完成了电流->转矩的转变，基本完成
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@ -6,8 +6,8 @@ VSVersionInfo(
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ffi=FixedFileInfo(
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# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
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# Set not needed items to zero 0.
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filevers=(0, 3, 0, 0),
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prodvers=(0, 3, 0, 0),
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filevers=(0, 3, 1, 0),
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prodvers=(0, 3, 1, 0),
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# Contains a bitmask that specifies the valid bits 'flags'r
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mask=0x3f,
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# Contains a bitmask that specifies the Boolean attributes of the file.
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@ -31,12 +31,12 @@ VSVersionInfo(
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'040904b0',
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[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
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StringStruct('FileDescription', 'All in one automatic toolbox'),
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StringStruct('FileVersion', '0.3.0.0 (2025-01-17)'),
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StringStruct('FileVersion', '0.3.1.0 (2025-01-22)'),
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StringStruct('InternalName', 'AIO.exe'),
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StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
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StringStruct('OriginalFilename', 'AIO.exe'),
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StringStruct('ProductName', 'AIO'),
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StringStruct('ProductVersion', '0.3.0.0 (2025-01-17)')])
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StringStruct('ProductVersion', '0.3.1.0 (2025-01-22)')])
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]),
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VarFileInfo([VarStruct('Translation', [1033, 1200])])
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]
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@ -1 +1 @@
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0.3.0.0@01/17/2025
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0.3.1.0@01/22/2025
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164
code/aio.py
164
code/aio.py
@ -13,6 +13,7 @@ import os
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from common import clibs, openapi
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from data_process import current, brake, iso, wavelogger
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from automatic_test import do_current, do_brake
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from durable_docs import factory_test, create_plot
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import threading
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import re
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@ -38,6 +39,10 @@ class App:
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self.entry_tips_v = None
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self.server_vers = None
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self.tv_cols = {1: ["ID", 1], 2: ["time", 160], 3: ["level", 25], 4: ["module", 30], 5: ["content", 700]}
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self.chk_box_v = ctk.BooleanVar()
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self.chk_box_v.set(False)
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self.entry_path_ddv = ctk.StringVar()
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self.entry_path_ddv.set("数据文件夹路径")
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# ========================================================================
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self.frame_left = ctk.CTkFrame(self.root, width=80, corner_radius=0, fg_color="#E9E9E9")
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@ -46,6 +51,7 @@ class App:
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self.tabview_top._segmented_button.configure(font=ctk.CTkFont(family="Consolas", size=18, weight="bold"))
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self.tabview_top.add("数据处理")
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self.tabview_top.add("自动测试")
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self.tabview_top.add("耐久记录")
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# -------
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self.tabview_bottom = ctk.CTkTabview(self.root, fg_color="#E9E9E9", segmented_button_selected_color="#008B8B", segmented_button_selected_hover_color="#2F4F4F", border_width=2, anchor="w", command=self.__switch_tab_bottom)
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self.tabview_bottom._segmented_button.configure(font=ctk.CTkFont(family="Consolas", size=18, weight="bold"))
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@ -58,23 +64,25 @@ class App:
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self.btn_start = ctk.CTkButton(self.frame_left, text="开始运行", font=self.f_normal, fg_color="#4F4F4F", command=lambda: self.__thread_it(self.__program_start))
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self.btn_reset_state = ctk.CTkButton(self.frame_left, text="重置状态", font=self.f_normal, fg_color="#4F4F4F", command=self.__reset_state)
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# ========================================================================
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self.om_main_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=160, dynamic_resizing=False, values=["brake", "current", "iso", "wavelogger"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D", command=self.__main_switch_dp)
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self.om_sub_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=160, dynamic_resizing=False, values=["cycle", "max", "avg"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
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self.om_main_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=160, dynamic_resizing=False, values=["brake", "current", "iso", "wavelogger"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", command=self.__main_switch_dp)
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self.om_sub_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=160, dynamic_resizing=False, values=["cycle", "max", "avg"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090")
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self.label_path_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=40, anchor="e", text="Path", font=self.f_common)
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self.entry_path_dp = ctk.CTkEntry(self.tabview_top.tab("数据处理"), width=80, state="disabled", textvariable=self.entry_path_dpv, font=self.f_entry, text_color="#818181")
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self.label_vel_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=40, anchor="e", text="Vel", font=self.f_common)
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self.om_vel_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
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self.om_vel_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
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self.label_trq_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=40, anchor="e", text="Trq", font=self.f_common)
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self.om_trq_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
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self.om_trq_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
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self.label_trqh_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=40, anchor="e", text="TrqH", font=self.f_common)
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self.om_trqh_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
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self.om_trqh_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
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self.label_sensor_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=60, anchor="e", text="Sensor", font=self.f_common)
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self.om_sensor_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
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self.om_sensor_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
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self.label_estop_dp = ctk.CTkLabel(self.tabview_top.tab("数据处理"), width=60, anchor="e", text="Estop", font=self.f_common)
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self.om_estop_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", text_color_disabled="#808000")
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self.om_estop_dp = ctk.CTkOptionMenu(self.tabview_top.tab("数据处理"), width=80, values=["1", "2", "3", "4", "5"], font=self.f_common, button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090", text_color_disabled="#808000")
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self.popupmenu_path_dp = tk.Menu(self.entry_path_dp, tearoff=False)
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self.popupmenu_path_dp.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy_path(self.entry_path_dp))
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# ========================================================================
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self.om_main_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["brake", "current"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
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self.om_sub_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["tool33", "tool66", "tool100", "inertia"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
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self.om_main_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["brake", "current"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090")
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self.om_sub_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["tool33", "tool66", "tool100", "inertia"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D", button_hover_color="#708090")
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self.label_ip_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), anchor="e", text="IP", font=self.f_common)
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self.entry_ip_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=160, textvariable=self.entry_ip_atv, font=self.f_entry, text_color="#818181")
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self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, cursor="hand2")
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@ -89,16 +97,30 @@ class App:
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self.popupmenu_ip.add_command(label="剪切", accelerator="Ctrl+X", font=self.f_treeview, command=lambda: self.__cut(self.entry_ip_at))
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self.popupmenu_ip.add_command(label="粘贴", accelerator="Ctrl+V", font=self.f_treeview, command=lambda: self.__paste(self.entry_ip_at))
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self.popupmenu_ip.add_command(label="全选", accelerator="Ctrl+A", font=self.f_treeview, command=lambda: self.__select(self.entry_ip_at))
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self.popupmenu_path_at = tk.Menu(self.entry_path_at, tearoff=False)
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self.popupmenu_path_at.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy_path(self.entry_path_at))
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# ========================================================================
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self.scrollable_frame = ctk.CTkScrollableFrame(self.tabview_top.tab("耐久记录"), width=360, height=60, label_text="选择曲线", label_font=self.f_segbtn)
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self.switch_1 = ctk.CTkSwitch(self.scrollable_frame, text="hw_joint_vel_feedback", font=self.f_treeview, onvalue=True, offvalue=False)
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self.switch_2 = ctk.CTkSwitch(self.scrollable_frame, text="device_servo_trq_feedback", font=self.f_treeview, onvalue=True, offvalue=False)
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self.label_path_dd = ctk.CTkLabel(self.tabview_top.tab("耐久记录"), width=80, anchor="e", text="指定路径", font=self.f_segbtn_l)
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self.entry_path_dd = ctk.CTkEntry(self.tabview_top.tab("耐久记录"), width=80, state="disabled", textvariable=self.entry_path_ddv, font=self.f_entry, text_color="#818181")
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self.label_interval = ctk.CTkLabel(self.tabview_top.tab("耐久记录"), text="间隔时间", width=80, font=self.f_segbtn_l)
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self.entry_interval = ctk.CTkEntry(self.tabview_top.tab("耐久记录"), placeholder_text="采样间隔时间，默认(最小)300s", font=self.f_entry)
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self.btn_plot = ctk.CTkButton(self.tabview_top.tab("耐久记录"), text="绘图", width=80, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__create_plot)
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self.chk_box = ctk.CTkCheckBox(self.tabview_top.tab("耐久记录"), text="全部打开/关闭", checkbox_width=15, checkbox_height=15, corner_radius=0, onvalue=True, offvalue=False, variable=self.chk_box_v, width=20, font=self.f_segbtn_l, command=self.__all_or_none)
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self.popupmenu_path_dd = tk.Menu(self.entry_path_dd, tearoff=False)
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self.popupmenu_path_dd.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy_path(self.entry_path_dd))
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# ========================================================================
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self.text_output = ctk.CTkTextbox(self.tabview_bottom.tab("输出"), height=10, corner_radius=0, wrap="none", font=self.f_text)
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# ========================================================================
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self.label_logs = ctk.CTkLabel(self.tabview_bottom.tab("日志"), width=80, font=self.f_pager, textvariable=self.label_pages_logs, text_color="blue", bg_color="#DCDCDC", cursor="hand2")
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self.label_logs = ctk.CTkLabel(self.tabview_bottom.tab("日志"), width=100, font=self.f_pager, textvariable=self.label_pages_logs, text_color="blue", bg_color="#DCDCDC", cursor="hand2")
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self.btn_previous = ctk.CTkButton(self.tabview_bottom.tab("日志"), width=60, text="上一页", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__get_previous_log)
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self.btn_realtime = ctk.CTkButton(self.tabview_bottom.tab("日志"), width=60, text="实时", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__get_realtime_log)
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self.btn_next = ctk.CTkButton(self.tabview_bottom.tab("日志"), width=60, text="下一页", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__get_next_log)
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self.btn_load = ctk.CTkButton(self.tabview_bottom.tab("日志"), width=60, text="加载", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__load_log_db)
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self.btn_find = ctk.CTkButton(self.tabview_bottom.tab("日志"), text="查找", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, cursor="hand2")
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self.entry_keyword = ctk.CTkEntry(self.tabview_bottom.tab("日志"), placeholder_text="[id/level/module] 查找内容", width=60, font=self.f_entry)
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self.entry_keyword = ctk.CTkEntry(self.tabview_bottom.tab("日志"), placeholder_text="[id/level/module] 查找内容", width=10, font=self.f_entry)
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self.treeview_logs = ttk.Treeview(self.tabview_bottom.tab("日志"), height=1, columns=("id", "time", "level", "module", "content"), style="tv.Treeview", show="headings")
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self.y_scrollbar_logs = tk.Scrollbar(self.tabview_bottom.tab("日志"), width=30, command=self.treeview_logs.yview)
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self.popupmenu_kw = tk.Menu(self.entry_keyword, tearoff=False)
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@ -140,6 +162,29 @@ class App:
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def __do_nothing(event):
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...
