273 lines
12 KiB
Python
273 lines
12 KiB
Python
import os
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import multiprocessing
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import time
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import paramiko
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import pandas
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from common import clibs
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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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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"
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msg += "1. T_电机电流.xlsx\n2. xxxx.zip\n"
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if len(data_dirs) != 0 or len(data_files) != 2:
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w2t(msg, "red", "InitFileError")
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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(msg, "red", "InitFileError")
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if count != 2:
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w2t(msg, "red", "InitFileError")
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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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os.mkdir(f"{path}/single")
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os.mkdir(f"{path}/s_1")
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os.mkdir(f"{path}/s_2")
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os.mkdir(f"{path}/s_3")
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elif sub == "inertia":
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os.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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_prj_file = check_files()
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get_configs()
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return _prj_file
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def single_axis_proc(path, records, number):
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text = "single" if number < 6 else "hold"
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number = number if number < 6 else number - 6
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d_vel, d_trq, d_sensor, d_trans = [], [], [], []
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for record in records:
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data = eval(record[0])["data"]
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for item in data:
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d_item = reversed(item["value"])
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if item.get("channel", None) == number and item.get("name", None) == "hw_joint_vel_feedback":
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d_vel.extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "device_servo_trq_feedback":
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d_trq.extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "hw_sensor_trq_feedback":
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d_sensor.extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "hw_estimate_trans_trq_res":
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d_trans.extend(d_item)
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df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
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df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
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df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
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df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans})
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df = pandas.concat([df1, df2, df3, df4], axis=1)
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filename = f"{path}/single/j{number + 1}_{text}_{time.time()}.data"
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df.to_csv(filename, sep="\t", index=False)
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def scenario_proc(path, records, number, scenario_time):
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d_vel, d_trq, d_sensor, d_trans = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
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for record in records:
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data = eval(record[0])["data"]
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for item in data:
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d_item = reversed(item["value"])
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for axis in range(6):
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if item.get("channel", None) == axis and item.get("name", None) == "hw_joint_vel_feedback":
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d_vel[axis].extend(d_item)
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elif item.get("channel", None) == axis and item.get("name", None) == "device_servo_trq_feedback":
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d_trq[axis].extend(d_item)
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elif item.get("channel", None) == axis and item.get("name", None) == "hw_sensor_trq_feedback":
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d_sensor[axis].extend(d_item)
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elif item.get("channel", None) == axis and item.get("name", None) == "hw_estimate_trans_trq_res":
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d_trans[axis].extend(d_item)
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for axis in range(6):
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df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel[axis]})
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df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
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df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor[axis]})
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df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans[axis]})
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df = pandas.concat([df1, df2, df3, df4], axis=1)
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filename = f"{path}/s_{number-11}/j{axis+1}_s_{number-11}_{scenario_time}_{time.time()}.data"
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df.to_csv(filename, sep="\t", index=False)
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def gen_result_file(path, number, start_time, end_time, scenario_time):
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@clibs.db_lock
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def get_records(s_time, e_time):
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clibs.cursor.execute(f"select content from logs where time between '{s_time}' and '{e_time}' and content like '%diagnosis.result%' order by id asc")
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_ = clibs.cursor.fetchall()
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return _
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if number < 12:
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records = get_records(start_time, end_time)
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p = multiprocessing.Process(target=single_axis_proc, args=(path, records, number))
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p.daemon = True
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p.start()
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elif number < 15:
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records = get_records(start_time, end_time)
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p = multiprocessing.Process(target=scenario_proc, args=(path, records, number, scenario_time))
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p.daemon = True
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p.start()
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def change_curve_state(hr, stat):
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curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res"]
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display_pdo_params = [] if not stat else [{"name": curve, "channel": chl} for curve in curves for chl in range(6)]
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hr.execution("diagnosis.open", open=stat, display_open=stat, overrun=True, turn_area=True, delay_motion=False)
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hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
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def run_rl(path, prj_file, hr, md, sub, w2t):
