406 lines
21 KiB
Python
406 lines
21 KiB
Python
import json
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from os import mkdir
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import time
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from time import sleep, time
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from sys import argv
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from paramiko import SSHClient, AutoAddPolicy
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from json import loads
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from pandas import DataFrame, concat
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from common import clibs
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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)]
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def initialization(path, sub, data_dirs, data_files, hr, w2t):
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def check_files():
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if len(data_dirs) != 0 or len(data_files) != 2:
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w2t("初始路径下不允许有文件夹，且初始路径下只能存在如下两个文件，确认后重新运行！\n", "red")
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w2t("1. T_电机电流.xlsx\n2. xxxx.zip\n", "red", "ConfigFileError")
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prj_file, count = None, 0
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for data_file in data_files:
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filename = data_file.split("/")[-1]
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if filename == "T_电机电流.xlsx":
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count += 1
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elif filename.endswith(".zip"):
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count += 1
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prj_file = data_file
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else:
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w2t(f"{data_file} 不合规：初始路径下只能存在如下两个文件，确认后重新运行！\n", "red")
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w2t("1. T_电机电流.xlsx\n2. xxxx.zip\n", "red", "ConfigFileError")
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if count != 2:
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w2t("初始路径下不允许有文件夹，且初始路径下只能存在如下两个文件，确认后重新运行！\n", "red")
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w2t("1. T_电机电流.xlsx\n2. xxxx.zip\n", "red", "ConfigFileError")
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w2t("数据目录合规性检查结束，未发现问题......\n")
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if sub == "tool100" or sub == "inertia":
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mkdir(f"{path}/single")
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mkdir(f"{path}/s_1")
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mkdir(f"{path}/s_2")
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mkdir(f"{path}/s_3")
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elif sub == "inertia":
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mkdir(f"{path}/inertia")
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else:
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w2t("负载选择错误，电机电流测试只能选择 tool100/inertia 规格！\n", "red", "LoadSelectError")
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return prj_file
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def get_configs():
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robot_type = None
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msg_id, state = hr.execution("controller.get_params")
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records = hr.get_from_id(msg_id, state)
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for record in records:
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if "请求发送成功" not in record[0]:
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robot_type = eval(record[0])["data"]["robot_type"]
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server_file = f"/home/luoshi/bin/controller/robot_cfg/{robot_type}/{robot_type}.cfg"
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local_file = path + f"/{robot_type}.cfg"
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clibs.c_pd.pull_file_from_server(server_file, local_file)
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return local_file
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prj_file = check_files()
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config_file = get_configs()
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return config_file, prj_file
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def data_proc_regular(path, filename, channel, scenario_time):
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if channel in list(range(6)):
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with open(filename, 'r', encoding='utf-8') as f_obj:
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lines = f_obj.readlines()
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_d2d_vel = {'hw_joint_vel_feedback': []}
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_d2d_trq = {'device_servo_trq_feedback': []}
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_d2d_sensor = {'hw_sensor_trq_feedback': []}
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for line in lines[-500:]: # 保留最后25s的数据
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data = eval(line.strip())['data']
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for item in data:
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try:
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item['value'].reverse()
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except KeyError:
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continue
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if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == channel and item.get('name', None) == 'hw_sensor_trq_feedback':
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_d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
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df1 = DataFrame.from_dict(_d2d_vel)
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df2 = DataFrame.from_dict(_d2d_trq)
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df3 = DataFrame.from_dict(_d2d_sensor)
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df = concat([df1, df2, df3], axis=1)
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_filename = f'{path}\\single\\j{channel+1}_single_{time()}.data'
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df.to_csv(_filename, sep='\t', index=False)
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elif channel in list(range(6, 9)):
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with open(filename, 'r', encoding='utf-8') as f_obj:
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lines = f_obj.readlines()
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_d2d_vel_0 = {'hw_joint_vel_feedback': []}