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@staticmethod
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def __create_plot():
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create_plot.main()
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def __all_or_none(self):
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if self.chk_box_v.get():
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for widget in self.scrollable_frame.winfo_children():
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widget.select()
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else:
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for widget in self.scrollable_frame.winfo_children():
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widget.deselect()
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def __get_curve_names(self):
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curves = []
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for widget in self.scrollable_frame.winfo_children():
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if widget.get():
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curves.append(widget.cget("text"))
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return curves
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def __copy_path(self, widget):
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self.root.clipboard_clear()
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self.root.clipboard_append(widget.get())
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def __detect_network(self):
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def func_access(state):
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self.btn_robot_info.configure(state=state)
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@ -157,12 +202,12 @@ class App:
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except Exception:
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self.btn_conn.configure(fg_color="#979DA2")
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func_access("disabled")
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time.sleep(3)
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time.sleep(2)
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def __robot_info(self):
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def get_robot_info():
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self.tabview_bottom.set("输出")
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self.text_output.delete("1.0", "end")
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# self.text_output.delete("1.0", "end")
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self.__w2t("正在获取机器信息，请稍后...\n\n")
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infos = {0: {}, 1: {}, 2: {}, 3: {}, 4: {}, 5: {}, 6: {}, 7: {}, 8: {}, 9: {}, 10: {}, 11: {}, 12: {}, 13: {}, 14: {}, 15: {}, 16: {}, 17: {}, 18: {}, 19: {}, 20: {}}
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msg_id, state = clibs.c_hr.execution("controller.get_params")
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@ -229,17 +274,23 @@ class App:
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def __trig_estop(self):
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def trig_estop():
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self.tabview_bottom.set("输出")
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self.text_output.delete("1.0", "end")
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self.__w2t("触发软急停信号已发送...\n")
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clibs.c_md.r_soft_estop(0)
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clibs.running = False
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raise Exception("StopProcRunning")
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try:
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clibs.c_hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
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clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=[], frequency=50, version="1.4.1")
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except Exception as Err:
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clibs.insert_logdb("WARNING", "aio", f"关闭诊断曲线失败 - {Err}")
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if clibs.running:
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clibs.running = False
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self.__w2t("程序已停止运行，执行过程中停止时需要清零后台数据，大约一分钟左右后再重新运行！！！\n", "red", "TerminateProgram")
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self.__thread_it(trig_estop)
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def __reset_estop(self):
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def reset_estop():
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self.tabview_bottom.set("输出")
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self.text_output.delete("1.0", "end")
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||||
# self.text_output.delete("1.0", "end")
|
||||
self.__w2t("解除软急停信号已发送...\n")
|
||||
clibs.c_md.r_soft_estop(1)
|
||||
clibs.c_md.r_clear_alarm()
|
||||
@ -322,6 +373,14 @@ class App:
|
||||
}
|
||||
return data
|
||||
|
||||
def get_data_dd():
|
||||
data = {
|
||||
"path": self.entry_path_ddv.get(),
|
||||
"interval": self.entry_interval.get(),
|
||||
"curves": self.__get_curve_names()
|
||||
}
|
||||
return data
|
||||
|
||||
def init_op():
|
||||
if self.__is_running("开始") == "running":
|
||||
return "running"
|
||||
@ -342,22 +401,22 @@ class App:
|
||||
if init_op() == "running":
|
||||
return
|
||||
|
||||
if self.tabview_top.get() == "数据处理":
|
||||
clibs.running = True
|
||||
clibs.data_dp = get_data_dp()
|
||||
try:
|
||||
clibs.running = True
|
||||
try:
|
||||
if self.tabview_top.get() == "数据处理":
|
||||
clibs.data_dp = get_data_dp()
|
||||
eval(clibs.data_dp["_main"] + ".main()")
|
||||
finally:
|
||||
clibs.running = False
|
||||
clibs.stop = False
|
||||
elif self.tabview_top.get() == "自动测试":
|
||||
clibs.running = True
|
||||
clibs.data_at = get_data_at()
|
||||
try:
|
||||
elif self.tabview_top.get() == "自动测试":
|
||||
clibs.data_at = get_data_at()
|
||||
eval("do_" + clibs.data_at["_main"] + ".main()")
|
||||
finally:
|
||||
clibs.running = False
|
||||
clibs.stop = False
|
||||
elif self.tabview_top.get() == "耐久记录":
|
||||
clibs.data_dd = get_data_dd()
|
||||
factory_test.main()
|
||||
except Exception as Err:
|
||||
self.__w2t(f"程序执行过程中出现异常，{Err}\n", "red")
|
||||
finally:
|
||||
clibs.running = False
|
||||
clibs.stop = False
|
||||
|
||||
exec_function()
|
||||
|
||||
@ -593,6 +652,7 @@ class App:
|
||||
self.f_logo = ("Segoe Script Bold", 28, "bold")
|
||||
self.f_normal = ("Consolas", 20, "bold")
|
||||
self.f_segbtn = ("楷体", 20, "bold")
|
||||
self.f_segbtn_l = ("楷体", 18, "bold")
|
||||
self.f_common = ("Consolas", 18, "bold")
|
||||
self.f_entry = ("Consolas", 16, "bold")
|
||||
self.f_text = ("仿宋", 16, "normal")
|
||||
@ -643,11 +703,17 @@ class App:
|
||||
self.__quit_preparation()
|
||||
|
||||
def __switch_tab_top(self):
|
||||
...
|
||||
tab_name = self.tabview_top.get()
|
||||
if tab_name == "数据处理" or tab_name == "自动测试":
|
||||
self.tabview_top.configure(height=180)
|
||||
elif tab_name == "耐久记录":
|
||||
self.tabview_top.configure(height=330)
|
||||
|
||||
def __switch_tab_bottom(self):
|
||||
if self.tabview_bottom.get() == "日志":
|
||||
self.__get_realtime_log()
|
||||
elif self.tabview_bottom.get() == "输出":
|
||||
self.text_output.see(ctk.END)
|
||||
|
||||
def __cut(self, widget):
|
||||
try:
|
||||
@ -704,6 +770,12 @@ class App:
|
||||
self.entry_path_atv.set(dir_path)
|
||||
else:
|
||||
self.entry_path_atv.set(c_origin)
|
||||
elif t_name == "耐久记录":
|
||||
c_origin = self.entry_path_ddv.get()
|
||||
if dir_path:
|
||||
self.entry_path_ddv.set(dir_path)
|
||||
else:
|
||||
self.entry_path_ddv.set(c_origin)
|
||||
|
||||
def esc_quit_log_tl(event):
|
||||
widget_toplevel = event.widget
|
||||
@ -973,6 +1045,14 @@ class App:
|
||||
def show_popupmenu_output(event):
|
||||
self.popupmenu_output.post(event.x_root, event.y_root)
|
||||
|
||||
def show_popupmenu_path(event):
|
||||
if self.tabview_top.get() == "数据处理":
|
||||
self.popupmenu_path_dp.post(event.x_root, event.y_root)
|
||||
elif self.tabview_top.get() == "自动测试":
|
||||
self.popupmenu_path_at.post(event.x_root, event.y_root)
|
||||
elif self.tabview_top.get() == "耐久记录":
|
||||
self.popupmenu_path_dd.post(event.x_root, event.y_root)
|
||||
|
||||
def conn_change(event):
|
||||
def conn_or_disconn():
|
||||
if self.btn_conn.cget("fg_color") == "#979DA2":
|
||||
@ -987,9 +1067,6 @@ class App:
|
||||
clibs.c_md = openapi.ModbusRequest(clibs.ip_addr, clibs.modbus_port)
|
||||
clibs.c_hr = openapi.HmiRequest(clibs.ip_addr, clibs.socket_port, clibs.xService_port)
|
||||
clibs.c_pd = openapi.PreDos(clibs.ip_addr, clibs.ssh_port, clibs.username, clibs.password)
|
||||
|
||||
# clibs.c_md.write_speed_max(123.456)
|
||||
# clibs.c_hr.execution('state.set_tp_mode', tp_mode='without')
|
||||
self.btn_conn.configure(state="normal", fg_color="#2E8B57")
|
||||
except Exception:
|
||||
self.btn_conn.configure(state="normal", fg_color="#979DA2")
|
||||
@ -1052,6 +1129,7 @@ class App:
|
||||
self.om_sensor_dp.grid(row=1, column=10, padx=(0, 10), pady=(0, 10))
|
||||
|
||||
