WebSVN - Projects - Blame - Rev 553 - /VibrationTest/branches/v1.2/VibrationTest/VibrationTest.py

Rev	Author	Line No.	Line
552	fredericg	1	#! /usr/bin/env python
		2
		3	#
		4	# Mikrokopter Vibration Test
		5	#
		6	# Author: FredericG
		7	#
		8
		9
		10	import mkProto
		11	import time
		12	import traceback
		13	import getopt
		14	import sys
		15
		16
		17
		18	CHANNEL_NAMES = ["GyroYaw", "GyroRoll", "GyroNick", "Pressure", "Batt", "AccTop", "AccRoll", "AccNick"]
		19
		20	def usage():
		21	print
		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"
		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. e.g. 50,80,110,140,170"
		26	print " CHANNELS Channels to monitor. e.g. 5,6,7"
		27	i = 0
		28	for channelName in CHANNEL_NAMES:
		29	print " Channel %d = %s" % (i, channelName)
		30	i += 1
		31	print " -m MINSPEED Minimum speed of the motor(s)"
		32	print " -s NBSAMPLES Number of samples"
		33	print " -n NAME Name of the test"
		34	print " -d FILENAME File to which the measured values will be logged in"
		35	print " -v Verbose"
		36	print
		37
		38
		39	if __name__ == '__main__':
		40
		41	#print sys.argv
		42	if len(sys.argv)<5:
		43	usage()
		44	sys.exit(2)
		45
		46	parComPort = sys.argv[1]
		47	parMotors = sys.argv[2].split(',')
		48	parSpeeds = sys.argv[3].split(',')
		49	parChannels = sys.argv[4].split(',')
		50
		51	try:
		52	opts, args = getopt.getopt(sys.argv[5:], "s:n:d:m:v")
		53	except Exception, err:
		54	print str(err) # will print something like "option -a not recognized"
		55	usage()
		56	sys.exit(2)
		57
		58	parVerbose = False
		59	parFileName = None
		60	parNbSamples = 400
		61	parMinSpeed = 25
		62	parTestName = ""
		63
		64	for o, a in opts:
		65	if o == "-v":
		66	parVerbose = True
		67	elif o == "-d":
		68	parFileName = a
		69	elif o == "-s":
		70	parNbSamples = int(a)
		71	elif o == "-m":
		72	parMinSpeed = int(a)
		73	elif o == "-n":
		74	parTestName = a
		75
		76	else:
		77	assert False, "unhandled option %s" % (o)
		78
		79	if parVerbose:
		80	print "comPort =", parComPort
		81	print "motors =", parMotors
		82	print "minSpeed =", parMinSpeed
		83	print "speeds =", parSpeeds
		84	print "channels =", parChannels
		85	print "nbSamples=", parNbSamples
		86	print "fileName =", parFileName
		87	print "testName =", parTestName
		88
		89
		90	try:
		91	parMotors = map(int, parMotors)
		92	parSpeeds = map(int, parSpeeds)
		93	parChannels = map(int, parChannels)
		94
		95
		96	if parVerbose:
		97	print "Opening comPort... "
		98	mk = mkProto.MkComm()
		99	mk.open(comPort=parComPort)
		100
		101	msg = mk.getVersionMsg()
		102	voltage = 0
		103	if parVerbose:
		104	print "Version: %d.%d" % msg.getVersion()
		105
		106	msg = mk.getDebugMsg()
		107	if (voltage > 4.2*3):
		108	minVoltage = 4*3.5
		109	else:
		110	minVoltage = 3*3.5
		111
		112	if parVerbose:
		113	print "Voltage: %2.1fV" % msg.getVoltage()
		114	print "Minimum Voltage: %2.1fV" % minVoltage
		115
		116	motorStartSpeeds = [0,0,0,0]
		117
		118	if parVerbose:
		119	print "Starting motor(s) (speed=%d)... " % (parMinSpeed),
		120	for i in range(0,parMinSpeed):
		121	time.sleep(.2)
		122	for motor in parMotors:
		123	motorStartSpeeds[motor-1] = i
		124	mk.setMotorTest(motorStartSpeeds)
		125
		126	if parVerbose:
		127	print "OK"
		128
		129	for speed in parSpeeds:
		130	if len(parChannels)>1:
		131	print
		132
		133	if parVerbose:
		134	print "Setting speed to %3d ..." % speed
		135	motorSpeeds = [0,0,0,0]
		136	for motor in parMotors:
		137	motorSpeeds[motor-1] = speed
		138	for i in range(0,10):
		139	time.sleep(.1)
		140	mk.setMotorTest(motorSpeeds)
		141
		142	for channel in parChannels:
		143	channelName = CHANNEL_NAMES[channel]
		144	if parVerbose:
		145	print "Getting data... " ,
		146	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)
553	FredericG	147	minval = min(data[1:])
		148	maxval = max(data[1:])
552	fredericg	149	if (maxval-minval)>100: print data
		150	msg = mk.getDebugMsg()
		151	voltage = msg.getVoltage()
		152
		153	if voltage<minVoltage:
		154	print "VOLTAGE TOO LOW, TEST ABORTED"
		155	sys.exit(2)
		156
		157	print "%s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName, speed, voltage, channelName, minval, maxval, maxval-minval)
		158
		159	if parFileName != None:
		160	try:
		161	logfile = open(parFileName, "r")
		162	newFile = False
		163	except:
		164	newFile = True
		165
		166	if newFile:
		167	logfile = open(parFileName, "w")
		168	if parVerbose:
		169	print "Writing result to %s ..." % parFileName,
		170	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))
		171	for value in data[1:]:
		172	logfile.write("%d\n" % value)
		173	logfile.close()
		174	if parVerbose:
		175	print "OK"
		176	else:
		177	if parVerbose:
		178	print "Appending result to %s ..." % parFileName,
		179	prevData = []
		180	for line in logfile:
		181	prevData.append(line[:-1])
		182	logfile.close()
		183	logfile = open(parFileName, "w")
		184	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))
		185	i = 1
		186	for value in data[1:]:
		187	logfile.write("%s,%d\n" % (prevData[i], value))
		188	i += 1
		189	logfile.close()
		190	if parVerbose:
		191	print "OK"
		192
		193	except Exception,e:
		194	print
		195	print "== ERROR ==: \"%s\"" % e
		196	if parVerbose:
		197	print
		198	print "Traceback:"
		199	traceback.print_exc()
		200	print
		201	raw_input("Press ENTER, the application will close")
		202	print

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