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_d2d_trq_0 = {'device_servo_trq_feedback': []}
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_d2d_sensor_0 = {'hw_sensor_trq_feedback': []}
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_d2d_vel_1 = {'hw_joint_vel_feedback': []}
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_d2d_trq_1 = {'device_servo_trq_feedback': []}
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_d2d_sensor_1 = {'hw_sensor_trq_feedback': []}
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_d2d_vel_2 = {'hw_joint_vel_feedback': []}
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_d2d_trq_2 = {'device_servo_trq_feedback': []}
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_d2d_sensor_2 = {'hw_sensor_trq_feedback': []}
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_d2d_vel_3 = {'hw_joint_vel_feedback': []}
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_d2d_trq_3 = {'device_servo_trq_feedback': []}
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_d2d_sensor_3 = {'hw_sensor_trq_feedback': []}
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_d2d_vel_4 = {'hw_joint_vel_feedback': []}
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_d2d_trq_4 = {'device_servo_trq_feedback': []}
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_d2d_sensor_4 = {'hw_sensor_trq_feedback': []}
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_d2d_vel_5 = {'hw_joint_vel_feedback': []}
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_d2d_trq_5 = {'device_servo_trq_feedback': []}
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_d2d_sensor_5 = {'hw_sensor_trq_feedback': []}
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for line in lines:
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data = eval(line.strip())['data']
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for item in data:
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try:
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item['value'].reverse()
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except KeyError:
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continue
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if item.get('channel', None) == 0 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel_0['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == 0 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq_0['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 0 and item.get('name', None) == 'hw_sensor_trq_feedback':
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_d2d_sensor_0['hw_sensor_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel_1['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == 1 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq_1['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 1 and item.get('name', None) == 'hw_sensor_trq_feedback':
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_d2d_sensor_1['hw_sensor_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 2 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel_2['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == 2 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq_2['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
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_d2d_sensor_2['hw_sensor_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel_3['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == 3 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq_3['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 3 and item.get('name', None) == 'hw_sensor_trq_feedback':
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_d2d_sensor_3['hw_sensor_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel_4['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == 4 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq_4['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 4 and item.get('name', None) == 'hw_sensor_trq_feedback':
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_d2d_sensor_4['hw_sensor_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel_5['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == 5 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq_5['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == 5 and item.get('name', None) == 'hw_sensor_trq_feedback':
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_d2d_sensor_5['hw_sensor_trq_feedback'].extend(item['value'])
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df_01 = DataFrame.from_dict(_d2d_vel_0)
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df_02 = DataFrame.from_dict(_d2d_trq_0)
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df_03 = DataFrame.from_dict(_d2d_sensor_0)
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df = concat([df_01, df_02, df_03], axis=1)
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_filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data'
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df.to_csv(_filename, sep='\t', index=False)
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df_01 = DataFrame.from_dict(_d2d_vel_1)
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df_02 = DataFrame.from_dict(_d2d_trq_1)
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df_03 = DataFrame.from_dict(_d2d_sensor_1)
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df = concat([df_01, df_02, df_03], axis=1)
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_filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data'
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df.to_csv(_filename, sep='\t', index=False)
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df_01 = DataFrame.from_dict(_d2d_vel_2)
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df_02 = DataFrame.from_dict(_d2d_trq_2)
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df_03 = DataFrame.from_dict(_d2d_sensor_2)
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df = concat([df_01, df_02, df_03], axis=1)
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_filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data'
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df.to_csv(_filename, sep='\t', index=False)
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df_01 = DataFrame.from_dict(_d2d_vel_3)
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df_02 = DataFrame.from_dict(_d2d_trq_3)
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df_03 = DataFrame.from_dict(_d2d_sensor_3)
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df = concat([df_01, df_02, df_03], axis=1)
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_filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data'
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df.to_csv(_filename, sep='\t', index=False)
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df_01 = DataFrame.from_dict(_d2d_vel_4)
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df_02 = DataFrame.from_dict(_d2d_trq_4)