self.entry_path_dp.bind("<Button-1>", select_path)
|
||||
self.entry_path_dp.bind("<Button-3>", show_popupmenu_path, add="+")
|
||||
self.om_vel_dp.set("1")
|
||||
self.om_trq_dp.set("2")
|
||||
self.om_trqh_dp.set("2")
|
||||
@ -1072,13 +1150,27 @@ class App:
|
||||
self.btn_trig_estop.grid(row=0, column=1, padx=(0, 10), pady=0)
|
||||
self.btn_reset_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
|
||||
|
||||
# self.om_main_at.bind("<<ComboboxSelected>>", change_sub_at)
|
||||
self.om_main_at.bind("<Button-1>", change_sub_at)
|
||||
self.entry_path_at.bind("<Button-1>", select_path)
|
||||
self.entry_path_at.bind("<Button-3>", show_popupmenu_path, add="+")
|
||||
self.entry_ip_at.bind("<Button-3>", show_popupmenu_ip, add="+")
|
||||
self.btn_conn.bind("<Button-1>", conn_change)
|
||||
self.btn_conn.bind("<Double-1>", self.__do_nothing, add="+")
|
||||
# ========================================================================
|
||||
self.tabview_top.tab("耐久记录").grid_columnconfigure(2, weight=1)
|
||||
self.scrollable_frame.grid(row=0, column=0, rowspan=30, padx=10, pady=0)
|
||||
self.switch_1.grid(row=0, column=0, padx=10, sticky="w")
|
||||
self.switch_2.grid(row=1, column=0, padx=10, sticky="w")
|
||||
self.label_path_dd.grid(row=0, column=1, padx=10, pady=0, sticky="w")
|
||||
self.entry_path_dd.grid(row=0, column=2, padx=(0, 10), pady=0, sticky="we")
|
||||
self.label_interval.grid(row=1, column=1, padx=10, pady=0, sticky="w")
|
||||
self.entry_interval.grid(row=1, column=2, padx=(0, 10), pady=0, sticky="we")
|
||||
self.btn_plot.grid(row=2, column=1, padx=10, pady=(5, 0), sticky="w")
|
||||
self.chk_box.grid(row=2, column=2, padx=(0, 10), pady=(5, 0), sticky="e")
|
||||
|
||||
self.entry_path_dd.bind("<Button-1>", select_path)
|
||||
self.entry_path_dd.bind("<Button-3>", show_popupmenu_path, add="+")
|
||||
# ========================================================================
|
||||
self.tabview_bottom.tab("输出").grid_rowconfigure(0, weight=1)
|
||||
self.tabview_bottom.tab("输出").grid_columnconfigure(0, weight=1)
|
||||
self.text_output.grid(row=0, column=0, sticky="news")
|
||||
|
||||
@ -10,7 +10,7 @@ from common import clibs, openapi
|
||||
|
||||
def initialization(path, sub, data_dirs, data_files, hr, w2t):
|
||||
def check_files():
|
||||
msg = "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！\n"
|
||||
msg = "初始路径下不允许有文件夹，初始路径下只能存在如下五个文件，且文件为关闭状态，确认后重新运行！\n"
|
||||
msg += "1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n"
|
||||
if len(data_dirs) != 0 or len(data_files) != 5:
|
||||
w2t(msg, "red", "InitFileError")
|
||||
@ -130,16 +130,19 @@ def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds,
|
||||
df.to_csv(filename, sep="\t", index=False)
|
||||
|
||||
|
||||
def change_curve_state(hr, stat_1, stat_2):
|
||||
display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback"] for chl in range(6)]
|
||||
display_pdo_params.append({"name": "device_safety_estop", "channel": 0})
|
||||
hr.execution("diagnosis.open", open=stat_1, display_open=stat_2, overrun=True, turn_area=True, delay_motion=False)
|
||||
def change_curve_state(hr, stat):
|
||||
if not stat:
|
||||
display_pdo_params = []
|
||||
else:
|
||||
display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback"] for chl in range(6)]
|
||||
display_pdo_params.append({"name": "device_safety_estop", "channel": 0})
|
||||
hr.execution("diagnosis.open", open=stat, display_open=stat, overrun=True, turn_area=True, delay_motion=False)
|
||||
hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
|
||||
|
||||
|
||||
def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
|
||||
count, total, speed_target = 0, 63, 0
|
||||
prj_name = prj_file.split("/")[-1].split(".")[0]
|
||||
prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
|
||||
wb = openpyxl.load_workbook(config_file, read_only=True)
|
||||
ws = wb["Target"]
|
||||
write_diagnosis = float(ws.cell(row=2, column=2).value)
|
||||
@ -171,6 +174,10 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
|
||||
continue
|
||||
|
||||
for axis in range(1, 4):
|
||||
if not clibs.running:
|
||||
w2t("后台数据清零完成，现在可以重新运行之前停止的程序。", "red")
|
||||
exit()
|
||||
|
||||
# for single condition test
|
||||
if (single_axis != -1 and single_axis != axis) or (axis == 3 and reach != "100"):
|
||||
continue
|
||||
@ -231,16 +238,16 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
|
||||
break
|
||||
else:
|
||||
time.sleep(1)
|
||||
if (time.time() - t_start) > 20:
|
||||
w2t("20s 内未收到机器人的运行信号，需要确认 RL 程序编写正确并正常执行...", "red", "ReadySignalTimeoutError")
|
||||
if (time.time() - t_start) > 3:
|
||||
w2t("3s 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
|
||||
time.sleep(5) # 消除前 5s 的不稳定数据
|
||||
change_curve_state(hr, True, True)
|
||||
change_curve_state(hr, True)
|
||||
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
|
||||
time.sleep(get_init_speed) # 指定时间后获取实际【正|负】方向的最大速度，可通过configs.xlsx配置
|
||||
end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
|
||||
hr.execution("rl_task.stop", tasks=["brake"])
|
||||
change_curve_state(hr, False, False)
|
||||
change_curve_state(hr, False)
|
||||
|
||||
# 找出最大速度
|
||||
@clibs.db_lock
|
||||
@ -297,7 +304,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
|
||||
|
||||
def exec_brake():
|
||||
flag, start, data, record = True, time.time(), None, None
|
||||
change_curve_state(hr, True, True)
|
||||
change_curve_state(hr, True)
|
||||
while flag:
|
||||
time.sleep(0.05)
|
||||
if time.time() - start > 20:
|
||||
@ -320,7 +327,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
|
||||
if (pon == "positive" and speed_moment > 0) or (pon == "negative" and speed_moment < 0):
|
||||
clibs.c_ec.setdo_value(io_name, "false")
|
||||
time.sleep(2)
|
||||
change_curve_state(hr, False, False)
|
||||
change_curve_state(hr, False)
|
||||
flag = False
|
||||
return time.time()
|
||||
|
||||
|
||||
@ -8,7 +8,7 @@ from common import clibs
|
||||
|
||||
def initialization(path, sub, data_dirs, data_files, hr, w2t):
|
||||
def check_files():
|
||||
msg = "初始路径下不允许有文件夹，且初始路径下只能存在如下两个文件，确认后重新运行！\n"
|
||||
msg = "初始路径下不允许有文件夹，初始路径下只能存在如下两个文件，且文件为关闭状态，确认后重新运行！\n"
|
||||
msg += "1. T_电机电流.xlsx\n2. xxxx.zip\n"
|
||||
if len(data_dirs) != 0 or len(data_files) != 2:
|
||||
w2t(msg, "red", "InitFileError")
|
||||
@ -60,7 +60,7 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
|
||||
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 = [], [], []
|
||||
d_vel, d_trq, d_sensor, d_trans = [], [], [], []
|
||||
for record in records:
|
||||
data = eval(record[0])["data"]
|
||||
for item in data:
|
||||
@ -71,33 +71,40 @@ def single_axis_proc(path, records, number):
|
||||
d_trq.extend(d_item)
|
||||
elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback":
|
||||
d_sensor.extend(d_item)
|
||||
elif item.get("channel", None) == number and item.get("name", None) == "hw_estimate_trans_trq_res":
|
||||
d_trans.extend(d_item)
|
||||
|
||||
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)
|
||||
df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans})
|
||||
df = pandas.concat([df1, df2, df3, df4], 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):
|
||||
for axis in range(6):
|
||||
d_vel, d_trq, d_sensor = [], [], []
|
||||
for record in records:
|
||||
data = eval(record[0])["data"]
|
||||
for item in data:
|
||||
d_item = reversed(item["value"])
|
||||
d_vel, d_trq, d_sensor, d_trans = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
|
||||
for record in records:
|
||||
data = eval(record[0])["data"]
|
||||
for item in data:
|
||||
d_item = reversed(item["value"])
|
||||
for axis in range(6):
|
||||
if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
|
||||
d_vel.extend(d_item)
|
||||
d_vel[axis].extend(d_item)
|
||||
elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
|
||||
d_trq.extend(d_item)
|
||||
d_trq[axis].extend(d_item)
|
||||
elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback":
|
||||
d_sensor.extend(d_item)
|
||||
d_sensor[axis].extend(d_item)
|
||||
elif item.get("channel", None) == axis and item.get("name", None) == "hw_estimate_trans_trq_res":
|
||||
d_trans[axis].extend(d_item)
|
||||
|
||||
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)
|
||||
for axis in range(6):
|
||||
df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel[axis]})
|
||||
df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
|
||||
df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor[axis]})
|
||||
df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans[axis]})
|
||||
df = pandas.concat([df1, df2, df3, df4], axis=1)
|
||||
filename = f"{path}/s_{number-11}/j{axis+1}_s_{number-11}_{scenario_time}_{time.time()}.data"
|
||||
df.to_csv(filename, sep="\t", index=False)
|
||||
|
||||
@ -121,14 +128,15 @@ def gen_result_file(path, number, start_time, end_time, scenario_time):
|
||||
p.start()
|
||||
|
||||
|
||||
def change_curve_state(hr, stat_1, stat_2):
|
||||
display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback"] for chl in range(6)]
|
||||
hr.execution("diagnosis.open", open=stat_1, display_open=stat_2, overrun=True, turn_area=True, delay_motion=False)
|
||||
def change_curve_state(hr, stat):
|
||||
curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res"]
|
||||
display_pdo_params = [] if not stat else [{"name": curve, "channel": chl} for curve in curves for chl in range(6)]
|
||||
