandas from common import clibs -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)] - def initialization(path, sub, data_dirs, data_files, hr, w2t): def check_files(): @@ -34,12 +28,12 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t): w2t("1. T_电机电流.xlsx\n2. xxxx.zip\n", "red", "ConfigFileError") w2t("数据目录合规性检查结束，未发现问题......\n") if sub == "tool100" or sub == "inertia": - mkdir(f"{path}/single") - mkdir(f"{path}/s_1") - mkdir(f"{path}/s_2") - mkdir(f"{path}/s_3") + os.mkdir(f"{path}/single") + os.mkdir(f"{path}/s_1") + os.mkdir(f"{path}/s_2") + os.mkdir(f"{path}/s_3") elif sub == "inertia": - mkdir(f"{path}/inertia") + os.mkdir(f"{path}/inertia") else: w2t("负载选择错误，电机电流测试只能选择 tool100/inertia 规格！\n", "red", "LoadSelectError") @@ -55,216 +49,75 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t): server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg" local_file = path + f"/{robot_type}.cfg" clibs.c_pd.pull_file_from_server(server_file, local_file) - return local_file prj_file = check_files() - config_file = get_configs() + get_configs() - return config_file, prj_file + return prj_file -def data_proc_regular(path, filename, channel, scenario_time): - if channel in list(range(6)): - with open(filename, 'r', encoding='utf-8') as f_obj: - lines = f_obj.readlines() - _d2d_vel = {'hw_joint_vel_feedback': []} - _d2d_trq = {'device_servo_trq_feedback': []} - _d2d_sensor = {'hw_sensor_trq_feedback': []} - for line in lines[-500:]: # 保留最后25s的数据 - data = eval(line.strip())['data'] - for item in data: - try: - item['value'].reverse() - except KeyError: - continue - if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == channel and item.get('name', None) == 'hw_sensor_trq_feedback': - _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value']) +def single_axis_proc(path, records, number): + text = "single" if number < 6 else "hold" + number = number if number < 6 else number - 6 + d_vel, d_trq, d_sensor = [], [], [] + for record in records: + print(f"record = {record}") + data = eval(record)["data"] + for item in data: + if item.get("channel", None) == number and item.get("name", None) == "hw_joint_vel_feedback": + d_vel.extend(item["value"]) + elif item.get("channel", None) == number and item.get("name", None) == "device_servo_trq_feedback": + d_trq.extend(item["value"]) + elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback": + d_sensor.extend(item["value"]) - df1 = DataFrame.from_dict(_d2d_vel) - df2 = DataFrame.from_dict(_d2d_trq) - df3 = DataFrame.from_dict(_d2d_sensor) - df = concat([df1, df2, df3], axis=1) - _filename = f'{path}\\single\\j{channel+1}_single_{time()}.data' - df.to_csv(_filename, sep='\t', index=False) - elif channel in list(range(6, 9)): - with open(filename, 'r', encoding='utf-8') as f_obj: - lines = f_obj.readlines() - _d2d_vel_0 = {'hw_joint_vel_feedback': []} - _d2d_trq_0 = {'device_servo_trq_feedback': []} - _d2d_sensor_0 = {'hw_sensor_trq_feedback': []} - _d2d_vel_1 = {'hw_joint_vel_feedback': []} - _d2d_trq_1 = {'device_servo_trq_feedback': []} - _d2d_sensor_1 = {'hw_sensor_trq_feedback': []} - _d2d_vel_2 = {'hw_joint_vel_feedback': []} - _d2d_trq_2 = {'device_servo_trq_feedback': []} - _d2d_sensor_2 = {'hw_sensor_trq_feedback': []} - _d2d_vel_3 = {'hw_joint_vel_feedback': []} - _d2d_trq_3 = {'device_servo_trq_feedback': []} - _d2d_sensor_3 = {'hw_sensor_trq_feedback': []} - _d2d_vel_4 = {'hw_joint_vel_feedback': []} - _d2d_trq_4 = {'device_servo_trq_feedback': []} - _d2d_sensor_4 = {'hw_sensor_trq_feedback': []} - _d2d_vel_5 = {'hw_joint_vel_feedback': []} - _d2d_trq_5 = {'device_servo_trq_feedback': []} - _d2d_sensor_5 = {'hw_sensor_trq_feedback': []} - for line in lines: - data = eval(line.strip())['data'] - for item in data: - try: - item['value'].reverse() - except KeyError: - continue - if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel_0['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq_0['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 0 and item.get('name', None) == 