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df_03 = DataFrame.from_dict(_d2d_sensor_4)
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df = concat([df_01, df_02, df_03], axis=1)
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_filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data'
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df.to_csv(_filename, sep='\t', index=False)
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df_01 = DataFrame.from_dict(_d2d_vel_5)
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df_02 = DataFrame.from_dict(_d2d_trq_5)
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df_03 = DataFrame.from_dict(_d2d_sensor_5)
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df = concat([df_01, df_02, df_03], axis=1)
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_filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data'
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df.to_csv(_filename, sep='\t', index=False)
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elif channel in list(range(9, 15)):
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with open(filename, 'r', encoding='utf-8') as f_obj:
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lines = f_obj.readlines()
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_d2d_vel = {'hw_joint_vel_feedback': []}
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_d2d_trq = {'device_servo_trq_feedback': []}
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_d2d_sensor = {'hw_sensor_trq_feedback': []}
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for line in lines[-300:]: # 保留最后15s的数据
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data = eval(line.strip())['data']
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for item in data:
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try:
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item['value'].reverse()
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except KeyError:
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continue
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if item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == channel-9 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == channel-9 and item.get('name', None) == 'hw_sensor_trq_feedback':
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_d2d_sensor['hw_sensor_trq_feedback'].extend(item['value'])
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df1 = DataFrame.from_dict(_d2d_vel)
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df2 = DataFrame.from_dict(_d2d_trq)
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df3 = DataFrame.from_dict(_d2d_sensor)
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df = concat([df1, df2, df3], axis=1)
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_filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data'
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df.to_csv(_filename, sep='\t', index=False)
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def data_proc_inertia(path, filename, channel):
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with open(filename, 'r', encoding='utf-8') as f_obj:
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lines = f_obj.readlines()
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_d2d_vel = {'hw_joint_vel_feedback': []}
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_d2d_trq = {'device_servo_trq_feedback': []}
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_d2d_sensor = {'hw_sensor_trq_feedback': []}
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for line in lines:
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data = eval(line.strip())['data']
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for item in data:
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try:
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item['value'].reverse()
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except KeyError:
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continue
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if item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_joint_vel_feedback':
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_d2d_vel['hw_joint_vel_feedback'].extend(item['value'])
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elif item.get('channel', None) == channel+3 and item.get('name', None) == 'device_servo_trq_feedback':
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_d2d_trq['device_servo_trq_feedback'].extend(item['value'])
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elif item.get('channel', None) == channel+3 and item.get('name', None) == 'hw_sensor_trq_feedback':
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_d2d_trq['hw_sensor_trq_feedback'].extend(item['value'])
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df1 = DataFrame.from_dict(_d2d_vel)
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df2 = DataFrame.from_dict(_d2d_trq)
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df3 = DataFrame.from_dict(_d2d_sensor)
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df = concat([df1, df2, df3], axis=1)
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_filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data'
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df.to_csv(_filename, sep='\t', index=False)
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def gen_result_file(path, loadsel, disc, number, scenario_time):
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filename = path + f'\\data.txt'
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with open(filename, 'w', encoding='utf-8') as f_obj:
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for line in disc[number][1]:
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f_obj.write(str(line)+'\n')
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if loadsel == 'tool100':
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data_proc_regular(path, filename, number, scenario_time)
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elif loadsel == 'inertia':
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data_proc_inertia(path, filename, number)
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def run_rl(path, hr, md, sub, w2t):
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c_regular = [
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"scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
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"scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
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"scenario(0, j3_p, j3_n, p_speed, p_tool, i_tool)",
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"scenario(0, j4_p, j4_n, p_speed, p_tool, i_tool)",
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"scenario(0, j5_p, j5_n, p_speed, p_tool, i_tool)",
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"scenario(0, j6_p, j6_n, p_speed, p_tool, i_tool)",
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"scenario(1, j6_p, j6_n, p_speed, p_tool, i_tool)",