hr.execution("diagnosis.open", open=stat, display_open=stat, overrun=True, turn_area=True, delay_motion=False)
|
||||
hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
|
||||
|
||||
|
||||
def run_rl(path, prj_file, hr, md, sub, w2t):
|
||||
prj_name = prj_file.split("/")[-1].split(".")[0]
|
||||
prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
|
||||
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)",
|
||||
@ -165,6 +173,10 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
|
||||
md.r_clear_alarm()
|
||||
|
||||
for condition in conditions:
|
||||
if not clibs.running:
|
||||
w2t("后台数据清零完成，现在可以重新运行之前停止的程序。", "red")
|
||||
exit()
|
||||
|
||||
number = conditions.index(condition)
|
||||
w2t(f"正在执行{disc[number]}测试......\n")
|
||||
|
||||
@ -198,12 +210,12 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
|
||||
break
|
||||
else:
|
||||
time.sleep(1)
|
||||
if (time.time() - t_start) > 20:
|
||||
w2t("20s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...", "red", "ReadySignalTimeoutError")
|
||||
if (time.time() - t_start) > 3:
|
||||
w2t("3s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...", "red", "ReadySignalTimeoutError")
|
||||
|
||||
# 4. 执行采集
|
||||
time.sleep(10) # 消除前 10s 的不稳定数据
|
||||
change_curve_state(hr, True, True)
|
||||
change_curve_state(hr, True)
|
||||
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
|
||||
single_time, stall_time, scenario_time = 40, 10, 0
|
||||
if number < 6: # 单轴
|
||||
@ -227,7 +239,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
|
||||
end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
|
||||
hr.execution("rl_task.stop", tasks=["current"])
|
||||
time.sleep(2) # 确保数据都拿到
|
||||
change_curve_state(hr, False, False)
|
||||
change_curve_state(hr, False)
|
||||
gen_result_file(path, number, start_time, end_time, scenario_time)
|
||||
else:
|
||||
if sub == "tool100":
|
||||
@ -252,7 +264,7 @@ def main():
|
||||
e_time = time.time()
|
||||
time_total = e_time - s_time
|
||||
w2t(f"-" * 90 + "\n", "purple")
|
||||
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")
|
||||
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\n", "green")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@ -66,42 +66,12 @@ def insert_logdb(_level, _module, _content):
|
||||
cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
|
||||
|
||||
|
||||
def insert_logdb_multi(data):
|
||||
if db_state == "readwrite":
|
||||
global conn, cursor, lock
|
||||
# data = [_level, _module, repr(_content)]
|
||||
# cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
|
||||
try:
|
||||
lock.acquire(True)
|
||||
cursor.executemany("insert into logs (level, module, content) values (?, ?, ?)", data)
|
||||
finally:
|
||||
lock.release()
|
||||
|
||||
|
||||
class GetThreadResult(threading.Thread):
|
||||
def __init__(self, func, args=()):
|
||||
super(GetThreadResult, self).__init__()
|
||||
self.func = func
|
||||
self.args = args
|
||||
self.result = None
|
||||
|
||||
def run(self):
|
||||
self.result = self.func(*self.args)
|
||||
|
||||
def get_result(self):
|
||||
threading.Thread.join(self) # 等待线程执行完毕
|
||||
try:
|
||||
return self.result
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
# PREFIX = 'assets' # for pyinstaller packaging
|
||||
PREFIX = '../assets' # for source code testing and debug
|
||||
log_path = f"{PREFIX}/logs"
|
||||
levels = ["DEBUG", "INFO", "WARNING", "ERROR"]
|
||||
db_state = "readwrite"
|
||||
data_dp, data_at = {}, {}
|
||||
data_dp, data_at, data_dd = {}, {}, {}
|
||||
conn, cursor, w2t, tl_prg, f_records, stop, running = None, None, None, None, None, True, False
|
||||
|
||||
ip_addr = "192.168.0.160"
|
||||
|
||||
@ -1,6 +1,5 @@
|
||||
import json
|
||||
import socket
|
||||
import inspect
|
||||
from inspect import currentframe
|
||||
import threading
|
||||
import functools
|
||||
@ -10,9 +9,6 @@ import selectors
|
||||
import time
|
||||
from common import clibs
|
||||
|
||||
from os import listdir
|
||||
from pymodbus.payload import BinaryPayloadBuilder
|
||||
from pymodbus.constants import Endian
|
||||
import os.path
|
||||
from ctypes import *
|
||||
import hashlib
|
||||
@ -161,12 +157,12 @@ class ModbusRequest(object):
|
||||
clibs.insert_logdb("INFO", "openapi", f"modbus: 40102 将 {pon} 写入")
|
||||
|
||||
def write_axis(self, axis):
|
||||
result = self.__c.convert_to_registers(int(axis), self.__c.DATATYPE.INT32, word_order="little")
|
||||
result = self.__c.convert_to_registers(int(axis), self.__c.DATATYPE.INT32, "little")
|
||||
self.__c.write_registers(40103, result)
|
||||
clibs.insert_logdb("INFO", "openapi", f"modbus: 40103 将 {axis} 写入")
|
||||
|
||||
def write_speed_max(self, speed):
|
||||
result = self.__c.convert_to_registers(float(speed), self.__c.DATATYPE.FLOAT32, word_order="little")
|
||||
result = self.__c.convert_to_registers(float(speed), self.__c.DATATYPE.FLOAT32, "little")
|
||||
self.__c.write_registers(40105, result)
|
||||
clibs.insert_logdb("INFO", "openapi", f"modbus: 40105 将 {speed} 写入")
|
||||
|
||||
@ -315,7 +311,7 @@ class ModbusRequest(object):
|
||||
|
||||
def read_scenario_time(self):
|
||||
results = self.__c.read_holding_registers(40601, count=2)
|
||||
result = self.__c.convert_from_registers(results.registers, data_type=self.__c.DATATYPE.FLOAT32, word_order="little")
|
||||
result = self.__c.convert_from_registers(registers=results.registers, data_type=self.__c.DATATYPE.FLOAT32, word_order="little")
|
||||
return result
|
||||
|
||||
def read_brake_done(self):
|
||||
@ -750,7 +746,7 @@ class HmiRequest(object):
|
||||
req = json.load(f_json)
|
||||
except Exception as Err:
|
||||
clibs.insert_logdb("ERROR", "openapi", f"hr-execution: 暂不支持 {command} 功能，或确认该功能存在... {Err}")
|
||||
clibs.w2t(f"hr-execution: 暂不支持 {command} 功能，或确认该功能存在... {Err}", "red")
|
||||
clibs.w2t(f"hr-execution: 暂不支持 {command} 功能，或确认该功能存在... {Err}", "red", "CommandError")
|
||||
|
||||
if p_flag == 0: # for old protocols
|
||||
match command:
|
||||
|
||||
@ -66,21 +66,21 @@ def get_configs(config_file, w2t):
|
||||
try:
|
||||
with open(config_file, mode="r", encoding="utf-8") as f_config:
|
||||
configs = json.load(f_config)
|
||||
|
||||
p_dir = config_file.split('/')[-2]
|
||||
if not re.match("^[jJ][123]$", p_dir):
|
||||
w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")
|
||||
axis = int(p_dir[-1])
|
||||
|
||||
rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio
|
||||
avs = configs["MOTION"]["JOINT_MAX_SPEED"]
|
||||
rr = rrs[axis-1]
|
||||
av = avs[axis-1]
|
||||
|
||||
return av, rr
|
||||
except Exception as Err:
|
||||
clibs.insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，获取配置文件参数错误 {Err}")
|
||||
w2t(f"无法打开 {config_file}", color="red", desc="OpenFileError")
|
||||
|
||||
p_dir = config_file.split('/')[-2]
|
||||
if not re.match("^[jJ][123]$", p_dir):
|
||||
w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")
|
||||
axis = int(p_dir[-1])
|
||||
|
||||
rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio
|
||||
avs = configs["MOTION"]["JOINT_MAX_SPEED"]
|
||||
rr = rrs[axis-1]
|
||||
av = avs[axis-1]
|
||||
|
||||
return av, rr
|
||||
clibs.insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，或获取配置文件参数错误 {Err}")
|
||||
w2t(f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查\n", color="red", desc="OpenFileError")
|
||||
|
||||
|
||||
def now_doing_msg(docs, flag, w2t):
|
||||
|
||||
@ -32,8 +32,8 @@ def initialization(path, w2t, insert_logdb):
|
||||
return data_files, config_file
|
||||
|
||||
|
||||
def current_max(data_files, rcs, trq, w2t, insert_logdb):
|
||||
insert_logdb("INFO", "current", "MAX: 正在处理最大电流值逻辑...")
|
||||
def current_max(data_files, rts, trq, w2t, insert_logdb):
|
||||
insert_logdb("INFO", "current", "MAX: 正在处理最大转矩值逻辑...")
|
||||
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
|
||||
for data_file in data_files:
|
||||
if data_file.endswith(".data"):
|
||||
@ -44,17 +44,17 @@ def current_max(data_files, rcs, trq, w2t, insert_logdb):
|
||||
insert_logdb("INFO", "current", f"MAX: 正在处理 {data_file}")
|
||||
cols = len(df.columns)
|
||||
axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
|
||||
rca = rcs[axis-1]
|
||||
insert_logdb("INFO", "current", f"MAX: 最大列数为 {cols}，{axis} 轴的额定电流为 {rca}")
|
||||
rt = rts[axis-1]
|
||||
insert_logdb("INFO", "current", f"MAX: 最大列数为 {cols}，{axis} 轴的额定转矩为 {rt}")
|
||||
|
||||
col = df.columns.values[trq-1] # 获取 "device_servo_trq_feedback"
|
||||
c_max = df[col].abs().max()
|
||||
|
||||
scale = 1000
|
||||
_ = abs(c_max/scale*rca)
|
||||
_ = abs(c_max/scale*rt)
|
||||
current[axis].append(_)
|
||||
w2t(f"{data_file}: {_:.4f}\n")
|
||||
insert_logdb("INFO", "current", f"MAX: 获取到的列名为 {col}，最大电流为 {_}")
|
||||
w2t(f"{data_file}: {_:.2f}\n")
|
||||
insert_logdb("INFO", "current", f"MAX: 获取到的列名为 {col}，最大转矩为 {_}")
|
||||
|
||||
with open(data_file, "a+") as f_data:
|
||||
csv_writer = csv.writer(f_data, delimiter="\t")
|
||||
@ -69,12 +69,12 @@ def current_max(data_files, rcs, trq, w2t, insert_logdb):
|
||||
w2t(f"{value:.4f} ")
|
||||
w2t("\n")
|
||||
w2t("\n【MAX】数据处理完毕......")
|
||||
insert_logdb("INFO", "current", f"MAX: 获取最大电流值结束 current_max = {current}")
|
||||
insert_logdb("INFO", "current", f"MAX: 获取最大转矩值结束 current_max = {current}")
|
||||
return current
|
||||
|
||||
|
||||
def current_avg(data_files, rcs, trqh, w2t, insert_logdb):
|
||||
insert_logdb("INFO", "current", "AVG: 正在处理平均电流值逻辑...")