'hw_sensor_trq_feedback': - _d2d_sensor_0['hw_sensor_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel_1['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq_1['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_sensor_trq_feedback': - _d2d_sensor_1['hw_sensor_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel_2['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq_2['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback': - _d2d_sensor_2['hw_sensor_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel_3['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq_3['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback': - _d2d_sensor_3['hw_sensor_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel_4['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq_4['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_sensor_trq_feedback': - _d2d_sensor_4['hw_sensor_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel_5['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq_5['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_sensor_trq_feedback': - _d2d_sensor_5['hw_sensor_trq_feedback'].extend(item['value']) - - df_01 = DataFrame.from_dict(_d2d_vel_0) - df_02 = DataFrame.from_dict(_d2d_trq_0) - df_03 = DataFrame.from_dict(_d2d_sensor_0) - df = concat([df_01, df_02, df_03], axis=1) - _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data' - df.to_csv(_filename, sep='\t', index=False) - - df_01 = DataFrame.from_dict(_d2d_vel_1) - df_02 = DataFrame.from_dict(_d2d_trq_1) - df_03 = DataFrame.from_dict(_d2d_sensor_1) - df = concat([df_01, df_02, df_03], axis=1) - _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data' - df.to_csv(_filename, sep='\t', index=False) - - df_01 = DataFrame.from_dict(_d2d_vel_2) - df_02 = DataFrame.from_dict(_d2d_trq_2) - df_03 = DataFrame.from_dict(_d2d_sensor_2) - df = concat([df_01, df_02, df_03], axis=1) - _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data' - df.to_csv(_filename, sep='\t', index=False) - - df_01 = DataFrame.from_dict(_d2d_vel_3) - df_02 = DataFrame.from_dict(_d2d_trq_3) - df_03 = DataFrame.from_dict(_d2d_sensor_3) - df = concat([df_01, df_02, df_03], axis=1) - _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data' - df.to_csv(_filename, sep='\t', index=False) - - df_01 = DataFrame.from_dict(_d2d_vel_4) - df_02 = DataFrame.from_dict(_d2d_trq_4) - df_03 = DataFrame.from_dict(_d2d_sensor_4) - df = concat([df_01, df_02, df_03], axis=1) - _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data' - df.to_csv(_filename, sep='\t', index=False) - - df_01 = DataFrame.from_dict(_d2d_vel_5) - df_02 = DataFrame.from_dict(_d2d_trq_5) - df_03 = DataFrame.from_dict(_d2d_sensor_5) - df = concat([df_01, df_02, df_03], axis=1) - _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data' - df.to_csv(_filename, sep='\t', index=False) - elif channel in list(range(9, 15)): - with open(filename, 'r', encoding='utf-8') as f_obj: - lines = f_obj.readlines() - _d2d_vel = {'hw_joint_vel_feedback': []} - _d2d_trq = {'device_servo_trq_feedback': []} - _d2d_sensor = {'hw_sensor_trq_feedback': []} - for line in lines[-300:]: # 保留最后15s的数据 - data = eval(line.strip())['data'] - for item in data: - try: - item['value'].reverse() - except KeyError: - continue - if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_sensor_trq_feedback': - _d2d_sensor['hw_sensor_trq_feedback'].extend(item['value']) - - df1 = DataFrame.from_dict(_d2d_vel) - df2 = DataFrame.from_dict(_d2d_trq) - df3 = DataFrame.from_dict(_d2d_sensor) - df = concat([df1, df2, df3], axis=1) - _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data' - df.to_csv(_filename, sep='\t', index=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({"hw_sensor_trq_feedback": d_sensor}) + df = pandas.concat([df1, df2, df3], axis=1) + filename = f"{path}/single/j{number + 1}_{text}_{time.time()}.data" + df.to_csv(filename, sep="\t", index=False) -def data_proc_inertia(path, filename, channel): - with open(filename, 'r', encoding='utf-8') as f_obj: - lines = f_obj.readlines() - _d2d_vel = {'hw_joint_vel_feedback': []} - _d2d_trq = {'device_servo_trq_feedback': []} - _d2d_sensor = {'hw_sensor_trq_feedback': []} - for line in lines: - data = eval(line.strip())['data'] +def scenario_proc(path, records, number, scenario_time): + d_vel, d_trq, d_sensor = [], [], [] + for record in records: + print(f"record = {record}") + data = eval(record)["data"] + for axis in range(6): for item in data: - try: - item['value'].reverse() - except KeyError: - continue - if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback': - _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) - elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback': - _d2d_trq['device_servo_trq_feedback'].extend(item['value']) - elif item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_sensor_trq_feedback': - _d2d_trq['hw_sensor_trq_feedback'].extend(item['value']) + if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback": + d_vel.extend(item["value"]) + elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback": + d_trq.extend(item["value"]) + elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback": + d_sensor.extend(item["value"]) - df1 = DataFrame.from_dict(_d2d_vel) - df2 = DataFrame.from_dict(_d2d_trq) - df3 = DataFrame.from_dict(_d2d_sensor) - df = concat([df1, df2, df3], axis=1) - _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data' - df.to_csv(_filename, sep='\t', index=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({"hw_sensor_trq_feedback": d_sensor}) + df = pandas.concat([df1, df2, df3], axis=1) + filename = f"{path}/s_{number-11}/j{axis}_s_{number-11}_{scenario_time}_{time.time()}.data" + df.to_csv(filename, sep="\t", index=False) -def gen_result_file(path, loadsel, disc, number, scenario_time): - filename = path + f'\\data.txt' - with open(filename, 'w', encoding='utf-8') as f_obj: - for line in disc[number][1]: - f_obj.write(str(line)+'\n') - - if loadsel == 'tool100': - data_proc_regular(path, filename, number, scenario_time) - elif loadsel == 'inertia': - data_proc_inertia(path, filename, number) +@clibs.db_lock +def gen_result_file(path, number, scenario_time): + if number < 12: # 35s/15s == 700/300 + len_records = 700 if number < 6 else 300 + clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}") + records = clibs.cursor.fetchall() + single_axis_proc(path, records, number) + elif number < 15: # scenario time + len_records = int(scenario_time * 20) + 1 + clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}") + records = clibs.cursor.fetchall() + scenario_proc(path, records, number, scenario_time) -def run_rl(path, hr, md, sub, w2t): +def run_rl(path, prj_file, hr, md, sub, w2t): + prj_name = prj_file.split("/")[-1].split(".")[0] + display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback"] for chl in range(6)] c_regular = [ "scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)", "scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)", @@ -272,118 +125,104 @@ def run_rl(path, hr, md, sub, w2t): "scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)", "scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)", "scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)", - "scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)", - "scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)", - "scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)", "scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)", "scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)", "scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)", "scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)", "scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)", "scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)", + "scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)", + "scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)", + "scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)", ] c_inertia = [ "scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)", "scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)", "scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)", ] - disc_regular = { - 0: ['一轴', []], 1: ['二轴', []], 2: ['三轴', []], 3: ['四轴', []], 4: ['五轴', []], 