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"scenario(2, j6_p, j6_n, p_speed, p_tool, i_tool)",
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"scenario(3, j6_p, j6_n, p_speed, p_tool, i_tool)",
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"scenario(4, j1_hold, j1_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j2_hold, j2_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j3_hold, j3_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j4_hold, j4_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j5_hold, j5_hold, p_speed, p_tool, i_tool)",
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"scenario(4, j6_hold, j6_hold, p_speed, p_tool, i_tool)",
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]
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c_inertia = [
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"scenario(5, j4_p_inertia, j4_n_inertia, p_speed, p_tool, i_tool)",
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"scenario(5, j5_p_inertia, j5_n_inertia, p_speed, p_tool, i_tool)",
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"scenario(5, j6_p_inertia, j6_n_inertia, p_speed, p_tool, i_tool)",
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]
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disc_regular = {
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0: ['一轴', []], 1: ['二轴', []], 2: ['三轴', []], 3: ['四轴', []], 4: ['五轴', []], 5: ['六轴', []],
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6: ['场景一', []], 7: ['场景二', []], 8: ['场景三', []], 9: ['一轴保持', []], 10: ['二轴保持', []],
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11: ['三轴保持', []], 12: ['四轴保持', []], 13: ['五轴保持', []], 14: ['六轴保持', []]
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}
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disc_inertia = {0: ['四轴惯量', []], 1: ['五轴惯量', []], 2: ['六轴惯量', []]}
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if sub == 'tool100':
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conditions = c_regular
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disc = disc_regular
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elif sub == 'inertia':
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conditions = c_inertia
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disc = disc_inertia
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# preparation 触发软急停，并解除，目的是让可能正在运行着的机器停下来
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hr.execution('diagnosis.open', hr, w2t, tab_name, open=True, display_open=True)
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hr.execution('diagnosis.set_params', hr, w2t, tab_name, display_pdo_params=display_pdo_params)
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# clibs.execution('diagnosis.save', hr, w2t, tab_name, save=True) # 这条命令有问题
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md.trigger_estop()
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md.reset_estop()
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for condition in conditions:
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number = conditions.index(condition)
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w2t(f"正在执行{disc[number][0]}测试......", 0, 0, 'purple', tab_name)
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# 1. 将act重置为False，并修改未要执行的场景
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md.write_act(False)
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ssh = SSHClient()
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ssh.set_missing_host_key_policy(AutoAddPolicy())
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ssh.connect(clibs.ip_addr, 22, username='luoshi', password='luoshi2019')
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cmd = 'cd /home/luoshi/bin/controller/; '
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cmd += 'sudo sed -i "/scenario/d" projects/target/_build/current/main.mod; '
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cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/_build/current/main.mod'
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stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
|
||
stdin.write('luoshi2019' + '\n')
|
||
stdout.read().decode() # 需要read一下才能正常执行
|
||
stderr.read().decode()
|
||
|
||
# 2. reload工程后，pp2main，并且自动模式和上电
|
||
prj_path = 'target/_build/target.prj'
|
||
clibs.execution('overview.reload', hr, w2t, tab_name, prj_path=prj_path, tasks=['current'])
|
||
clibs.execution('rl_task.pp_to_main', hr, w2t, tab_name, tasks=['current'])
|
||
clibs.execution('state.switch_auto', hr, w2t, tab_name)
|
||
clibs.execution('state.switch_motor_on', hr, w2t, tab_name)
|
||
|
||
# 3. 开始运行程序，单轴运行35s
|
||
clibs.execution('rl_task.set_run_params', hr, w2t, tab_name, loop_mode=True, override=1.0)
|
||
clibs.execution('rl_task.run', hr, w2t, tab_name, tasks=['current'])
|
||
_t_start = time()
|
||
while True:
|
||
if md.read_ready_to_go() == 1:
|
||
md.write_act(True)
|
||
break
|
||
else:
|
||
if (time() - _t_start) // 20 > 1:
|
||
w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
|
||
else:
|
||
sleep(1)
|
||
|
||
# 4. 打开诊断曲线，并执行采集
|
||
sleep(10) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定
|
||
scenario_time = 0
|
||
if number < 6:
|
||
sleep(35)
|
||
elif number > 8:
|
||
sleep(15)
|
||
else:
|
||
_t_start = time()
|
||
while True:
|
||
scenario_time = md.read_scenario_time()
|
||
if float(scenario_time) > 1:
|
||
w2t(f"场景{number-5}的周期时间：{scenario_time}", 0, 0, 'green', tab_name)
|
||
break
|
||
else:
|
||
if (time()-_t_start)//60 > 3:
|
||
w2t(f"未收到场景{number-5}的周期时间，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
|
||
else:
|
||
sleep(5)
|
||
sleep(1) # 一定要延迟一秒再读一次scenario time寄存器，因为一开始读取的数值不准确
|
||
scenario_time = md.read_scenario_time()
|
||
sleep(float(scenario_time)*0.2) # 再运行周期的20%即可
|
||
|
||
# 5.停止程序运行，保留数据并处理输出
|
||
clibs.execution('rl_task.stop', hr, w2t, tab_name, tasks=['current'])
|
||
_c_msg = hr.c_msg.copy()
|
||
for _msg in _c_msg:
|
||
if 'diagnosis.result' in _msg:
|
||
disc[number][1].insert(0, loads(_msg))
|
||
else:
|
||
hr.c_msg_xs.clear()
|
||
if len(hr.c_msg) > 270:
|
||
del hr.c_msg[270:]
|
||
gen_result_file(path, loadsel, disc, number, scenario_time)
|
||
else:
|
||
if loadsel == 'tool100':
|
||
w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。", 0, 0, 'green', tab_name)
|
||
elif loadsel == 'inertia':
|
||
w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。", 0, 0, 'green', tab_name)
|
||
|
||
|
||
def main():
|
||
path = clibs.data_at["_path"]
|
||
sub = clibs.data_at["_sub"]
|
||
w2t = clibs.w2t
|
||
hr = clibs.c_hr
|
||
md = clibs.c_md
|
||
insert_logdb = clibs.insert_logdb
|
||
|
||
data_dirs, data_files = clibs.traversal_files(path, w2t)
|
||
config_file, prj_file = initialization(path, sub, data_dirs, data_files, hr, w2t)
|
||
clibs.c_pd.push_prj_to_server(prj_file)
|
||
clibs.c_hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
|
||
# run_rl(path, hr, md, sub, w2t)
|
||
|
||
|
||
if __name__ == '__main__':
|
||
main()
|