|
||||
def current_avg(data_files, rts, trqh, w2t, insert_logdb):
|
||||
insert_logdb("INFO", "current", "AVG: 正在处理平均转矩值逻辑...")
|
||||
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
|
||||
for data_file in data_files:
|
||||
if data_file.endswith(".data"):
|
||||
@ -85,19 +85,19 @@ def current_avg(data_files, rcs, trqh, w2t, insert_logdb):
|
||||
insert_logdb("INFO", "current", f"AVG: 正在处理 {data_file}")
|
||||
cols = len(df.columns)
|
||||
axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
|
||||
rca = rcs[axis-1]
|
||||
insert_logdb("INFO", "current", f"AVG: 最大列数为 {cols}，{axis} 轴的额定电流为 {rca}")
|
||||
rt = rts[axis-1]
|
||||
insert_logdb("INFO", "current", f"AVG: 最大列数为 {cols}，{axis} 轴的额定转矩为 {rt}")
|
||||
|
||||
col = df.columns.values[trqh-1]
|
||||
c_std = df[col].std()
|
||||
c_avg = df[col].mean()
|
||||
|
||||
scale = 1000
|
||||
_ = (abs(c_avg)+c_std*3)/scale*rca
|
||||
_ = (abs(c_avg)+c_std*3)/scale*rt
|
||||
current[axis].append(_)
|
||||
w2t(f"{data_file}: {_:.4f}\n")
|
||||
w2t(f"{data_file}: {_:.2f}\n")
|
||||
|
||||
insert_logdb("INFO", "current", f"AVG: 获取到的列名为 {col}，平均电流为 {_}")
|
||||
insert_logdb("INFO", "current", f"AVG: 获取到的列名为 {col}，平均转矩为 {_}")
|
||||
with open(data_file, "a+") as f_data:
|
||||
csv_writer = csv.writer(f_data, delimiter="\t")
|
||||
csv_writer.writerow([""] * (cols-1) + [_])
|
||||
@ -111,11 +111,11 @@ def current_avg(data_files, rcs, trqh, w2t, insert_logdb):
|
||||
w2t(f"{value:.4f} ")
|
||||
w2t("\n")
|
||||
w2t("\n【AVG】数据处理完毕......\n")
|
||||
insert_logdb("INFO", "current", f"AVG: 获取平均电流值结束 current_avg = {current}")
|
||||
insert_logdb("INFO", "current", f"AVG: 获取平均转矩值结束 current_avg = {current}")
|
||||
return current
|
||||
|
||||
|
||||
def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb):
|
||||
def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rts, params, w2t, insert_logdb):
|
||||
result, hold, single, scenario, dur_time = None, [], [], [], 0
|
||||
for data_file in data_files:
|
||||
filename = data_file.split("/")[-1]
|
||||
@ -137,16 +137,17 @@ def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, ins
|
||||
wb = openpyxl.load_workbook(result)
|
||||
|
||||
ws = wb["统计"]
|
||||
for idx in range(len(params)):
|
||||
for idx in range(len(params)-1):
|
||||
row = idx + 2
|
||||
for col in range(2, 8):
|
||||
ws.cell(row=row, column=col).value = params[idx][col-2]
|
||||
ws.cell(row=1, column=1).value = params[-1]
|
||||
|
||||
if hold:
|
||||
avg = current_avg(hold, rcs, trqh, w2t, insert_logdb)
|
||||
avg = current_avg(hold, rts, trqh, w2t, insert_logdb)
|
||||
for axis, cur_value in avg.items():
|
||||
sht_name = f"J{axis}"
|
||||
wb[sht_name]["O4"].value = float(cur_value[0])
|
||||
wb[sht_name]["P4"].value = float(cur_value[0])
|
||||
|
||||
if dur_time == 0:
|
||||
p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb)
|
||||
@ -303,29 +304,31 @@ def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb):
|
||||
if abs(row_end+row_start-2*row_middle) > 1000:
|
||||
insert_logdb("WARNING", "current", f"{axis} 轴数据占空比异常！")
|
||||
|
||||
data, first_c, second_c, third_c = [], vel-1, trq-1, sensor-1
|
||||
data, first_c, second_c, third_c, fourth_c = [], vel-1, trq-1, sensor-1, sensor
|
||||
for row in range(row_start, row_end+1):
|
||||
data.append(df_origin.iloc[row, first_c])
|
||||
data.append(df_origin.iloc[row, second_c])
|
||||
data.append(df_origin.iloc[row, third_c])
|
||||
data.append(df_origin.iloc[row, fourth_c])
|
||||
|
||||
i = 0
|
||||
for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=4):
|
||||
for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=5):
|
||||
for cell in row:
|
||||
try:
|
||||
if i % 3 == 0:
|
||||
ws.cell((i//3)+2, 1).value = float(((i//3)+1)/1000)
|
||||
if i % 4 == 0:
|
||||
ws.cell((i//4)+2, 1).value = float(((i//4)+1)/1000)
|
||||
_ = f"{data[i]:.2f}"
|
||||
cell.value = float(_)
|
||||
i += 1
|
||||
except Exception:
|
||||
if i % 3 == 0:
|
||||
ws.cell((i//3)+2, 1).value = None
|
||||
if i % 4 == 0:
|
||||
ws.cell((i//4)+2, 1).value = None
|
||||
cell.value = None
|
||||
i += 1
|
||||
|
||||
|
||||
def p_scenario(wb, scenario, vel, trq, sensor, rrs, dur_time, w2t):
|
||||
w2t(f"本次处理的是电机电流场景数据，场景运动周期为 {dur_time}s\n", "blue")
|
||||
for data_file in scenario:
|
||||
cycle = 0.001
|
||||
axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
|
||||
@ -344,64 +347,60 @@ def p_scenario(wb, scenario, vel, trq, sensor, rrs, dur_time, w2t):
|
||||
if row_end > df.index[-1]:
|
||||
w2t(f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "red", "DataOverLimit")
|
||||
|
||||
data, first_c, second_c, third_c = [], vel-1, trq-1, sensor-1
|
||||
data, first_c, second_c, third_c, fourth_c = [], vel-1, trq-1, sensor-1, sensor
|
||||
for row in range(row_start, row_end+1):
|
||||
data.append(df_origin.iloc[row, first_c])
|
||||
data.append(df_origin.iloc[row, second_c])
|
||||
data.append(df_origin.iloc[row, third_c])
|
||||
data.append(df_origin.iloc[row, fourth_c])
|
||||
|
||||
i = 0
|
||||
for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=4):
|
||||
for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=5):
|
||||
for cell in row:
|
||||
try:
|
||||
if i % 3 == 0:
|
||||
ws.cell((i//3)+2, 1).value = float(((i//3)+1)/1000)
|
||||
if i % 4 == 0:
|
||||
ws.cell((i//4)+2, 1).value = float(((i//4)+1)/1000)
|
||||
_ = f"{data[i]:.2f}"
|
||||
cell.value = float(_)
|
||||
i += 1
|
||||
except Exception:
|
||||
cell.value = None
|
||||
if i % 3 == 0:
|
||||
ws.cell((i//3)+2, 1).value = None
|
||||
if i % 4 == 0:
|
||||
ws.cell((i//4)+2, 1).value = None
|
||||
i += 1
|
||||
|
||||
|
||||
def get_configs(config_file, w2t, insert_logdb):
|
||||
try:
|
||||
if re.match("^[NXEC]B.*", config_file.split("/")[-1]):
|
||||
robot_type = "工业"
|
||||
else:
|
||||
robot_type = "协作"
|
||||
|
||||
with open(config_file, mode="r", encoding="utf-8") as f_config:
|
||||
configs = json.load(f_config)
|
||||
|
||||
version = configs["VERSION"]
|
||||
sc = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001] # 采样周期，sc for sample cycle
|
||||
r_rrs = configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"] # 减速比，rr for reduction ratio
|
||||
m_avs = configs["MOTION"]["JOINT_MAX_SPEED"]
|
||||
m_stall_ts = configs["MOTOR"]["STALL_TORQUE"] # 电机堵转转矩
|
||||
m_rts = configs["MOTOR"]["RATED_TORQUE"] # 电机额定转矩rt for rated torque
|
||||
m_max_ts = configs["MOTOR"]["PEAK_TORQUE"] # 电机峰值转矩
|
||||
m_r_rpms = configs["MOTOR"]["RATED_SPEED"] # 电机额定转速
|
||||
m_max_rpms = configs["MOTOR"]["MAX_SPEED"] # 电机最大转速
|
||||
r_max_sst = configs["TRANSMISSION"]["MAX_TORQUE_FOR_START_AND_STOP"] # 减速器最大启停转矩，sst for start and stop torque
|
||||
r_max_t = configs["TRANSMISSION"]["MAX_PEAK_TORQUE"] # 减速器瞬时最大转矩
|
||||
r_avg_t = configs["TRANSMISSION"]["MAX_AVERAGE_TORQUE"] # 减速器平均负载转矩允许最大值
|
||||
|
||||
insert_logdb("INFO", "current", f"get_configs: 机型文件版本 {config_file}_{version}")
|
||||
insert_logdb("INFO", "current", f"get_configs: 减速比 {r_rrs}")
|
||||
insert_logdb("INFO", "current", f"get_configs: 额定转矩 {m_rts}")
|
||||
insert_logdb("INFO", "current", f"get_configs: 最大角速度 {m_avs}")
|
||||
return sc, r_rrs, m_avs, m_stall_ts, m_rts, m_max_ts, m_r_rpms, m_max_rpms, r_max_sst, r_max_t, r_avg_t, robot_type
|
||||
except Exception as Err:
|
||||
insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，获取配置文件参数错误 {Err}")
|
||||
w2t(f"无法打开 {config_file}", color="red", desc="OpenFileError")
|
||||
|
||||
# 最大角速度，额定电流，减速比，额定转速
|
||||
