release robot-leveling-test.02.18

Author: andy

__version__.py

@@ -1,7 +1,7 @@
 import os
 import subprocess
 
-VERSION = '1.4.9'
+VERSION = '1.5.4'
 
 
 def get_version():

devices/laser_stj_10_m0.py

@@ -24,17 +24,19 @@ def init_device(self, select_default=''):
         get device
         :return:
         """
+        print(f"Init device: port - {select_default}")
         if self.accuracy == "high":
-            self.serial.init(115200, select_default=select_default)
+            self.serial.init(115200, select_default=select_default, device_name="Laser Sensor")
         else:
-            self.serial.init(9600, select_default=select_default)
+            self.serial.init(9600, select_default=select_default, device_name="Laser Sensor")
 
     def close(self):
         self.serial.close()
 
     def get_mount(self):
         for _i in range(5):
             result = self.serial.write_and_get_buffer(GET_MOUNT, delay=3)
+            print(f"Getting Mount Result: {result}")
             if "ADS1115" in str(result):
                 continue
             if "L" in str(result).upper():
@@ -43,7 +45,7 @@ def get_mount(self):
                 return 'right'
             else:
                 pass
-        raise ValueError("Failed to find mount")
+        raise ValueError(f"Failed to find mount")
 
     def read_sensor_high(self):
         result = self.serial.write_and_get_buffer(MEASURE_CODE)
@@ -66,8 +68,14 @@ def read_sensor_high(self):
 
     def read_sensor_low(self, show_distance=False):
         multi_value = {}
-        result = self.serial.write_and_get_buffer(LOW_MEASURE_CODE)
-        result = result.decode('utf-8')
+        result = None
+        for i in range(5):
+            result = self.serial.write_and_get_buffer(LOW_MEASURE_CODE)
+            if len(result) == 0:
+                continue
+            result = result.decode('utf-8')
+            break
+        assert result, "read sensor fail"
         for index, item in enumerate(result.split(',')):
             if ":" not in item:
                 continue
@@ -80,11 +88,12 @@ def read_sensor_low(self, show_distance=False):
 
 
 if __name__ == '__main__':
+
     ls = LaserSensor()
     ls.init_device()
 
-    # mount = ls.get_mount()
-    # print(f"Mount: {mount}")
+    mount = ls.get_mount()
+    print(f"Mount: {mount}")
     # while True:
     #     res = ls.read_sensor_low(show_distance=True)
     #     print(f"Distance: {res}")

devices/low_scale.py

@@ -0,0 +1,21 @@
+from drivers.serial_driver import SerialDriver
+
+
+class Scale:
+    def __init__(self):
+        self.scale = SerialDriver()
+        self.scale.init(9600, device_name="Scale")
+
+    def read_volume(self):
+        res = self.scale.write_and_get_buffer("S")
+        print(f"Scale: {res}")
+        res = res.split()
+        for item in res:
+            if '.' in str(item):
+                res = float(item)
+        return res
+
+
+if __name__ == '__main__':
+    s = Scale()
+    s.read_volume()

drivers/serial_driver.py

@@ -20,7 +20,7 @@ def __init__(self):
         self.com = None
         self.receive_buffer = None
 
-    def get_device(self, select_default=''):
+    def get_device(self, select_default='', device_name=""):
         """
         select device
         :return:
@@ -32,7 +32,7 @@ def get_device(self, select_default=''):
             print("=" * 5 + "PORT LIST" + "=" * 5)
             for index, p in enumerate(port_list):
                 print(f"{index + 1} >>{p.device}")
-            select = input("Select Port Number(输入串口号对应的数字):")
+            select = input(f"Select Port Number(输入串口号对应的数字) -- {device_name}:")
             self.device = port_list[int(select.strip()) - 1].device
 
     def init_serial(self, baud):
@@ -44,6 +44,7 @@ def init_serial(self, baud):
         """
         self.com = serial.Serial(self.device, baud, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE,
                                  bytesize=serial.EIGHTBITS, timeout=1)
+        assert self.com, "Init serial failed"
         if self.com.isOpen():
             print(f"{self.device} Opened! \n")
         # settings
@@ -59,12 +60,12 @@ def close(self):
         self.com.close()
         print(f"{self.device} Closed! \n")
 
-    def init(self, baud, select_default=''):
+    def init(self, baud, select_default='', device_name=""):
         """
         main
         :return:
         """
-        self.get_device(select_default=select_default)
+        self.get_device(select_default=select_default, device_name=device_name)
         try:
             self.init_serial(baud)
         except:

drivers/test.py

@@ -9,11 +9,11 @@ class CalibrateMethod(enum.Enum):
 
