WebSVN - Projects - Diff - Rev 569 and 609 - /VibrationTest/trunk/VibrationTest/VibrationTest.py


#! /usr/bin/env python
 
#
# Mikrokopter Vibration Test
#
# Author: FredericG
# 
 
 
import mkProto
import time
import traceback
import getopt
import sys
 
CHECK_VERSION = False
 
CHANNEL_NAMES = ["GyroYaw", "GyroRoll", "GyroNick", "Pressure", "Batt", "AccTop", "AccRoll", "AccNick"]
 
def usage():
    print
    print "VibrationTest.py COMPORT MOTORS SPEEDS CHANNELS [-m MINSPEED] [-s NBSAMPLES] [-n NAME] [-d FILENAME] [-v]"
    print " COMPORT         Serial port to use. e.g. COM4"
    print " MOTORS          Motors to activate during test. Multiple motors can be used at the same time. e.g. 1,2,3,4"
    print " SPEEDS          Indicates at what speeds the motors need to be tested. "
    print "                   Format 1:  e.g. 50,110,140            Tests at speeds 50, 110 and 140"
    print "                   Format 2:  e.g. 100-200:50            Tests at speeds 100, 150 and 200"
    print " CHANNELS        Channels to monitor. e.g. 5,6,7"
    for i,channelName in enumerate(CHANNEL_NAMES):
      print "                   Channel %d = %s" % (i, channelName)
    print " -m MINSPEED     Minimum speed of the motor(s)"
    print " -s NBSAMPLES    Number of samples"
    print " -n NAME         Name of the test"
    print " -d FILENAME     File to which the measured values will be logged in"
    print " -v              Verbose"          
    print
   
def exit_usage():
    usage()
    sys.exit(2)
 
if __name__ == '__main__':
 
    #print sys.argv
    if len(sys.argv)<5:
        exit_usage()
 
    parComPort = sys.argv[1]
    parMotors = sys.argv[2].split(',')
    parChannels = sys.argv[4].split(',')
 
    par = sys.argv[3]
    if par.count("-") == 1:
        # assume from-to:step format
        par = par.split("-")
        if len(par) != 2:
            exit_usage()
           
        par[1] = par[1].split(":")
        if len(par[1]) != 2:
            exit_usage()
   
        parSpeeds = range(int(par[0]),int(par[1][0])+int(par[1][1]),int(par[1][1]))
       
    else:
        parSpeeds = par.split(',')
   
    try:
        opts, args = getopt.getopt(sys.argv[5:], "s:n:d:m:v")
    except Exception, err:
        print str(err) # will print something like "option -a not recognized"
        usage()
        sys.exit(2)
 
    parVerbose = False
    parFileName = None
    parNbSamples = 400
    parMinSpeed = 25
    parTestName = ""
 
    for o, a in opts:
        if o == "-v":
            parVerbose = True
        elif o == "-d":
            parFileName = a
        elif o == "-s":
            parNbSamples = int(a)
        elif o == "-m":
            parMinSpeed = int(a)
        elif o == "-n":
            parTestName = a
           
        else:
            assert False, "unhandled option %s" % (o)
 
    if parVerbose:
        print "comPort  =", parComPort
        print "motors   =", parMotors
        print "minSpeed =", parMinSpeed
        print "speeds   =", parSpeeds
        print "channels =", parChannels
        print "nbSamples=", parNbSamples
        print "fileName =", parFileName
        print "testName =", parTestName
 
 
    try:
        parMotors = map(int, parMotors)
        parSpeeds = map(int, parSpeeds)
        parChannels = map(int, parChannels)
       
       
        if parVerbose:
          print "Opening comPort... "
        mk = mkProto.MkComm()
        mk.open(comPort=parComPort)
       
        time.sleep(.1)
        msg = mk.getVersionMsg()
        version = msg.getVersion()
        if parVerbose:
          print "Version: %d.%d" % version
        if CHECK_VERSION and version != (0,74):
          print "INVALID VERSION", version
          sys.exit(2)
         
         
        msg = mk.getDebugMsg()
        voltage = msg.getVoltage()
        if (voltage == 0):
          minVoltage = 0
        else:
          if (voltage > 4.2*3):
            minVoltage = 4*3.5
          else:
            minVoltage = 3*3.5
 
        if parVerbose:
          print "Voltage: %2.1fV" % msg.getVoltage()
          print "Minimum Voltage: %2.1fV" % minVoltage
       
