305 lines
16 KiB
Python
305 lines
16 KiB
Python
from time import sleep, time, strftime, localtime
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from os import mkdir
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from paramiko import SSHClient, AutoAddPolicy
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from openpyxl import load_workbook
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from pandas import DataFrame, concat
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import json
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from commons 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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if len(data_dirs) != 0 or len(data_files) != 6:
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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五个文件，确认后重新运行！", "red")
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w2t("1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n", "red", "InitFileError")
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config_file, reach33, reach66, reach100, prj_file = None, None, None, None, None
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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 == "configs.xlsx":
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config_file = data_file
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elif filename.startswith("reach33_") and filename.endswith(".xlsx"):
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reach33 = data_file
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elif filename.startswith("reach66_") and filename.endswith(".xlsx"):
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reach66 = data_file
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elif filename.startswith("reach100_") and filename.endswith(".xlsx"):
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reach100 = data_file
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elif filename.endswith(".zip"):
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prj_file = data_file
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else:
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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五个文件，确认后重新运行！", "red")
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w2t("1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n", "red", "InitFileError")
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if config_file and reach33 and reach66 and reach100 and prj_file:
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result_dirs = []
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mkdir(f"{path}/j1")
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mkdir(f"{path}/j2")
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mkdir(f"{path}/j3")
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load = f"load{sub.removeprefix("tool")}"
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for reach in ["reach33", "reach66", "reach100"]:
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for speed in ["speed33", "speed66", "speed100"]:
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dir_name = "_".join([reach, load, speed])
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result_dirs.append(dir_name)
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mkdir(f"{path}/j1/{dir_name}")
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mkdir(f"{path}/j2/{dir_name}")
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if reach == "reach100":
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mkdir(f"{path}/j3/{dir_name}")
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w2t("数据目录合规性检查结束，未发现问题......\n", "blue")
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return config_file, reach33, reach66, reach100, prj_file, result_dirs
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else:
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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五个文件，确认后重新运行！", "red")
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w2t("1. configs.xlsx\n2. reach33/reach66/reach100_xxxx.xlsx\n3. xxxx.zip\n", "red", "InitFileError")
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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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try:
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with open(local_file, mode="r", encoding="utf-8") as f_config:
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configs = json.load(f_config)
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except Exception as Err:
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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}")
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w2t(f"无法打开 {local_file}", color="red", desc="OpenFileError")
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# 最大角速度，额定电流，减速比，额定转速
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version = configs["VERSION"]
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avs = configs["MOTION"]["JOINT_MAX_SPEED"]
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clibs.insert_logdb("INFO", "do_brake", f"get_configs: 机型文件版本 {robot_type}_{version}")
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clibs.insert_logdb("INFO", "do_brake", f"get_configs: 各关节角速度 {avs}")
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return avs
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config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files()
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avs = get_configs()
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return config_file, reach33, reach66, reach100, prj_file, result_dirs, avs
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@clibs.db_lock
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def gen_result_file(path, axis, reach, load, speed, rounds):
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d_vel, d_trq, d_stop = [], [], []
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len_records = 12 * 1000 // 50
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clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
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records = clibs.cursor.fetchall()
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for record in records: # 保留最后12s的数据
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data = eval(record)["data"]
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for item in data:
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if item.get("channel", None) == axis-1 and item.get("name", None) == "hw_joint_vel_feedback":
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d_vel.extend(item["value"])
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elif item.get("channel", None) == axis-1 and item.get("name", None) == "device_servo_trq_feedback":
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d_trq.extend(item["value"])
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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(item["value"])
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df1 = DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
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df2 = DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
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df3 = DataFrame.from_dict({"device_safety_estop": d_stop})
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df = concat([df1, df2, df3], axis=1)
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filename = f"{path}\\j{axis}\\reach{reach}_load{load}_speed{speed}\\reach{reach}_load{load}_speed{speed}_{rounds}.data"
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df.to_csv(filename, sep="\t", index=False)
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def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
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count, total = 0, 63
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prj_name = prj_file.split("/")[-1].split(".")[0]
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display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback"] for chl in range(6)]
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display_pdo_params.append({"name": "device_safety_estop", "channel": 0})
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wb = load_workbook(config_file, read_only=True)
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ws = wb["Target"]
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write_diagnosis = float(ws.cell(row=2, column=2).value)
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get_init_speed = float(ws.cell(row=3, column=2).value)
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single_brake = str(ws.cell(row=4, column=2).value)
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pon = ws.cell(row=5, column=2).value
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w2t(f"write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}\n")
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if pon == "positive":
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md.write_pon(1)
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elif pon == "negative":
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md.write_pon(0)
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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...", "red", "DirectionError")
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hr.execution("diagnosis.open", open=True, display_open=True, 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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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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speed = condition.split("_")[2].removeprefix("speed")
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# for single condition test
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single_axis = 0
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if single_brake != "0":
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total = 3
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single_axis = int(single_brake.split("-")[0])
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if reach != single_brake.split("-")[1] or load != single_brake.split("-")[2] or speed != single_brake.split("-")[3]:
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continue
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for axis in range(1, 4):
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# for single condition test
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if (single_axis != 0 and single_axis != axis) or (axis == 3 and reach != "100"):
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continue
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md.write_axis(axis)
