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| #! /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 |
| |