        motorStartSpeeds = [0,0,0,0]
       
        if parVerbose:
          print "Starting motor(s) (speed=%d)... " % (parMinSpeed),
         
        for motor in parMotors:
            motorStartSpeeds[motor-1] = parMinSpeed
        for i in range(10):
          mk.setMotorTest(motorStartSpeeds)
          time.sleep(.1)
         
        if parVerbose:
          print "OK"
   
        for speed in parSpeeds:
          if len(parChannels)>1:
            print
           
          if parVerbose:
            print "Setting speed to %3d ..." % speed
          motorSpeeds = [0,0,0,0]  
          for motor in parMotors:
            motorSpeeds[motor-1] = speed
          for i in range(0,10):
            time.sleep(.1)
            mk.setMotorTest(motorSpeeds)
           
          for channel in parChannels:
            mk.setMotorTest(motorSpeeds)
           
            channelName = CHANNEL_NAMES[channel]
            if parVerbose:
              print "Getting data... " ,
            data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)
            #data = (0,1,2)
            minval = min(data[1:])
            maxval = max(data[1:])
            #if (maxval-minval)>100: print data
            time.sleep(.1)
            msg = mk.getDebugMsg()
            voltage = msg.getVoltage()
       
            if voltage<minVoltage:
              print "VOLTAGE TOO LOW, TEST ABORTED"
              sys.exit(2)
             
            pp = maxval-minval;  
            print "%10s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName,  speed, voltage, channelName, minval, maxval, pp),
            print "*"*(min(pp,200)/5)
             
            if parFileName != None:
              try:
                logfile = open(parFileName, "r")
                newFile = False
              except:
                newFile = True
               
              if newFile:
                logfile = open(parFileName, "w")
                if parVerbose:
                  print "Writing result to %s ..." % parFileName,
                logfile.write("%s %d %s\n" % (parTestName, speed, channelName))
                for value in data[1:]:
                  logfile.write("%d\n" % value)
                logfile.close()
                if parVerbose:  
                  print "OK"
              else:
                if parVerbose:
                  print "Appending result to %s ..." % parFileName,
                prevData = []
                for line in logfile:
                  prevData.append(line[:-1])
                logfile.close()
                logfile = open(parFileName, "w")
                logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))
                i = 1
                for value in data[1:]:
                  logfile.write("%s,%d\n" % (prevData[i], value))
                  i += 1
                logfile.close()
                if parVerbose:
                  print "OK"
                 
        mk.close()
             
    except Exception,e:
      print
      print "== ERROR ==: \"%s\"" % e
      if parVerbose:
        print
        print "Traceback:"
        traceback.print_exc()
        print
      raw_input("Press ENTER, the application will close")
      print
     