5: ['六轴', []], - 6: ['场景一', []], 7: ['场景二', []], 8: ['场景三', []], 9: ['一轴保持', []], 10: ['二轴保持', []], - 11: ['三轴保持', []], 12: ['四轴保持', []], 13: ['五轴保持', []], 14: ['六轴保持', []] - } - disc_inertia = {0: ['四轴惯量', []], 1: ['五轴惯量', []], 2: ['六轴惯量', []]} - if sub == 'tool100': - conditions = c_regular - disc = disc_regular - elif sub == 'inertia': - conditions = c_inertia - disc = disc_inertia + disc_regular = ["一轴", "二轴", "三轴", "四轴", "五轴", "六轴", "一轴保持", "二轴保持", "三轴保持", "四轴保持", "五轴保持", "六轴保持", "场景一", "场景二", "场景三"] + disc_inertia = ["四轴惯量", "五轴惯量", "六轴惯量"] + conditions, disc = [], [] + if sub == "tool100": + conditions, disc = c_regular, disc_regular + elif sub == "inertia": + conditions, disc = c_inertia, disc_inertia - # preparation 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', hr, w2t, tab_name, open=True, display_open=True) - hr.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params) - # clibs.execution('diagnosis.save', hr, w2t, tab_name, save=True) # 这条命令有问题 + # 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.trigger_estop() md.reset_estop() for condition in conditions: number = conditions.index(condition) - w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', tab_name) + w2t(f"正在执行{disc[number]}测试......\n") - # 1. 将act重置为False，并修改未要执行的场景 + # 1. 将act重置为False，并修改将要执行的场景 md.write_act(False) - ssh = SSHClient() - ssh.set_missing_host_key_policy(AutoAddPolicy()) - ssh.connect(clibs.ip_addr, 22, username='luoshi', password='luoshi2019') - cmd = 'cd /home/luoshi/bin/controller/; ' - cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; ' - cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod' + ssh = paramiko.SSHClient() + ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy()) + ssh.connect(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password) + cmd = "cd /home/luoshi/bin/controller/; " + cmd += f'sudo sed -i "/scenario/d" projects/{prj_name}/_build/current/main.mod; ' + cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/{prj_name}/_build/current/main.mod' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) - stdin.write('luoshi2019' + '\n') + stdin.write(clibs.password + "\n") stdout.read().decode() # 需要read一下才能正常执行 stderr.read().decode() # 2. reload工程后，pp2main，并且自动模式和上电 - prj_path = 'target/_build/target.prj' - clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current']) - clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current']) - clibs.execution('state.switch_auto', hr, w2t, tab_name) - clibs.execution('state.switch_motor_on', hr, w2t, tab_name) + prj_path = f"{prj_name}/_build/{prj_name}.prj" + hr.execution("overview.reload", prj_path=prj_path, tasks=["current"]) + hr.execution("rl_task.pp_to_main", tasks=["current"]) + hr.execution("state.switch_auto") + hr.execution("state.switch_motor_on") # 3. 开始运行程序，单轴运行35s - clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0) - clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current']) - _t_start = time() + hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0) + hr.execution("rl_task.run", tasks=["current"]) + t_start = time.time() while True: if md.read_ready_to_go() == 1: md.write_act(True) break else: - if (time() - _t_start) // 20 > 1: - w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name) - else: - sleep(1) + time.sleep(1) + if (time.time() - t_start) // 20 > 1: + w2t("20s 内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", "red", "ReadySignalTimeoutError") # 4. 打开诊断曲线，并执行采集 - sleep(10) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定 + time.sleep(10) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定 scenario_time = 0 - if number < 6: - sleep(35) - elif number > 8: - sleep(15) - else: - _t_start = time() + if number < 6: # 单轴 + time.sleep(35) + elif number < 12: # 堵转 + time.sleep(15) + else: # 场景 + t_start = time.time() while True: scenario_time = md.read_scenario_time() if float(scenario_time) > 1: - w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', tab_name) + w2t(f"场景{number-5}的周期时间：{scenario_time}\n") break else: - if (time()-_t_start)//60 > 3: - w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name) - else: - sleep(5) - sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确 + time.sleep(5) + if (time.time()-t_start)//60 > 3: + w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...