自动化测试的功能迁移完毕，待测试
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assets/files/projects/NB4h_R580_3B.zip
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assets/files/projects/NB4h_R580_3B.zip
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@ -18,6 +18,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40001"/>
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@ -37,6 +38,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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||||
<l>
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<c name="addr" type="2" value="40002"/>
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@ -56,6 +58,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40003"/>
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@ -75,6 +78,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40004"/>
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@ -94,6 +98,7 @@
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<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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</l>
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||||
<l>
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<c name="addr" type="2" value="40005"/>
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@ -113,6 +118,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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<c name="addr" type="2" value="40006"/>
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@ -132,6 +138,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40007"/>
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@ -151,6 +158,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40008"/>
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@ -170,6 +178,7 @@
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||||
<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40009"/>
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@ -189,6 +198,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40010"/>
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@ -208,6 +218,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40011"/>
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@ -227,6 +238,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40012"/>
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@ -246,6 +258,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40013"/>
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@ -265,6 +278,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40014"/>
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@ -284,6 +298,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40015"/>
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@ -303,6 +318,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40016"/>
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@ -322,6 +338,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40017"/>
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@ -341,6 +358,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40018"/>
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@ -360,6 +378,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40100"/>
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@ -367,18 +386,19 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="description" type="10" value="pc to robot，告诉 xCore 可以开始运行了"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40100"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_0"/>
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<c name="name" type="10" value="act"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40101"/>
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@ -386,18 +406,19 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="description" type="10" value="pc to robot，急停开始标志"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40101"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_1"/>
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<c name="name" type="10" value="probe"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40102"/>
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@ -405,18 +426,19 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="description" type="10" value="pc to robot，指示正负方向拍急停，positive or negtive"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40102"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_2"/>
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<c name="name" type="10" value="pon"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40103"/>
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@ -424,37 +446,19 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40103"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_3"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40104"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="description" type="10" value="pc to robot，轴的位置"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40104"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_4"/>
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<c name="name" type="10" value="axis"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="type" type="10" value="int32"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40105"/>
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@ -462,94 +466,19 @@
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40105"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_5"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40106"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="description" type="10" value="pc to robot，指定工况下的速度最大值"/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40106"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_6"/>
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<c name="name" type="10" value="speed_max"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40107"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
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<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40107"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_7"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40108"/>
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<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
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<c name="bit_bias" type="2" value="0"/>
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<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
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<c name="dev_name" type="10" value="autotest"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="end_addr" type="2" value="40108"/>
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
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<c name="name" type="10" value="signal_8"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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</l>
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<l>
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<c name="addr" type="2" value="40109"/>
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||||
<c name="addr_1st" type="2" value="0"/>
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||||
<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=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
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||||
<c name="end_addr" type="2" value="40109"/>
|
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<c name="function" type="10" value=""/>
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<c name="len" type="2" value="1"/>
|
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<c name="name" type="10" value="signal_9"/>
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<c name="retain" type="1" value="false"/>
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<c name="rw" type="10" value="rd"/>
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<c name="type" type="10" value="bool"/>
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<c name="type" type="10" value="float"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40500"/>
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@ -569,6 +498,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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</l>
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<l>
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<c name="addr" type="2" value="40501"/>
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@ -588,6 +518,7 @@
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<c name="type" type="10" value="bool"/>
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<c name="value"/>
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<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
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<l>
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<c name="addr" type="2" value="40502"/>
|
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@ -607,6 +538,7 @@
|
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<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
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<l>
|
||||
<c name="addr" type="2" value="40503"/>
|
||||
@ -626,6 +558,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40504"/>
|
||||
@ -645,6 +578,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40505"/>
|
||||
@ -664,6 +598,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40506"/>
|
||||
@ -683,6 +618,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40507"/>
|
||||
@ -702,6 +638,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40508"/>
|
||||
@ -721,6 +658,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40509"/>
|
||||
@ -740,6 +678,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40510"/>
|
||||
@ -759,6 +698,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40511"/>
|
||||
@ -778,6 +718,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40512"/>
|
||||
@ -797,6 +738,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40513"/>
|
||||
@ -816,6 +758,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40514"/>
|
||||
@ -835,6 +778,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40515"/>
|
||||
@ -854,6 +798,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40516"/>
|
||||
@ -873,6 +818,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40517"/>
|
||||
@ -892,6 +838,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40518"/>
|
||||
@ -911,5 +858,94 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40519"/>
|
||||
<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=""/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<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"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40600"/>
|
||||
<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 xCore 已经准备好开始运动了"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40600"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="ready_to_go"/>
|
||||
<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"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40601"/>
|
||||
<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，场景时间"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40602"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="scenario_time"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="float"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<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"/>
|
||||
</l>
|
||||
</m>
|
||||
Binary file not shown.
