优化制动测试
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2ffeeffd46
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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, 1, 2),
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prodvers=(0, 3, 1, 2),
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filevers=(0, 3, 1, 3),
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prodvers=(0, 3, 1, 3),
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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', '0.3.1.2 (2025-02-11)'),
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StringStruct('FileVersion', '0.3.1.3 (2025-02-12)'),
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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', '0.3.1.2 (2025-02-11)')])
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StringStruct('ProductVersion', '0.3.1.3 (2025-02-12)')])
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]),
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VarFileInfo([VarStruct('Translation', [1033, 1200])])
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]
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@ -476,4 +476,6 @@ v0.3.1.2(2025/02/11)
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2. 废弃write_diagnosis参数
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3. 优化do_brake中，触发超差写诊断等待操作流程
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v0.3.1.3(2025/02/12)
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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
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@ -1 +1 @@
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0.3.1.2@02/11/2025
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0.3.1.3@02/12/2025
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@ -77,7 +77,7 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
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return avs
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try:
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clibs.c_hr.set_socket_params(True, str(clibs.external_port), "\r", 1)
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clibs.c_hr.set_socket_params(True, str(clibs.external_port), "\r", 1, ip="0.0.0.0")
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clibs.c_ec = openapi.ExternalCommunication(clibs.ip_addr, clibs.external_port)
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except Exception:
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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")
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@ -88,7 +88,7 @@ def initialization(path, sub, data_dirs, data_files, hr, w2t):
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return _config_file, _prj_file, _result_dirs, _avs
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def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, w2t):
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def gen_result_file(path, axis, t_end, reach, load, speed, speed_max, rounds, w2t):
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d_vel, d_trq, d_stop, threshold = [], [], [], 0.95
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start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(t_end-12))
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@ -111,10 +111,14 @@ def gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds,
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elif item.get("channel", None) == 0 and item.get("name", None) == "device_safety_estop":
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d_stop.extend(d_item)
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idx = d_stop.index(0)
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idx = 0
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for idx in range(len(d_stop)-10, 0, -1):
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if d_stop[idx] == 1:
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break
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av_estop = abs(sum(d_vel[idx - 20:idx])/20 * clibs.RADIAN)
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if av_estop / speed_target < threshold:
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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")
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if av_estop / speed_max < threshold:
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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")
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clibs.count += 1
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if clibs.count < 3:
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return "retry"
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@ -160,6 +164,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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else:
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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")
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change_curve_state(hr, True)
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for condition in result_dirs:
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reach = condition.split("_")[0].removeprefix("reach")
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load = condition.split("_")[1].removeprefix("load")
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@ -184,6 +189,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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md.write_axis(axis)
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w2t(f"-"*90+"\n", "purple")
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speed_max = 0
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for rounds in range(1, 4):
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count += 1
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_ = 3 if count % 3 == 0 else count % 3
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@ -241,12 +247,10 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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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")
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# 4. 找出最大速度，传递给RL程序，最后清除相关记录
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time.sleep(5) # 消除前 5s 的不稳定数据
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change_curve_state(hr, True)
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start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
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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
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end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
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hr.execution("rl_task.stop", tasks=["brake"])
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change_curve_state(hr, False)
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# 找出最大速度
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@clibs.db_lock
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@ -269,8 +273,8 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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speed_target = avs[axis-1] * float(speed) / 100
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clibs.insert_logdb("INFO", "do_brake", f"axis = {axis}, direction = {pon}, max speed = {speed_max}")
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if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
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w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}\n", "indigo")
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clibs.insert_logdb("WARNING", "do_brake", f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}")
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w2t(f"Axis: {axis}-{count} | 采集获取最大 Speed: {speed_max} | Shouldbe: {speed_target}\n", "indigo")
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clibs.insert_logdb("WARNING", "do_brake", f"Axis: {axis}-{count} | 采集获取最大 Speed: {speed_max} | Shouldbe: {speed_target}")
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md.write_speed_max(speed_max)
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if speed_max < 10:
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@ -314,7 +318,6 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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def exec_brake():
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flag, start, data, record = True, time.time(), None, None
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change_curve_state(hr, True)
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while flag:
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time.sleep(0.05)
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if time.time() - start > 20:
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@ -333,22 +336,24 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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continue
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speed_moment = clibs.RADIAN * sum(item["value"]) / len(item["value"])
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if abs(speed_moment) > speed_target * 0.95:
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if abs(speed_moment) > speed_max - 2:
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if (pon == "positive" and speed_moment > 0) or (pon == "negative" and speed_moment < 0):
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clibs.c_ec.setdo_value(io_name, "false")
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time.sleep(2)
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change_curve_state(hr, False)
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flag = False
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break
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return time.time()
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t_end = exec_brake()
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# 6. 保留数据并处理输出
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ret = gen_result_file(path, axis, t_end, reach, load, speed, speed_target, rounds, w2t)
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ret = gen_result_file(path, axis, t_end, reach, load, speed, speed_max, rounds, w2t)
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if ret != "retry":
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clibs.count = 0
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break
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else:
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time.sleep(50)
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change_curve_state(hr, False)
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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")
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