\n", "red", "GetScenarioTimeError") + time.sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确 scenario_time = md.read_scenario_time() - sleep(float(scenario_time)*0.2) # 再运行周期的20%即可 + time.sleep(float(scenario_time)*0.2) # 再运行周期的20%即可 # 5.停止程序运行，保留数据并处理输出 - clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['current']) - _c_msg = hr.c_msg.copy() - for _msg in _c_msg: - if 'diagnosis.result' in _msg: - disc[number][1].insert(0, loads(_msg)) - else: - hr.c_msg_xs.clear() - if len(hr.c_msg) > 270: - del hr.c_msg[270:] - gen_result_file(path, loadsel, disc, number, scenario_time) + clibs.execution("rl_task.stop", tasks=["current"]) + gen_result_file(path, number, scenario_time) else: - if loadsel == '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。", 0, 0, 'green', tab_name) - elif loadsel == '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。", 0, 0, 'green', tab_name) + 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") + 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") + 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(): @@ -395,11 +234,10 @@ def main(): insert_logdb = clibs.insert_logdb data_dirs, data_files = clibs.traversal_files(path, w2t) - config_file, prj_file = initialization(path, sub, data_dirs, data_files, hr, w2t) + prj_file = initialization(path, sub, data_dirs, data_files, hr, w2t) clibs.c_pd.push_prj_to_server(prj_file) - clibs.c_hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False) - # run_rl(path, hr, md, sub, w2t) + run_rl(path, prj_file, hr, md, sub, w2t) -if __name__ == '__main__': +if __name__ == "__main__": main() diff --git a/code/common/openapi.py b/code/common/openapi.py index 55a64c0..a1e1a65 100644 --- a/code/common/openapi.py +++ b/code/common/openapi.py @@ -11,8 +11,8 @@ import time from common import clibs from os import listdir -# from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder -# from pymodbus.constants import Endian +from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder +from pymodbus.constants import Endian import os.path from ctypes import * import hashlib @@ -148,6 +148,32 @@ class ModbusRequest(object): clibs.insert_logdb("INFO", "openapi", f"modbus: 40018-{action} 执行{actions}安全区 safe region 03") time.sleep(clibs.interval) + def write_act(self, number): + self.__c.write_register(40100, number) + clibs.insert_logdb("INFO", "openapi", f"modbus: 40100 将 {number} 写入") + + def write_probe(self, probe): + self.__c.write_register(40101, probe) + clibs.insert_logdb("INFO", "openapi", f"modbus: 40101 将 {probe} 写入") + + def write_pon(self, pon): + self.__c.write_register(40101, pon) + clibs.insert_logdb("INFO", "openapi", f"modbus: 40102 将 {pon} 写入") + + def write_axis(self, axis): + builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE) + builder.add_32bit_int(int(axis)) + payload = builder.to_registers() + self.__c.write_registers(40103, payload) + clibs.insert_logdb("INFO", "openapi", f"modbus: 40103 将 {axis} 写入") + + def write_speed_max(self, speed): + builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE) + builder.add_32bit_float(float(speed)) + payload = builder.build() + self.__c.write_registers(40105, payload, skip_encode=True) + clibs.insert_logdb("INFO", "openapi", f"modbus: 40105 将 {speed} 写入") + def r_write_signals(self, addr: int, value): # OK | 40100 - 40109: signal_0 ~ signal_9 if -1 < addr < 10 and addr.is_integer(): self.__c.write_register(40100+addr, value) @@ -287,6 +313,20 @@ class ModbusRequest(object): clibs.insert_logdb("INFO", "openapi", f"modbus: 执行读取所有 DO 的结果为 {res}") return res + def read_ready_to_go(self): + result = self.__c.read_holding_registers(40600, count=1) + return result.registers[0] + + def read_scenario_time(self): + results = self.__c.read_holding_registers(41002, count=2) + result = BinaryPayloadDecoder.fromRegisters(results.registers, byteorder=Endian.BIG, wordorder=Endian.LITTLE) + result = f"{result.decode_32bit_float():.3f}" + return result + + def read_brake_done(self): + result = self.