version = configs["VERSION"]
|
||||
m_rts = configs["MOTOR"]["RATED_TORQUE"] # 电机额定转矩rt for rated torque
|
||||
m_max_ts = configs["MOTOR"]["PEAK_TORQUE"] # 电机峰值转矩
|
||||
m_stall_ts = configs["MOTOR"]["STALL_TORQUE"] # 电机堵转转矩
|
||||
m_tcs = [1, 1, 1, 1, 1, 1] # 电机转矩常数，tc for torque constant
|
||||
|
||||
m_rcs, m_max_cs, m_stall_cs = [], [], []
|
||||
for i in range(len(m_tcs)):
|
||||
m_rcs.append(m_rts[i]/m_tcs[i]) # 电机额定电流，rc for rated current
|
||||
m_max_cs.append(m_max_ts[i]/m_tcs[i]) # 电机最大电流
|
||||
m_stall_cs.append(m_stall_ts[i]/m_tcs[i]) # 电机堵转电流
|
||||
|
||||
m_r_rpms = configs["MOTOR"]["RATED_SPEED"] # 电机额定转速
|
||||
m_max_rpms = configs["MOTOR"]["MAX_SPEED"] # 电机最大转速
|
||||
r_rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio
|
||||
r_max_sst = configs["TRANSMISSION"]["MAX_TORQUE_FOR_START_AND_STOP"] # 减速器最大启停转矩，sst for start and stop torque
|
||||
r_max_t = configs["TRANSMISSION"]["MAX_PEAK_TORQUE"] # 减速器瞬时最大转矩
|
||||
sc = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001] # 采样周期，sc for sample cycle
|
||||
r_rts = [1, 1, 1, 1, 1, 1] # 减速器额定转矩
|
||||
r_r_rpms = [1, 1, 1, 1, 1, 1] # 减速器额定转速
|
||||
r_life_cycle = [10000, 10000, 10000, 10000, 10000, 10000] # 减速器L10寿命
|
||||
r_avg_t = configs["TRANSMISSION"]["MAX_AVERAGE_TORQUE"] # 减速器平均负载转矩允许最大值
|
||||
|
||||
insert_logdb("INFO", "current", f"get_configs: 机型文件版本 {config_file}_{version}")
|
||||
insert_logdb("INFO", "current", f"get_configs: 减速比 {r_rrs}")
|
||||
insert_logdb("INFO", "current", f"get_configs: 额定电流 {m_rcs}")
|
||||
return m_rcs, m_max_cs, m_stall_cs, m_rts, m_max_ts, m_r_rpms, m_max_rpms, m_tcs, r_rrs, r_max_sst, r_max_t, sc, r_rts, r_r_rpms, r_life_cycle, r_avg_t
|
||||
insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，或获取配置文件参数错误 {Err}")
|
||||
w2t(f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查\n", color="red", desc="OpenFileError")
|
||||
|
||||
|
||||
def main():
|
||||
@ -418,13 +417,13 @@ def main():
|
||||
|
||||
data_files, config_file = initialization(path, w2t, insert_logdb)
|
||||
params = get_configs(config_file, w2t, insert_logdb)
|
||||
rcs, rrs = params[0], params[8]
|
||||
rts, rrs = params[4], params[1]
|
||||
if sub == "max":
|
||||
current_max(data_files, rcs, trq, w2t, insert_logdb)
|
||||
current_max(data_files, rts, trq, w2t, insert_logdb)
|
||||
elif sub == "avg":
|
||||
current_avg(data_files, rcs, trqh, w2t, insert_logdb)
|
||||
current_avg(data_files, rts, trqh, w2t, insert_logdb)
|
||||
elif sub == "cycle":
|
||||
current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb)
|
||||
current_cycle(data_files, vel, trq, trqh, sensor, rrs, rts, params, w2t, insert_logdb)
|
||||
|
||||
w2t("-"*60 + "\n全部处理完毕\n")
|
||||
time_end = time.time()
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
import pandas
|
||||
import csv
|
||||
import openpyxl
|
||||
import chardet
|
||||
from common import clibs
|
||||
|
||||
|
||||
@ -9,7 +10,7 @@ def find_point(bof, step, margin, threshold, pos, data_file, flag, df, row, w2t)
|
||||
# pos: used for debug
|
||||
# flag: greater than or lower than
|
||||
row_target = None
|
||||
row_origin = df.index[-1] - margin + 1
|
||||
row_origin = len(df) - margin + 1
|
||||
if flag == "gt":
|
||||
while 0 < row < row_origin:
|
||||
value = float(df.iloc[row, 2])
|
||||
@ -22,7 +23,7 @@ def find_point(bof, step, margin, threshold, pos, data_file, flag, df, row, w2t)
|
||||
else:
|
||||
if bof == "backward":
|
||||
clibs.insert_logdb("ERROR", "wavelogger", f"find_point-gt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...")
|
||||
w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red", "DataError")
|
||||
w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...\n", "red", "DataError")
|
||||
elif bof == "forward":
|
||||
row_target = row + margin # to end while loop in function `single_file_proc`
|
||||
elif flag == "lt":
|
||||
@ -37,7 +38,7 @@ def find_point(bof, step, margin, threshold, pos, data_file, flag, df, row, w2t)
|
||||
else:
|
||||
if bof == "backward":
|
||||
clibs.insert_logdb("ERROR", "wavelogger", f"find_point-lt: [{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...")
|
||||
w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...", "red", "DataError")
|
||||
w2t(f"[{pos}] 在 {data_file} 中，无法正确识别数据，需要确认...\n", "red", "DataError")
|
||||
elif bof == "forward":
|
||||
row_target = row + margin # to end while loop in function `single_file_proc`
|
||||
return row_target
|
||||
@ -49,10 +50,14 @@ def get_cycle_info(data_file, step, margin, threshold, w2t):
|
||||
# 1. 从最后读取数据，无论是大于1还是小于1，都舍弃，找到相反的值的起始点
|
||||
# 2. 从起始点，继续往前寻找，找到与之数值相反的中间点
|
||||
# 3. 从中间点，继续往前寻找，找到与之数值相反的结束点，至此，得到了高低数值的时间区间以及一轮的周期时间
|
||||
csv_reader = csv.reader(open(data_file))
|
||||
with open(data_file, "rb") as f:
|
||||
raw_data = f.read(1000)
|
||||
result = chardet.detect(raw_data)
|
||||
encoding = result['encoding']
|
||||
csv_reader = csv.reader(open(data_file, encoding=encoding))
|
||||
begin = int(next(csv_reader)[1])
|
||||
df = pandas.read_csv(data_file, sep=",", encoding="gbk", skip_blank_lines=False, header=begin - 1, on_bad_lines="skip")
|
||||
row = df.index[-1] - margin
|
||||
df = pandas.read_csv(data_file, sep=",", encoding=encoding, skip_blank_lines=False, header=begin - 1, on_bad_lines="skip")
|
||||
row = len(df) - margin
|
||||
if float(df.iloc[row, 2]) < threshold:
|
||||
row = find_point("backward", step, margin, threshold, "a1", data_file, "lt", df, row, w2t)
|
||||
|
||||
@ -73,7 +78,7 @@ def initialization(path, w2t):
|
||||
for data_file in data_files:
|
||||
if not data_file.lower().endswith(".csv"):
|
||||
clibs.insert_logdb("ERROR", "wavelogger", f"init: {data_file} 文件后缀错误，只允许 .csv 文件，需要确认！")
|
||||
w2t(f"{data_file} 文件后缀错误，只允许 .csv 文件，需要确认！", "red", "FileTypeError")
|
||||
w2t(f"{data_file} 文件后缀错误，只允许 .csv 文件，需要确认！\n", "red", "FileTypeError")
|
||||
|
||||
return data_files
|
||||
|
||||
@ -88,7 +93,7 @@ def preparation(data_file, step, margin, threshold, wb, w2t):
|
||||
|
||||
def single_file_proc(ws, data_file, step, threshold, margin, data_length, df, cycle, w2t):
|
||||
row, row_lt, row_gt, count, count_i, data = 1, 1, 1, 1, 1, {}
|
||||
row_max = df.index[-1] - margin
|
||||
row_max = len(df) - margin
|
||||
while row < row_max:
|
||||
if count not in data.keys():
|
||||
data[count] = []
|
||||
@ -98,9 +103,9 @@ def single_file_proc(ws, data_file, step, threshold, margin, data_length, df, cy
|
||||
row_lt = find_point("forward", step, margin, threshold, "c"+str(row), data_file, "lt", df, row, w2t)
|
||||
start = int(row_gt + (row_lt - row_gt - data_length) / 2)
|
||||
end = start + data_length
|
||||
value = df.iloc[start:end, 2].mean() + 3 * df.iloc[start:end, 2].std()
|
||||
value = df.iloc[start:end, 2].astype(float).mean() + 3 * df.iloc[start:end, 2].astype(float).std()
|
||||
if value > 1:
|
||||
msg = f"{data_file} 文件第 {count} 轮 第 {count_i} 个数据可能有问题，需人工手动确认，确认有问题可删除，无问题则保留"
|
||||
msg = f"{data_file} 文件第 {count} 轮 第 {count_i} 个数据可能有问题，需人工手动确认，确认有问题可删除，无问题则保留\n"
|
||||
clibs.insert_logdb("WARNING", "wavelogger", msg)
|
||||
w2t(msg, "orange")
|
||||
data[count].append(value)
|
||||
|
||||
BIN
code/durable_docs/__pycache__/create_plot.cpython-312.pyc
Normal file
BIN
code/durable_docs/__pycache__/create_plot.cpython-312.pyc
Normal file
Binary file not shown.
BIN
code/durable_docs/__pycache__/factory_test.cpython-312.pyc
Normal file
BIN
code/durable_docs/__pycache__/factory_test.cpython-312.pyc
Normal file
Binary file not shown.