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speed_max = 0
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w2t(f"-"*90+"\n", "purple")
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for rounds in range(1, 4):
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count += 1
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this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
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prj_path = f"{prj_name}/_build/{prj_name}.prj"
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w2t(f"[{this_time} | {count}/{total}] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...\n")
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# 1. 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
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md.trigger_estop()
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md.reset_estop()
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md.clear_alarm()
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md.write_act(0)
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sleep(write_diagnosis) # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置
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while count == 1:
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# 2. 修改要执行的场景
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rl_cmd = ""
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ssh = SSHClient()
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ssh.set_missing_host_key_policy(AutoAddPolicy())
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ssh.connect(hostname=clibs.ip_addr, port=clibs.ssh_port, username=clibs.username, password=clibs.password)
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if pon == "positive":
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rl_cmd = f"brake_E(j{axis}_{reach}_p, j{axis}_{reach}_n, p_speed, p_tool)"
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elif pon == "negative":
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rl_cmd = f"brake_E(j{axis}_{reach}_n, j{axis}_{reach}_p, p_speed, p_tool)"
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rl_speed = f"VelSet {speed}"
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rl_tool = f"tool p_tool = tool{sub.removeprefix("tool")}"
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cmd = "cd /home/luoshi/bin/controller/; "
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cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
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cmd += f'sudo sed -i "/DONOTDELETE/i {rl_cmd}" projects/target/_build/brake/main.mod; '
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cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
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cmd += f'sudo sed -i "/MoveAbsJ/i {rl_speed}" projects/target/_build/brake/main.mod; '
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cmd += 'sudo sed -i "/tool p_tool/d" projects/target/_build/brake/main.mod; '
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cmd += f'sudo sed -i "/VelSet/i {rl_tool}" projects/target/_build/brake/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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# 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
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hr.execution("overview.reload", prj_path=prj_path, tasks=["brake", "stop0_related"])
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hr.execution("rl_task.pp_to_main", tasks=["brake", "stop0_related"])
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hr.execution("state.switch_auto")
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hr.execution("state.switch_motor_on")
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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=["brake", "stop0_related"])
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t_start = 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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sleep(1)
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if (time() - t_start) // 20 > 1:
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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")
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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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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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clibs.execution("rl_task.stop", tasks=["brake"])
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# 找出最大速度
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@clibs.db_lock
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def get_speed_max(axis, pon):
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speed_max = 0
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len_records = int(get_init_speed * 20) + 1 # 1000 / 50 = 20
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clibs.cursor.execute(f"select content from logs where content like 'diagnosis.result' limit {len_records}")
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records = clibs.cursor.fetchall()
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for record in records:
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data = eval(record)["data"]
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for item in data:
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if item.get("channel", None) == axis-1 and item.get("name", None) == "hw_joint_vel_feedback":
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_ = clibs.RADIAN * sum(item["value"]) / len(item["value"])
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if pon == "positive":
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speed_max = max(_, speed_max)
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elif pon == "negative":
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speed_max = min(_, speed_max)
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return speed_max
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speed_max = abs(get_speed_max(axis, pon))
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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}", "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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md.write_speed_max(speed_max)
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if speed_max < 10:
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md.clear_alarm()
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w2t("未获取到正确的速度，即将重新获取...\n", "red")
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continue
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else:
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break
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# 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停
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md.reset_estop() # 其实没必要
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md.clear_alarm()
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hr.execution("rl_task.pp_to_main", tasks=["brake", "stop0_related"])
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hr.execution("state.switch_auto")
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hr.execution("state.switch_motor_on")
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hr.execution("rl_task.run", tasks=["brake", "stop0_related"])
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for i in range(3):
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if md.read_ready_to_go() == 1:
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md.write_act(1)
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break
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else:
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sleep(1)
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else:
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w2t("3s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...", "red", "ReadySignalTimeoutError")
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sleep(10) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
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md.write_probe(1)
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t_start = time()
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while True:
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if md.read_brake_done() == 1:
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sleep(4) # 保证速度归零
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md.write_probe(0)
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break
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else:
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sleep(1)
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if (time() - t_start) > 30:
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md.write_probe(0)
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w2t(f"30s 内未触发急停，该条数据无效，需要确认 RL/Python 程序配置正确并正常执行，或者判别是否是机器本体问题，比如正负方向速度是否一致...", "red", "NoEstopTriggeredError")
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# 6. 保留数据并处理输出
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gen_result_file(path, axis, reach, load, speed, rounds)
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else:
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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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hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
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hr.execution("diagnosis.set_params", display_pdo_params=[], frequency=50, version="1.4.1")
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def main():
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# path, hr, md, loadsel, w2t
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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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insert_logdb = clibs.insert_logdb
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s_time = time()
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data_dirs, data_files = clibs.traversal_files(path, w2t)
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config_file, reach33, reach66, reach100, prj_file, result_dirs, avs = 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, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t)
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e_time = time()
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time_total = e_time - s_time
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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", "green")
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if __name__ == "__main__":
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main()
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