Rev 569	Rev 609
1	#! /usr/bin/env python	1	#! /usr/bin/env python
2		2
3	#	3	#
4	# Mikrokopter Vibration Test	4	# Mikrokopter Vibration Test
5	#	5	#
6	# Author: FredericG	6	# Author: FredericG
7	#	7	#
8		8
9		9
10	import mkProto	10	import mkProto
11	import time	11	import time
12	import traceback	12	import traceback
13	import getopt	13	import getopt
14	import sys	14	import sys
15		15
16	CHECK_VERSION = False	16	CHECK_VERSION = False
17		17
18	CHANNEL_NAMES = ["GyroYaw", "GyroRoll", "GyroNick", "Pressure", "Batt", "AccTop", "AccRoll", "AccNick"]	18	CHANNEL_NAMES = ["GyroYaw", "GyroRoll", "GyroNick", "Pressure", "Batt", "AccTop", "AccRoll", "AccNick"]
19		19
20	def usage():	20	def usage():
21	print	21	print
22	print "VibrationTest.py COMPORT MOTORS SPEEDS CHANNELS [-m MINSPEED] [-s NBSAMPLES] [-n NAME] [-d FILENAME] [-v]"	22	print "VibrationTest.py COMPORT MOTORS SPEEDS CHANNELS [-m MINSPEED] [-s NBSAMPLES] [-n NAME] [-d FILENAME] [-v]"
23	print " COMPORT Serial port to use. e.g. COM4"	23	print " COMPORT Serial port to use. e.g. COM4"
24	print " MOTORS Motors to activate during test. Multiple motors can be used at the same time. e.g. 1,2,3,4"	24	print " MOTORS Motors to activate during test. Multiple motors can be used at the same time. e.g. 1,2,3,4"
25	print " SPEEDS Indicates at what speeds the motors need to be tested. "	25	print " SPEEDS Indicates at what speeds the motors need to be tested. "
26	print " Format 1: e.g. 50,110,140 Tests at speeds 50, 110 and 140"	26	print " Format 1: e.g. 50,110,140 Tests at speeds 50, 110 and 140"
27	print " Format 2: e.g. 100-200:50 Tests at speeds 100, 150 and 200"	27	print " Format 2: e.g. 100-200:50 Tests at speeds 100, 150 and 200"
28	print " CHANNELS Channels to monitor. e.g. 5,6,7"	28	print " CHANNELS Channels to monitor. e.g. 5,6,7"
29	for i,channelName in enumerate(CHANNEL_NAMES):	29	for i,channelName in enumerate(CHANNEL_NAMES):
30	print " Channel %d = %s" % (i, channelName)	30	print " Channel %d = %s" % (i, channelName)
31	print " -m MINSPEED Minimum speed of the motor(s)"	31	print " -m MINSPEED Minimum speed of the motor(s)"
32	print " -s NBSAMPLES Number of samples"	32	print " -s NBSAMPLES Number of samples"
33	print " -n NAME Name of the test"	33	print " -n NAME Name of the test"
34	print " -d FILENAME File to which the measured values will be logged in"	34	print " -d FILENAME File to which the measured values will be logged in"
35	print " -v Verbose"	35	print " -v Verbose"
36	print	36	print
37		37
38	def exit_usage():	38	def exit_usage():
39	usage()	39	usage()
40	sys.exit(2)	40	sys.exit(2)
41		41
42	if __name__ == '__main__':	42	if __name__ == '__main__':
43		43
44	#print sys.argv	44	#print sys.argv
45	if len(sys.argv)<5:	45	if len(sys.argv)<5:
46	exit_usage()	46	exit_usage()
47		47
48	parComPort = sys.argv[1]	48	parComPort = sys.argv[1]
49	parMotors = sys.argv[2].split(',')	49	parMotors = sys.argv[2].split(',')
50	parChannels = sys.argv[4].split(',')	50	parChannels = sys.argv[4].split(',')
51		51
52	par = sys.argv[3]	52	par = sys.argv[3]
53	if par.count("-") == 1:	53	if par.count("-") == 1:
54	# assume from-to:step format	54	# assume from-to:step format
55	par = par.split("-")	55	par = par.split("-")
56	if len(par) != 2:	56	if len(par) != 2:
57	exit_usage()	57	exit_usage()
58		58
59	par[1] = par[1].split(":")	59	par[1] = par[1].split(":")
60	if len(par[1]) != 2:	60	if len(par[1]) != 2:
61	exit_usage()	61	exit_usage()
62		62
63	parSpeeds = range(int(par[0]),int(par[1][0])+int(par[1][1]),int(par[1][1]))	63	parSpeeds = range(int(par[0]),int(par[1][0])+int(par[1][1]),int(par[1][1]))
64		64
65	else:	65	else:
66	parSpeeds = par.split(',')	66	parSpeeds = par.split(',')
67		67
68	try:	68	try:
69	opts, args = getopt.getopt(sys.argv[5:], "s:n:d:m:v")	69	opts, args = getopt.getopt(sys.argv[5:], "s:n:d:m:v")
70	except Exception, err:	70	except Exception, err:
71	print str(err) # will print something like "option -a not recognized"	71	print str(err) # will print something like "option -a not recognized"