@ -1,592 +0,0 @@
|
||||
{
|
||||
"MODBUS": [
|
||||
{
|
||||
"property": {
|
||||
"device_name": "autotest",
|
||||
"endian": 1
|
||||
},
|
||||
"regs": {
|
||||
"rd": [
|
||||
{
|
||||
"addr": 40000,
|
||||
"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"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@ -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！")
|
||||
|
||||
|
||||
@ -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
|
||||
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':
|
||||
filename = data_file.split("/")[-1]
|
||||
if filename == "configs.xlsx":
|
||||
config_file = data_file
|
||||
elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
|
||||
elif filename.startswith("reach33_") and filename.endswith(".xlsx"):
|
||||
reach33 = data_file
|
||||
elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
|
||||
elif filename.startswith("reach66_") and filename.endswith(".xlsx"):
|
||||
reach66 = data_file
|
||||
elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
|
||||
elif filename.startswith("reach100_") and filename.endswith(".xlsx"):
|
||||
reach100 = data_file
|
||||
elif filename.endswith('.zip'):
|
||||
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)
|
||||
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")
|
||||
|
||||
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")
|
||||
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)
|
||||
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！', 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("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)
|
||||
|
||||
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'])
|
||||
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")
|
||||
|
||||
df1 = DataFrame.from_dict(_d2d_vel)
|
||||
df2 = DataFrame.from_dict(_d2d_trq)
|
||||
df3 = DataFrame.from_dict(_d2d_stop)
|
||||
# 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
|
||||
|
||||
|
||||
@clibs.db_lock
|
||||
def gen_result_file(path, axis, reach, load, speed, rounds):
|
||||
d_vel, d_trq, d_stop = [], [], []
|
||||
|
||||
len_records = 12 * 1000 // 50
|
||||
clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
|
||||
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)
|
||||
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)
|
||||
md.write_probe(0)
|
||||
break
|
||||
else:
|
||||
sleep(1)
|
||||
if (time() - t_start) > 30:
|
||||
md.write_probe(0)
|
||||
w2t(f"30s 内未触发急停，该条数据无效，需要确认 RL/Python 程序配置正确并正常执行，或者判别是否是机器本体问题，比如正负方向速度是否一致...", "red", "NoEstopTriggeredError")
|
||||
|
||||
# 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))
|
||||
gen_result_file(path, axis, reach, load, speed, rounds)
|
||||
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)
|
||||
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()
|
||||
|
||||
@ -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']
|
||||
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:
|
||||
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'])
|
||||
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']
|
||||
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 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) == 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'])
|
||||
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"])
|
||||
|
||||
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}/s_{number-11}/j{axis}_s_{number-11}_{scenario_time}_{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']
|
||||
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'])
|
||||
|
||||
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)
|
||||
@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 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)
|
||||
|
||||
|
||||
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))
|
||||
clibs.execution("rl_task.stop", tasks=["current"])
|
||||
gen_result_file(path, number, scenario_time)
|
||||
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)
|
||||
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()
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -177,15 +177,11 @@ 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:
|
||||
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")
|
||||
@ -199,15 +195,11 @@ 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:
|
||||
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
|
||||
|
||||
Reference in New Issue
Block a user