82
code/durable_docs/create_plot.py
Normal file
82
code/durable_docs/create_plot.py
Normal file
@ -0,0 +1,82 @@
|
||||
import os.path
|
||||
import matplotlib.pyplot as plt
|
||||
import pandas
|
||||
from matplotlib.widgets import Slider
|
||||
from common import clibs
|
||||
|
||||
|
||||
def initialization():
|
||||
path, curves = None, None
|
||||
try:
|
||||
path = clibs.data_dd["path"]
|
||||
curves = clibs.data_dd["curves"]
|
||||
except Exception:
|
||||
clibs.w2t("程序未开始运行，暂无数据可以展示......\n", "red")
|
||||
return None, None
|
||||
|
||||
for curve in curves:
|
||||
if not os.path.exists(f"{path}/{curve}.csv"):
|
||||
clibs.w2t(f"{curve}曲线数据暂未生成，稍后再试......\n", "orange")
|
||||
return None, None
|
||||
|
||||
return path, curves
|
||||
|
||||
|
||||
def data_plot(path, curve):
|
||||
titles = {"hw_joint_vel_feedback": "各关节最大速度曲线", "device_servo_trq_feedback": "各关节平均有效转矩曲线"}
|
||||
ylabels = {"hw_joint_vel_feedback": "速度(rad/s)", "device_servo_trq_feedback": "转矩(Nm)"}
|
||||
|
||||
fig, axes = plt.subplots(figsize=(10, 4.5), dpi=100)
|
||||
cols = [f"{curve}_{i}" for i in range(6)]
|
||||
cols.insert(0, "time")
|
||||
df = pandas.read_csv(f"{path}/{curve}.csv")
|
||||
plt.plot(df[cols[1]], label="一轴")
|
||||
plt.plot(df[cols[2]], label="二轴")
|
||||
plt.plot(df[cols[3]], label="三轴")
|
||||
plt.plot(df[cols[4]], label="四轴")
|
||||
plt.plot(df[cols[5]], label="五轴")
|
||||
plt.plot(df[cols[6]], label="六轴")
|
||||
axes.set_title(titles[curve])
|
||||
axes.set_ylabel(ylabels[curve])
|
||||
axes.legend(loc="upper right")
|
||||
|
||||
slider_position = plt.axes((0.1, 0.01, 0.8, 0.05), facecolor="blue") # (left, bottom, width, height)
|
||||
scrollbar = Slider(slider_position, 'Time', 1, int(len(df)), valstep=1)
|
||||
|
||||
def update(val):
|
||||
pos = scrollbar.val
|
||||
axes.set_xlim([pos, pos + 10])
|
||||
fig.canvas.draw_idle()
|
||||
|
||||
scrollbar.on_changed(update)
|
||||
fig.tight_layout(rect=(0, 0.02, 0.96, 1)) # tuple (left, bottom, right, top)
|
||||
|
||||
|
||||
def main():
|
||||
path, curves = initialization()
|
||||
if not path or not curves:
|
||||
return
|
||||
|
||||
for curve in curves:
|
||||
data_plot(path, curve)
|
||||
|
||||
plt.rcParams['font.sans-serif'] = ['SimHei']
|
||||
plt.rcParams['axes.unicode_minus'] = False
|
||||
plt.rcParams['figure.dpi'] = 100
|
||||
plt.rcParams['font.size'] = 14
|
||||
plt.rcParams['lines.marker'] = 'o'
|
||||
plt.rcParams["figure.autolayout"] = True
|
||||
plt.show()
|
||||
|
||||
# threads = [threading.Thread(target=data_plot, args=(path, curve)) for curve in curves]
|
||||
# for t in threads:
|
||||
# t.daemon = True
|
||||
# t.start()
|
||||
# for curve in curves:
|
||||
# t = threading.Thread(target=data_plot, args=(path, curve))
|
||||
# t.daemon = True
|
||||
# t.start()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
271
code/durable_docs/factory_test.py
Normal file
271
code/durable_docs/factory_test.py
Normal file
@ -0,0 +1,271 @@
|
||||
import json
|
||||
import threading
|
||||
import time
|
||||
import pandas
|
||||
import math
|
||||
import csv
|
||||
import numpy
|
||||
from common import clibs
|
||||
|
||||
|
||||
def initialization(path, hr, data_dirs, data_files, interval, curves, w2t):
|
||||
def check_files():
|
||||
nonlocal interval
|
||||
if interval == "":
|
||||
interval = 300
|
||||
elif interval.isdigit():
|
||||
if int(interval) < 300:
|
||||
w2t(f"输入时间间隔 {interval} < 300，使用默认时间间隔 300s ......\n", "orange")
|
||||
interval = 300
|
||||
else:
|
||||
interval = int(interval)
|
||||
else:
|
||||
w2t(f"{interval} 不是有效的输入，时间间隔必须是一个大于 300 的正整数！\n", "red", "NotIntegerError")
|
||||
|
||||
if len(curves) == 0:
|
||||
w2t("未查询到需要记录数据的曲线，至少选择一个！\n", "red", "CurveNameError")
|
||||
|
||||
if len(data_dirs) != 0 or len(data_files) != 1:
|
||||
w2t("初始路径下不允许有文件夹，且初始路径下只能存在一个工程文件 —— *.zip，确认后重新运行！\n", "red", "InitFileError")
|
||||
|
||||
if not data_files[0].endswith(".zip"):
|
||||
w2t(f"{data_files[0]} 不是一个有效的工程文件，需确认！\n", "red", "ProjectFileError")
|
||||
|
||||
return data_files[0], interval
|
||||
|
||||
def get_configs():
|
||||
robot_type, records = None, None
|
||||
try:
|
||||
msg_id, state = hr.execution("controller.get_params")
|
||||
records = hr.get_from_id(msg_id, state)
|
||||
except Exception:
|
||||
w2t("网络不可达，需要先连接xCore！\n", "red", "NetworkError")
|
||||
for record in records:
|
||||
if "请求发送成功" not in record[0]:
|
||||
robot_type = eval(record[0])["data"]["robot_type"]
|
||||
server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg"
|
||||
local_file = path + f"/{robot_type}.cfg"
|
||||
clibs.c_pd.pull_file_from_server(server_file, local_file)
|
||||
|
||||
try:
|
||||
with open(local_file, mode="r", encoding="utf-8") as f_config:
|
||||
configs = json.load(f_config)
|
||||
except Exception as Err:
|
||||
clibs.insert_logdb("ERROR", "current", f"get_config: 无法打开 {local_file}，获取配置文件参数错误 {Err}")
|
||||
w2t(f"无法打开 {local_file}\n", color="red", desc="OpenFileError")
|
||||
|
||||
# 最大角速度，额定电流，减速比，额定转速
|
||||
version = configs["VERSION"]
|
||||
m_avs = configs["MOTION"]["JOINT_MAX_SPEED"]
|
||||
m_rts = configs["MOTOR"]["RATED_TORQUE"] # 电机额定转矩rt for rated torque
|
||||
m_tcs = [1, 1, 1, 1, 1, 1] # 电机转矩常数，tc for torque constant
|
||||
m_rcs = []
|
||||
for i in range(len(m_tcs)):
|
||||
m_rcs.append(m_rts[i] / m_tcs[i]) # 电机额定电流，rc for rated current
|
||||
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 {m_avs}")
|
||||
clibs.insert_logdb("INFO", "do_brake", f"get_configs: 各关节额定电流 {m_rcs}")
|
||||
return m_avs, m_rcs
|
||||
|
||||
prj_file, interval = check_files()
|
||||
avs, rcs = get_configs()
|
||||
params = {
|
||||
"prj_file": prj_file,
|
||||
"interval": interval,
|
||||
"avs": avs,
|
||||
"rcs": rcs,
|
||||
}
|
||||
return params
|
||||
|
||||
|
||||
def change_curve_state(hr, curves, stat_1, stat_2):
|
||||
display_pdo_params = [{"name": name, "channel": chl} for name in curves for chl in range(6)]
|
||||
hr.execution("diagnosis.open", open=stat_1, display_open=stat_2, overrun=True, turn_area=True, delay_motion=False)
|
||||
hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
|
||||
|
||||
|
||||
def run_rl(path, params, curves, hr, md, w2t):
|
||||
prj_file, interval = params["prj_file"], params["interval"]
|
||||
# 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
|
||||
change_curve_state(hr, curves, False, False)
|
||||
md.r_soft_estop(0)
|
||||
md.r_soft_estop(1)
|
||||
md.r_clear_alarm()
|
||||
md.write_act(False)
|
||||
time.sleep(1) # 让曲线彻底关闭
|
||||
|
||||
# 2. reload工程后，pp2main，并且自动模式和上电
|
||||
prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
|
||||
prj_path = f"{prj_name}/_build/{prj_name}.prj"
|
||||
hr.execution("overview.reload", prj_path=prj_path, tasks=["factory"])
|
||||
hr.execution("rl_task.pp_to_main", tasks=["factory"])
|
||||
hr.execution("state.switch_auto")
|
||||
hr.execution("state.switch_motor_on")
|
||||
|
||||
# 3. 开始运行程序
|
||||
hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
|
||||
hr.execution("rl_task.run", tasks=["factory"])
|
||||
t_start = time.time()
|
||||
while True:
|
||||
if md.read_ready_to_go() == 1:
|
||||
md.write_act(True)
|
||||
break
|
||||
else:
|
||||
if (time.time() - t_start) > 3:
|
||||
w2t("3s 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...\n", "red", "ReadySignalTimeoutError")
|
||||
else:
|
||||
time.sleep(1)
|
||||
|
||||
# 4. 获取初始数据，周期时间，首次的各轴平均电流值，打开诊断曲线，并执行采集
|
||||
time.sleep(10) # 等待 RL 程序中 scenario_time 初始化
|
||||
t_start = time.time()
|
||||
while True:
|
||||
scenario_time = float(f"{float(md.read_scenario_time()):.2f}")
|
||||
if scenario_time != 0:
|
||||
w2t(f"耐久工程的周期时间：{scenario_time}s | 单轮次执行时间：{scenario_time+interval}\n")
|
||||
break
|
||||
else:
|
||||
time.sleep(1)
|
||||
if (time.time() - t_start) > 300:
|
||||
w2t(f"300s 内未收到耐久工程的周期时间，需要确认RL程序和工具通信交互是否正常执行...\n", "red", "GetScenarioTimeError")
|
||||
|
||||
# 6. 准备数据保存文件
|
||||
for curve in curves:
|
||||
with open(f"{path}/{curve}.csv", mode="a+", newline="") as f_csv:
|
||||