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prj_name = ".".join(prj_file.split("/")[-1].split(".")[:-1])
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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(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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"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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]
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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 = ["一轴", "二轴", "三轴", "四轴", "五轴", "六轴", "一轴保持", "二轴保持", "三轴保持", "四轴保持", "五轴保持", "六轴保持", "场景一", "场景二", "场景三"]
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disc_inertia = ["四轴惯量", "五轴惯量", "六轴惯量"]
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conditions, disc = [], []
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if sub == "tool100":
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conditions, disc = c_regular, disc_regular
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elif sub == "inertia":
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conditions, disc = c_inertia, disc_inertia
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# 打开诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来
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md.r_soft_estop(0)
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md.r_soft_estop(1)
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md.r_clear_alarm()
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for condition in conditions:
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if not clibs.running:
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w2t("后台数据清零完成，现在可以重新运行之前停止的程序。\n", "red")
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exit()
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number = conditions.index(condition)
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w2t(f"正在执行{disc[number]}测试......\n")
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# 1. 将act重置为False，并修改将要执行的场景
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md.write_act(False)
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ssh = paramiko.SSHClient()
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ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
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ssh.connect(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password)
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cmd = "cd /home/luoshi/bin/controller/; "
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cmd += f'sudo sed -i "/scenario/d" projects/{prj_name}/_build/current/main.mod; '
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cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/{prj_name}/_build/current/main.mod'
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stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
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stdin.write(clibs.password + "\n")
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stdout.read().decode() # 需要read一下才能正常执行
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stderr.read().decode()
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# 2. reload工程后，pp2main，并且自动模式和上电
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prj_path = f"{prj_name}/_build/{prj_name}.prj"
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hr.execution("overview.reload", prj_path=prj_path, tasks=["current"])
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hr.execution("rl_task.pp_to_main", tasks=["current"])
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hr.execution("state.switch_auto")
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hr.execution("state.switch_motor_on")
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# 3. 开始运行程序
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hr.execution("rl_task.set_run_params", loop_mode=True, override=1.0)
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hr.execution("rl_task.run", tasks=["current"])
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t_start = time.time()
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while True:
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if md.read_ready_to_go() == 1:
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md.write_act(True)
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break
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else:
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time.sleep(1)
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if (time.time() - t_start) > 15:
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w2t("15s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...\n", "red", "ReadySignalTimeoutError")
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# 4. 执行采集
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time.sleep(10) # 消除前 10s 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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single_time, stall_time, scenario_time = 40, 10, 0
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if number < 6: # 单轴
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time.sleep(single_time)
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elif number < 12: # 堵转
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time.sleep(stall_time)
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else: # 场景
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t_start = time.time()
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while True:
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scenario_time = float(f"{float(md.read_scenario_time()):.2f}")
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if float(scenario_time) != 0:
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w2t(f"场景{number - 11}的周期时间：{scenario_time}\n")
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break
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else:
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time.sleep(1)
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if (time.time()-t_start) > 180:
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w2t(f"180s 内未收到场景{number - 11}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")
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time.sleep(20)
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# 5.停止程序运行，保留数据并处理输出
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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=["current"])
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time.sleep(2) # 确保数据都拿到
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change_curve_state(hr, False)
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gen_result_file(path, number, start_time, end_time, scenario_time)
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else:
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if sub == "tool100":
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w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。\n", "green")
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elif sub == "inertia":
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w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。\n", "green")
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def main():
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s_time = time.time()
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path = clibs.data_at["_path"]
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sub = clibs.data_at["_sub"]
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w2t = clibs.w2t
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hr = clibs.c_hr
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md = clibs.c_md
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clibs.running = 22
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data_dirs, data_files = clibs.traversal_files(path, w2t)
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prj_file = initialization(path, sub, data_dirs, data_files, hr, w2t)
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clibs.c_pd.push_prj_to_server(prj_file)
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run_rl(path, prj_file, hr, md, sub, w2t)
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e_time = time.time()
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time_total = e_time - s_time
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w2t(f"-" * 90 + "\n", "purple")
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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")
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if __name__ == "__main__":
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main()
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