72	usage()	72	usage()
73	sys.exit(2)	73	sys.exit(2)
74		74
75	parVerbose = False	75	parVerbose = False
76	parFileName = None	76	parFileName = None
77	parNbSamples = 400	77	parNbSamples = 400
78	parMinSpeed = 25	78	parMinSpeed = 25
79	parTestName = ""	79	parTestName = ""
80		80
81	for o, a in opts:	81	for o, a in opts:
82	if o == "-v":	82	if o == "-v":
83	parVerbose = True	83	parVerbose = True
84	elif o == "-d":	84	elif o == "-d":
85	parFileName = a	85	parFileName = a
86	elif o == "-s":	86	elif o == "-s":
87	parNbSamples = int(a)	87	parNbSamples = int(a)
88	elif o == "-m":	88	elif o == "-m":
89	parMinSpeed = int(a)	89	parMinSpeed = int(a)
90	elif o == "-n":	90	elif o == "-n":
91	parTestName = a	91	parTestName = a
92		92
93	else:	93	else:
94	assert False, "unhandled option %s" % (o)	94	assert False, "unhandled option %s" % (o)
95		95
96	if parVerbose:	96	if parVerbose:
97	print "comPort =", parComPort	97	print "comPort =", parComPort
98	print "motors =", parMotors	98	print "motors =", parMotors
99	print "minSpeed =", parMinSpeed	99	print "minSpeed =", parMinSpeed
100	print "speeds =", parSpeeds	100	print "speeds =", parSpeeds
101	print "channels =", parChannels	101	print "channels =", parChannels
102	print "nbSamples=", parNbSamples	102	print "nbSamples=", parNbSamples
103	print "fileName =", parFileName	103	print "fileName =", parFileName
104	print "testName =", parTestName	104	print "testName =", parTestName
105		105
106		106
107	try:	107	try:
108	parMotors = map(int, parMotors)	108	parMotors = map(int, parMotors)
109	parSpeeds = map(int, parSpeeds)	109	parSpeeds = map(int, parSpeeds)
110	parChannels = map(int, parChannels)	110	parChannels = map(int, parChannels)
111		111
112		112
113	if parVerbose:	113	if parVerbose:
114	print "Opening comPort... "	114	print "Opening comPort... "
115	mk = mkProto.MkComm()	115	mk = mkProto.MkComm()
116	mk.open(comPort=parComPort)	116	mk.open(comPort=parComPort)
117		117
118	time.sleep(.1)	118	time.sleep(.1)
119	msg = mk.getVersionMsg()	119	msg = mk.getVersionMsg()
120	version = msg.getVersion()	120	version = msg.getVersion()
121	if parVerbose:	121	if parVerbose:
122	print "Version: %d.%d" % version	122	print "Version: %d.%d" % version
123	if CHECK_VERSION and version != (0,74):	123	if CHECK_VERSION and version != (0,74):
124	print "INVALID VERSION", version	124	print "INVALID VERSION", version
125	sys.exit(2)	125	sys.exit(2)
126		126
127		127
128	msg = mk.getDebugMsg()	128	msg = mk.getDebugMsg()
129	voltage = msg.getVoltage()	129	voltage = msg.getVoltage()
130	if (voltage == 0):	130	if (voltage == 0):
131	minVoltage = 0	131	minVoltage = 0
132	else:	132	else:
133	if (voltage > 4.2*3):	133	if (voltage > 4.2*3):
134	minVoltage = 4*3.5	134	minVoltage = 4*3.5
135	else:	135	else:
136	minVoltage = 3*3.5	136	minVoltage = 3*3.5
137		137
138	if parVerbose:	138	if parVerbose:
139	print "Voltage: %2.1fV" % msg.getVoltage()	139	print "Voltage: %2.1fV" % msg.getVoltage()
140	print "Minimum Voltage: %2.1fV" % minVoltage	140	print "Minimum Voltage: %2.1fV" % minVoltage
141		141
142	motorStartSpeeds = [0,0,0,0]	142	motorStartSpeeds = [0,0,0,0]
143		143
144	if parVerbose:	144	if parVerbose:
145	print "Starting motor(s) (speed=%d)... " % (parMinSpeed),	145	print "Starting motor(s) (speed=%d)... " % (parMinSpeed),
146		146
147	for motor in parMotors:	147	for motor in parMotors:
148	motorStartSpeeds[motor-1] = parMinSpeed	148	motorStartSpeeds[motor-1] = parMinSpeed
149	for i in range(10):	149	for i in range(10):
150	mk.setMotorTest(motorStartSpeeds)	150	mk.setMotorTest(motorStartSpeeds)
151	time.sleep(.1)	151	time.sleep(.1)
152		152
153	if parVerbose:	153	if parVerbose:
154	print "OK"	154	print "OK"
155		155
156	for speed in parSpeeds:	156	for speed in parSpeeds:
157	if len(parChannels)>1:	157	if len(parChannels)>1:
158	print	158	print
159		159
160	if parVerbose:	160	if parVerbose:
161	print "Setting speed to %3d ..." % speed	161	print "Setting speed to %3d ..." % speed
162	motorSpeeds = [0,0,0,0]	162	motorSpeeds = [0,0,0,0]
