diff --git a/assets/files/version/file_version_info.txt b/assets/files/version/file_version_info.txt index 53aa25c..a42583f 100644 --- a/assets/files/version/file_version_info.txt +++ b/assets/files/version/file_version_info.txt @@ -6,8 +6,8 @@ VSVersionInfo( ffi=FixedFileInfo( # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4) # Set not needed items to zero 0. - filevers=(0, 3, 1, 2), - prodvers=(0, 3, 1, 2), + filevers=(0, 3, 1, 3), + prodvers=(0, 3, 1, 3), # Contains a bitmask that specifies the valid bits 'flags'r mask=0x3f, # Contains a bitmask that specifies the Boolean attributes of the file. @@ -31,12 +31,12 @@ VSVersionInfo( '040904b0', [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'), StringStruct('FileDescription', 'All in one automatic toolbox'), - StringStruct('FileVersion', '0.3.1.2 (2025-02-11)'), + StringStruct('FileVersion', '0.3.1.3 (2025-02-12)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.3.1.2 (2025-02-11)')]) + StringStruct('ProductVersion', '0.3.1.3 (2025-02-12)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/assets/files/version/release_change.md b/assets/files/version/release_change.md index 6806db0..75e3d49 100644 --- a/assets/files/version/release_change.md +++ b/assets/files/version/release_change.md @@ -476,4 +476,6 @@ v0.3.1.2(2025/02/11) 2. 废弃write_diagnosis参数 3. 优化do_brake中，触发超差写诊断等待操作流程 +v0.3.1.3(2025/02/12) +1. 修改自动测试（制动）的打开关闭曲线逻辑，开始时打开，完整测试结束时关闭 diff --git a/assets/files/version/vers b/assets/files/version/vers index 535cb67..8d9c917 100644 --- a/assets/files/version/vers +++ b/assets/files/version/vers @@ -1 +1 @@ -0.3.1.2@02/11/2025 \ No newline at end of file +0.3.1.3@02/12/2025 \ No newline at end of file diff --git a/code/automatic_test/do_brake.py b/code/automatic_test/do_brake.py index 000413e..a89bb93 100644 --- a/code/automatic_test/do_brake.py +++ b/code/automatic_test/do_brake.py @@ -77,7 +77,7 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t): return avs try: - clibs.c_hr.set_socket_params(True, str(clibs.external_port), "\r", 1) + clibs.c_hr.set_socket_params(True, str(clibs.external_port), "\r", 1, ip="0.0.0.0") clibs.c_ec = openapi.ExternalCommunication(clibs.ip_addr, clibs.external_port) except Exception: w2t(f"{clibs.ip_addr}:{clibs.socket_port} 或者 {clibs.ip_addr}:{clibs.external_port} 不可达，需检查网络连接！\n", color="red", desc="NetworkError") @@ -88,7 +88,7 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t): return _config_file, _prj_file, _result_dirs, _avs -def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, w2t): +def gen_result_file(path, axis, t_end, reach, load, speed, speed_max, rounds, w2t): d_vel, d_trq, d_stop, threshold = [], [], [], 0.95 start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(t_end-12)) @@ -111,10 +111,14 @@ def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, elif item.get("channel", None) == 0 and item.get("name", None) == "device_safety_estop": d_stop.extend(d_item) - idx = d_stop.index(0) + idx = 0 + for idx in range(len(d_stop)-10, 0, -1): + if d_stop[idx] == 1: + break + av_estop = abs(sum(d_vel[idx - 20:idx])/20 * clibs.RADIAN) - if av_estop / speed_target < threshold: - w2t(f"[av_estop: {av_estop:.2f} | shouldbe: {speed_target:.2f}] 本次触发 ESTOP 时未采集到指定百分比的最大速度，即将重试！\n", "#8A2BE2") + if av_estop / speed_max < threshold: + w2t(f"[av_estop: {av_estop:.2f} | shouldbe: {speed_max:.2f}] 处理数据时，本次触发 ESTOP 时未采集到指定百分比的最大速度，即将重试！\n", "#8A2BE2") clibs.count += 1 if clibs.count < 3: return "retry" @@ -160,6 +164,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): else: w2t("configs.xlsx 中 Target 页面 B5 单元格填写不正确，检查后重新运行...\n", "red", "DirectionError") + change_curve_state(hr, True) for condition in result_dirs: reach = condition.split("_")[0].removeprefix("reach") load = condition.split("_")[1].removeprefix("load") @@ -184,6 +189,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): md.write_axis(axis) w2t(f"-"*90+"\n", "purple") + speed_max = 0 for rounds in range(1, 4): count += 1 _ = 3 if count % 3 == 0 else count % 3 @@ -241,12 +247,10 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): w2t("15s 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") # 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) 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) # 找出最大速度 @clibs.db_lock @@ -269,8 +273,8 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): speed_target = avs[axis-1] * float(speed) / 100 clibs.insert_logdb("INFO", "do_brake", f"axis = {axis}, direction = {pon}, max speed = {speed_max}") if speed_max < speed_target*0.95 or speed_max > speed_target*1.05: - w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}\n", "indigo") - clibs.insert_logdb("WARNING", "do_brake", f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}") + w2t(f"Axis: {axis}-{count} | 采集获取最大 Speed: {speed_max} | Shouldbe: {speed_target}\n", "indigo") + clibs.insert_logdb("WARNING", "do_brake", f"Axis: {axis}-{count} | 采集获取最大 Speed: {speed_max} | Shouldbe: {speed_target}") md.write_speed_max(speed_max) if speed_max < 10: @@ -314,7 +318,6 @@ 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) while flag: time.sleep(0.05) if time.time() - start > 20: @@ -333,22 +336,24 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t): continue speed_moment = clibs.RADIAN * sum(item["value"]) / len(item["value"]) - if abs(speed_moment) > speed_target * 0.95: + if abs(speed_moment) > speed_max - 2: 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) flag = False + break return time.time() t_end = exec_brake() # 6. 保留数据并处理输出 - ret = gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, w2t) + ret = gen_result_file(path, axis, t_end, reach, load, speed, speed_max, rounds, w2t) if ret != "retry": clibs.count = 0 break else: + time.sleep(50) + change_curve_state(hr, False) 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")