titles = [f"{curve}_{i}" for i in range(6)]
|
||||
titles.insert(0, "time")
|
||||
csv_writer = csv.writer(f_csv)
|
||||
csv_writer.writerow(titles)
|
||||
|
||||
# 7. 开始采集
|
||||
count = 0
|
||||
while clibs.running:
|
||||
if not clibs.running:
|
||||
w2t("后台数据清零完成，现在可以重新运行之前停止的程序。", "red")
|
||||
exit()
|
||||
|
||||
this_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
|
||||
next_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()+scenario_time+interval+1))
|
||||
w2t(f"[{this_time}] 当前次数：{count:09d} | 预计下次数据更新时间：{next_time}\n", "#008B8B")
|
||||
count += 1
|
||||
# 固定间隔，更新一次数据，打开曲线，获取周期内电流，关闭曲线
|
||||
time.sleep(interval)
|
||||
change_curve_state(hr, curves, True, True)
|
||||
time.sleep(scenario_time)
|
||||
end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
|
||||
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()-scenario_time))
|
||||
change_curve_state(hr, curves, False, False)
|
||||
# 保留数据并处理输出
|
||||
gen_results(params, curves, start_time, end_time, w2t)
|
||||
|
||||
|
||||
def gen_results(params, curves, start_time, end_time, w2t):
|
||||
try:
|
||||
clibs.lock.acquire(True)
|
||||
clibs.cursor.execute(f"select content from logs where time between '{start_time}' and '{end_time}' and content like '%diagnosis.result%' order by id asc")
|
||||
records = clibs.cursor.fetchall()
|
||||
finally:
|
||||
clibs.lock.release()
|
||||
data_proc(records, params, curves, w2t)
|
||||
|
||||
|
||||
def data_proc(records, params, curves, w2t):
|
||||
for curve in curves:
|
||||
if curve == "device_servo_trq_feedback":
|
||||
# proc_device_servo_trq_feedback(records, params, w2t)
|
||||
t = threading.Thread(target=proc_device_servo_trq_feedback, args=(records, params, w2t))
|
||||
t.daemon = True
|
||||
t.start()
|
||||
elif curve == "hw_joint_vel_feedback":
|
||||
# proc_hw_joint_vel_feedback(records, params, w2t)
|
||||
t = threading.Thread(target=proc_hw_joint_vel_feedback, args=(records, params, w2t))
|
||||
t.daemon = True
|
||||
t.start()
|
||||
|
||||
|
||||
def proc_device_servo_trq_feedback(records, params, w2t):
|
||||
d_trq, rcs, results = [[], [], [], [], [], []], params["rcs"], [time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))]
|
||||
for record in records:
|
||||
data = eval(record[0])["data"]
|
||||
for item in data:
|
||||
d_item = reversed(item["value"])
|
||||
for axis in range(6):
|
||||
if item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
|
||||
d_trq[axis].extend(d_item)
|
||||
|
||||
for axis in range(6):
|
||||
df = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
|
||||
_ = math.sqrt(df.apply(lambda x: numpy.power((rcs[axis] * float(x.iloc[0]) / 1000), 2)).sum() / len(df))
|
||||
results.append(_)
|
||||
|
||||
path = "/".join(params["prj_file"].split("/")[:-1])
|
||||
with open(f"{path}/device_servo_trq_feedback.csv", mode="a+", newline="") as f_csv:
|
||||
csv_writer = csv.writer(f_csv)
|
||||
csv_writer.writerow(results)
|
||||
|
||||
|
||||
def proc_hw_joint_vel_feedback(records, params, w2t):
|
||||
d_trq, rcs, results = [[], [], [], [], [], []], params["rcs"], [time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))]
|
||||
for record in records:
|
||||
data = eval(record[0])["data"]
|
||||
for item in data:
|
||||
d_item = reversed(item["value"])
|
||||
for axis in range(6):
|
||||
if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
|
||||
d_trq[axis].extend(d_item)
|
||||
|
||||
for axis in range(6):
|
||||
df = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_trq[axis]})
|
||||
_ = df.max().iloc[0]
|
||||
results.append(_)
|
||||
|
||||
path = "/".join(params["prj_file"].split("/")[:-1])
|
||||
with open(f"{path}/hw_joint_vel_feedback.csv", mode="a+", newline="") as f_csv:
|
||||
csv_writer = csv.writer(f_csv)
|
||||
csv_writer.writerow(results)
|
||||
|
||||
|
||||
def detect_db_size():
|
||||
@clibs.db_lock
|
||||
def release_memory():
|
||||
line_number = 20000
|
||||
leftover = 4000 # 200s
|
||||
clibs.cursor.execute("select count(id) from logs")
|
||||
len_records = clibs.cursor.fetchone()[0]
|
||||
if len_records > line_number:
|
||||
del_num = len_records - leftover + 1
|
||||
clibs.cursor.execute(f"delete from logs where id < {del_num}")
|
||||
clibs.cursor.execute(f"update logs set id=(id-{del_num-1}) where id > {del_num-1}")
|
||||
clibs.cursor.execute(f"update sqlite_sequence set seq = {leftover+1} WHERE name = 'logs' ")
|
||||
clibs.cursor.execute("vacuum")
|
||||
|
||||
while True:
|
||||
release_memory()
|
||||
time.sleep(1)
|
||||
|
||||
|
||||
def main():
|
||||
t = threading.Thread(target=detect_db_size)
|
||||
t.daemon = True
|
||||
t.start()
|
||||
|
||||
path = clibs.data_dd["path"]
|
||||
interval = clibs.data_dd["interval"].strip()
|
||||
curves = clibs.data_dd["curves"]
|
||||
hr = clibs.c_hr
|
||||
md = clibs.c_md
|
||||
w2t = clibs.w2t
|
||||
|
||||
data_dirs, data_files = clibs.traversal_files(path, w2t)
|
||||
params = initialization(path, hr, data_dirs, data_files, interval, curves, w2t)
|
||||
prj_file = params["prj_file"]
|
||||
clibs.c_pd.push_prj_to_server(prj_file)
|
||||
try:
|
||||
run_rl(path, params, curves, hr, md, w2t)
|
||||
except Exception as Err:
|
||||
w2t(f"工厂耐久程序执行过程中出现异常，{Err}\n", "red")
|
||||
change_curve_state(hr, curves, False, False)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
22
readme.md
22
readme.md
@ -22,6 +22,13 @@
|
||||
|
||||
## 三、注意事项
|
||||
|
||||
1. 仅适用于 xCore 2.3.0.7 及以上的版本
|
||||
2. 单轴电机电流数据处理，至少需要三个完整周期
|
||||
3. 执行制动测试/电机电流采集/耐久测试的时候，执行过程中停止，再次运行需要等待一分钟左右，输出框会有提示
|
||||
4. 其他使用方法和之前工具一致
|
||||
|
||||
> **需要使用 assets/files/projects/ 下的工程，寄存器文件以及配置文件等！！！**
|
||||
|
||||
## 四、发版记录
|
||||
|
||||
## 五、其他
|
||||
@ -31,13 +38,24 @@
|
||||
打包时，只需要修改 clibs.py 中的 PREFIX 即可，调试时再修改回来
|
||||
|
||||
```
|
||||
pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory . --upx-dir "D:/Syncthing/common/A_Program/upx-4.2.4-win64/" --add-data "../.venv/Lib/site-packages/customtkinter;customtkinter/" --add-data "../assets:assets" --version-file ../assets/files/version/file_version_info.txt -i ../assets/media/icon.ico ../code/aio.py -p ../code/data_process/brake.py -p ../code/data_process/iso.py -p ../code/data_process/current.py -p ../code/data_process/wavelogger.py -p ../code/commons/clibs.py -p ../code/commons/openapi.py -p ../code/automatic_test/do_current.py -p ../code/automatic_test/do_brake.py --exclude-module=scipy --exclude-module=matplotlib
|
||||
pyinstaller --noconfirm --onedir --windowed --optimize 2 --contents-directory . --upx-dir "D:/Syncthing/common/A_Program/upx-4.2.4-win64/" --add-data "../.venv/Lib/site-packages/customtkinter;customtkinter/" --add-data "../assets:assets" --version-file ../assets/files/version/file_version_info.txt -i ../assets/media/icon.ico ../code/aio.py -p ../code/common/clibs.py -p ../code/commom/openapi.py -p ../code/data_process/brake.py -p ../code/data_process/iso.py -p ../code/data_process/current.py -p ../code/data_process/wavelogger.py -p ../code/automatic_test/do_current.py -p ../code/automatic_test/do_brake.py -p ../code/durable_docs/factory_test.py -p ../code/durable_docs/create_plot.py --exclude-module=scipy
|
||||
```
|
||||
|
||||
### 2. tabview 组件字体修改
|
||||
|
||||
customtkinter的tabview组件不支持修改字体大小，可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现：
|
||||
customtkinter的tabview组件不支持修改字体大小，解决方法可参考如下：
|
||||
|
||||
Method 1：可以参考 [Changing Font of a Tabview](https://github.com/TomSchimansky/CustomTkinter/issues/2296) 进行手动修改源码实现：
|
||||
|
||||
a. 运行 `pip show customtkinter`，获取到库的路径
|
||||
b. 修改.../windows/widgets/ctk_tabview.py
|
||||
c. 增加 from .font.ctk_font import CTkFont
|
||||
d. 在大概 78 行的位置，增加 font=CTkFont(family="Consolas", size=18, weight='bold')
|
||||
|
||||
Method 2：
|
||||
|
||||
self.tabview_bottom._segmented_button.configure(font=ctk.CTkFont(family="Consolas", size=18, weight="bold"))
|
||||
|
||||
### 3. scroll frame 不支持修改高度和宽度
|
||||
|
||||
https://github.com/TomSchimansky/CustomTkinter/pull/1765/files
|
||||
Reference in New Issue
Block a user