__c.read_holding_registers(41007, count=1) + return result.registers[0] + class HmiRequest(object): socket.setdefaulttimeout(clibs.interval * 6) diff --git a/code/data_process/current.py b/code/data_process/current.py index 95679bb..bb424f9 100644 --- a/code/data_process/current.py +++ b/code/data_process/current.py @@ -177,16 +177,12 @@ def find_point(data_file, df, flag, row_s, row_e, threshold, step, end_point, sk row_s -= step continue else: - # one more time，如果连续两次 200 个点的平均值都大于 2，说明已经到了临界点了（其实也不一定，只不过相对遇到一次就判定临界点更安全一点点） + # one more time，如果连续两次 200 个点的平均值都大于 threshold，说明已经到了临界点了（其实也不一定，只不过相对遇到一次就判定临界点更安全一点点） # 从实际数据看，这开逻辑很小概率能触发到 speed_avg = df.iloc[row_s-end_point*skip_scale:row_e-end_point*skip_scale].abs().mean() if speed_avg < threshold: - insert_logdb("WARNING", "current", f"【lt】{axis} 轴第 {seq} 次查找数据有异常，row_s = {row_s}, row_e = {row_e}！") - row_e -= end_point*skip_scale - row_s -= end_point*skip_scale - continue - else: - return row_s, row_e + insert_logdb("WARNING", "current", f"【lt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！") + return row_s, row_e else: w2t(f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点...", "red", "AnchorNotFound") elif flag == "gt": @@ -199,16 +195,12 @@ def find_point(data_file, df, flag, row_s, row_e, threshold, step, end_point, sk row_s -= step continue else: - # one more time，如果连续两次 200 个点的平均值都小于 2，说明已经到了临界点了（其实也不一定，只不过相对遇到一次就判定临界点更安全一点点） + # one more time，如果连续两次 200 个点的平均值都小于 threshold，说明已经到了临界点了（其实也不一定，只不过相对遇到一次就判定临界点更安全一点点） # 从实际数据看，这开逻辑很小概率能触发到 speed_avg = df.iloc[row_s-end_point*skip_scale:row_e-end_point*skip_scale].abs().mean() if speed_avg > threshold: - insert_logdb("WARNING", "current", f"【gt】{axis} 轴第 {seq} 次查找数据有异常，row_s = {row_s}, row_e = {row_e}！") - row_e -= end_point*skip_scale - row_s -= end_point*skip_scale - continue - else: - return row_s, row_e + insert_logdb("WARNING", "current", f"【gt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！") + return row_s, row_e else: w2t(f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点...", "red", "AnchorNotFound") @@ -257,7 +249,7 @@ def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb): step = 50 # 步进值 end_point = 200 # 有效数值的数目 - threshold = 2 # 200个点的平均阈值线 + threshold = 5 # 200个点的平均阈值线 skip_scale = 2 row_start, row_middle, row_end = 0, 0, 0 row_e = df.index[-1] @@ -265,15 +257,15 @@ def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb): speed_avg = df.iloc[row_s:row_e].abs().mean() if speed_avg < 2: # 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, 0, w2t, insert_logdb) + 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 row_s -= end_point*skip_scale # 第二次过滤：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, 0, w2t, insert_logdb) + row_s, row_e = find_point(data_file, df, "gt", row_s, row_e, threshold, step, end_point, skip_scale, axis, "pre-2", w2t, insert_logdb) row_e -= end_point*skip_scale row_s -= end_point*skip_scale # 第三次过滤：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, 0, w2t, insert_logdb) + row_s, row_e = find_point(data_file, df, "lt", row_s, row_e, threshold, step, end_point, skip_scale, axis, "pre-3", w2t, insert_logdb) row_e -= end_point*skip_scale row_s -= end_point*skip_scale # 正式第一次采集：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 @@ -291,11 +283,11 @@ def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb): row_start = get_row_number(threshold, "start", df, row_s, row_e, axis, insert_logdb) elif speed_avg > 2: # 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, 0, w2t, insert_logdb) + 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 row_s -= end_point*skip_scale # 第二次过滤：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, 0, w2t, insert_logdb) + row_s, row_e = find_point(data_file, df, "lt", row_s, row_e, threshold, step, end_point, skip_scale, axis, "pre-2", w2t, insert_logdb) row_e -= end_point*skip_scale row_s -= end_point*skip_scale # 第一次正式采集：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