 SlotLocationCH96 = {"C1-Y": {"Point": Point(223, 203, 318), "compensation": {"left_rear": -0.189, "left_front": 0},
                              "definition": ["left_front", "left_rear"]},
-                    "C3-Y": {"Point": Point(207, 203, 318), "compensation": {"right_rear": -0.003, "right_front": 0},
+                    "C3-Y": {"Point": Point(207, 203, 318), "compensation": {"right_rear": -0.028, "right_front": 0},
                              "definition": ["left_front", "left_rear"]},
                     "A2-Y": {"Point": Point(387, 421, 318), "compensation": {"left_rear": -0.208, "left_front": 0},
                              "definition": ["left_front", "left_rear"]},
-                    "C1-X": {"Point": Point(50, 91, 300), "compensation": {"rear_left": 0, "rear_right": 0.207},
+                    "C1-X": {"Point": Point(50, 91, 300), "compensation": {"rear_left": 0, "rear_right": -0.078},
                              "definition": ["rear_left", "rear_right"]},
                     "C3-X": {"Point": Point(382, 91, 300), "compensation": {"rear_left": 0, "rear_right": 0.073},
                              "definition": ["rear_left", "rear_right"]},

ot3_testing/test_config/pipette_leveling_config.py

@@ -4,6 +4,8 @@
 from devices.laser_stj_10_m0 import LaserSensor
 import time
 
+DEBUGGING_MODE = False
+
 
 class TestBase:
     def __init__(self):
@@ -120,7 +122,11 @@ async def read_definition_distance(self, definition: List, channel_definition, l
             # 读取五次，去掉最大最小，取平均值
             for i in range(read_times):
                 print(f"Reading {i + 1} times...")
-                code_value_list = laser.read_sensor_low()
+                while True:
+                    code_value_list = laser.read_sensor_low()
+                    if code_value_list != {}:
+                        break
+                    print(f"read wrong value: {code_value_list}")
                 sensor_readers.append(code_value_list)  # {1: xx, 2: xx}
         except:
             read_successful = False
@@ -146,8 +152,10 @@ def sensor_readers_handler(sensor_readers):
                 else:
                     _min = _avg
                     _max = _avg
-                print(f"min: {_min}, max: {_max}, avg: {_avg}")
-                print(f"{key}: {value}")
+                if DEBUGGING_MODE:
+                    print("各通道取平均如下：")
+                    print(f"{key}: {value}")
+                    print(f"min: {_min}, max: {_max}, avg: {_avg}")
 
                 handler.update({key: _avg})
             return handler

ot3_testing/tests/__pycache__/base_init.cpython-37.pyc

@@ -7,6 +7,7 @@
 from typing import List
 from utils import Utils
 import os, datetime
+from ot3_testing.tests.base_init import DEBUGGING_MODE
 
 ApplyCompensationFlag = True
 CalibrateFlag = True
@@ -59,7 +60,7 @@ async def move_step_with_test_name(self, test_name: str, direction: str, step=0.
         elif method == CalibrateMethod.Approach and self.approaching:
             step = 0.06
         elif method == CalibrateMethod.Approach and not self.approaching:
-            step = gap * 2
+            step = gap * 0.95
             self.approaching = True
 
         _point: Point = self.slot_location[self.mount][test_name]["point"]
@@ -186,9 +187,11 @@ async def run_gripper_test(self, flex_name, project_path=None):
             csv_list = []
             now = datetime.datetime.now()
             time_str = now.strftime("%Y-%m-%d %H:%M:%S ")
-            csv_list.append(time_str + flex_name)
-            csv_title.append(time_str + flex_name)
+            csv_list.append(flex_name)
+            csv_title.append(flex_name)
             compensation_tag = "" if index == 0 else "with_compensation"
+            if compensation_tag:
+                continue
             print(f"==== 测试结果 {compensation_tag} ====")
             for key, value in result.items():
                 difference = abs(list(value.values())[0] - list(value.values())[1])
@@ -211,5 +214,5 @@ async def run_gripper_test(self, flex_name, project_path=None):
 
 
 if __name__ == '__main__':
-    _gripper = GripperLeveling(Gripper_Position, "192.168.6.33")
+    _gripper = GripperLeveling(Gripper_Position, "192.168.6.152")
     asyncio.run(_gripper.run_gripper_test("xxx"))