163	for motor in parMotors:	163	for motor in parMotors:
164	motorSpeeds[motor-1] = speed	164	motorSpeeds[motor-1] = speed
165	for i in range(0,10):	165	for i in range(0,10):
166	time.sleep(.1)	166	time.sleep(.1)
167	mk.setMotorTest(motorSpeeds)	167	mk.setMotorTest(motorSpeeds)
168		168
169	for channel in parChannels:	169	for channel in parChannels:
-		170	mk.setMotorTest(motorSpeeds)
-		171
170	channelName = CHANNEL_NAMES[channel]	172	channelName = CHANNEL_NAMES[channel]
171	if parVerbose:	173	if parVerbose:
172	print "Getting data... " ,	174	print "Getting data... " ,
173	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)	175	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)
174	#data = (0,1,2)	176	#data = (0,1,2)
175	minval = min(data[1:])	177	minval = min(data[1:])
176	maxval = max(data[1:])	178	maxval = max(data[1:])
177	#if (maxval-minval)>100: print data	179	#if (maxval-minval)>100: print data
178	time.sleep(.1)	180	time.sleep(.1)
179	msg = mk.getDebugMsg()	181	msg = mk.getDebugMsg()
180	voltage = msg.getVoltage()	182	voltage = msg.getVoltage()
181		183
182	if voltage<minVoltage:	184	if voltage<minVoltage:
183	print "VOLTAGE TOO LOW, TEST ABORTED"	185	print "VOLTAGE TOO LOW, TEST ABORTED"
184	sys.exit(2)	186	sys.exit(2)
185		187
186	pp = maxval-minval;	188	pp = maxval-minval;
187	print "%10s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName, speed, voltage, channelName, minval, maxval, pp),	189	print "%10s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName, speed, voltage, channelName, minval, maxval, pp),
188	print ""(min(pp,200)/5)	190	print ""(min(pp,200)/5)
189		191
190	if parFileName != None:	192	if parFileName != None:
191	try:	193	try:
192	logfile = open(parFileName, "r")	194	logfile = open(parFileName, "r")
193	newFile = False	195	newFile = False
194	except:	196	except:
195	newFile = True	197	newFile = True
196		198
197	if newFile:	199	if newFile:
198	logfile = open(parFileName, "w")	200	logfile = open(parFileName, "w")
199	if parVerbose:	201	if parVerbose:
200	print "Writing result to %s ..." % parFileName,	202	print "Writing result to %s ..." % parFileName,
201	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))	203	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))
202	for value in data[1:]:	204	for value in data[1:]:
203	logfile.write("%d\n" % value)	205	logfile.write("%d\n" % value)
204	logfile.close()	206	logfile.close()
205	if parVerbose:	207	if parVerbose:
206	print "OK"	208	print "OK"
207	else:	209	else:
208	if parVerbose:	210	if parVerbose:
209	print "Appending result to %s ..." % parFileName,	211	print "Appending result to %s ..." % parFileName,
210	prevData = []	212	prevData = []
211	for line in logfile:	213	for line in logfile:
212	prevData.append(line[:-1])	214	prevData.append(line[:-1])
213	logfile.close()	215	logfile.close()
214	logfile = open(parFileName, "w")	216	logfile = open(parFileName, "w")
215	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))	217	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))
216	i = 1	218	i = 1
217	for value in data[1:]:	219	for value in data[1:]:
218	logfile.write("%s,%d\n" % (prevData[i], value))	220	logfile.write("%s,%d\n" % (prevData[i], value))
219	i += 1	221	i += 1
220	logfile.close()	222	logfile.close()
221	if parVerbose:	223	if parVerbose:
222	print "OK"	224	print "OK"
223		225
224	mk.close()	226	mk.close()
225		227
226	except Exception,e:	228	except Exception,e:
227	print	229	print
228	print "== ERROR ==: \"%s\"" % e	230	print "== ERROR ==: \"%s\"" % e
229	if parVerbose:	231	if parVerbose:
230	print	232	print
231	print "Traceback:"	233	print "Traceback:"
232	traceback.print_exc()	234	traceback.print_exc()
233	print	235	print
234	raw_input("Press ENTER, the application will close")	236	raw_input("Press ENTER, the application will close")
235	print	237	print
236		238

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(root)/VibrationTest/trunk/VibrationTest/VibrationTest.py @ 690 - Rev 569 → 609