WebSVN - Projects - Diff - Rev 565 and 569 - /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:
            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 565	Rev 569
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	for i in range(0,parMinSpeed):	-
147	time.sleep(.2)	-
-		146
148	for motor in parMotors:	147	for motor in parMotors:
149	motorStartSpeeds[motor-1] = i	148	motorStartSpeeds[motor-1] = parMinSpeed
-		149	for i in range(10):
150	mk.setMotorTest(motorStartSpeeds)	150	mk.setMotorTest(motorStartSpeeds)
-		151	time.sleep(.1)
151		152
152	if parVerbose:	153	if parVerbose:
153	print "OK"	154	print "OK"
154		155
155	for speed in parSpeeds:	156	for speed in parSpeeds:
156	if len(parChannels)>1:	157	if len(parChannels)>1:
157	print	158	print
158		159
159	if parVerbose:	160	if parVerbose:
160	print "Setting speed to %3d ..." % speed	161	print "Setting speed to %3d ..." % speed
161	motorSpeeds = [0,0,0,0]	162	motorSpeeds = [0,0,0,0]
162	for motor in parMotors:	163	for motor in parMotors:
163	motorSpeeds[motor-1] = speed	164	motorSpeeds[motor-1] = speed
164	for i in range(0,10):	165	for i in range(0,10):
165	time.sleep(.1)	166	time.sleep(.1)
166	mk.setMotorTest(motorSpeeds)	167	mk.setMotorTest(motorSpeeds)
167		168
168	for channel in parChannels:	169	for channel in parChannels:
169	channelName = CHANNEL_NAMES[channel]	170	channelName = CHANNEL_NAMES[channel]
170	if parVerbose:	171	if parVerbose:
171	print "Getting data... " ,	172	print "Getting data... " ,
172	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)	173	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)
173	#data = (0,1,2)	174	#data = (0,1,2)
174	minval = min(data[1:])	175	minval = min(data[1:])
175	maxval = max(data[1:])	176	maxval = max(data[1:])
176	#if (maxval-minval)>100: print data	177	#if (maxval-minval)>100: print data
177	time.sleep(.1)	178	time.sleep(.1)
178	msg = mk.getDebugMsg()	179	msg = mk.getDebugMsg()
179	voltage = msg.getVoltage()	180	voltage = msg.getVoltage()
180		181
181	if voltage<minVoltage:	182	if voltage<minVoltage:
182	print "VOLTAGE TOO LOW, TEST ABORTED"	183	print "VOLTAGE TOO LOW, TEST ABORTED"
183	sys.exit(2)	184	sys.exit(2)
184		185
185	pp = maxval-minval;	186	pp = maxval-minval;
186	print "%10s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName, speed, voltage, channelName, minval, maxval, pp),	187	print "%10s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName, speed, voltage, channelName, minval, maxval, pp),
187	print ""(min(pp,200)/5)	188	print ""(min(pp,200)/5)
188		189
189	if parFileName != None:	190	if parFileName != None:
190	try:	191	try:
191	logfile = open(parFileName, "r")	192	logfile = open(parFileName, "r")
192	newFile = False	193	newFile = False
193	except:	194	except:
194	newFile = True	195	newFile = True
195		196
196	if newFile:	197	if newFile:
197	logfile = open(parFileName, "w")	198	logfile = open(parFileName, "w")
198	if parVerbose:	199	if parVerbose:
199	print "Writing result to %s ..." % parFileName,	200	print "Writing result to %s ..." % parFileName,
200	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))	201	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))
201	for value in data[1:]:	202	for value in data[1:]:
202	logfile.write("%d\n" % value)	203	logfile.write("%d\n" % value)
203	logfile.close()	204	logfile.close()
204	if parVerbose:	205	if parVerbose:
205	print "OK"	206	print "OK"
206	else:	207	else:
207	if parVerbose:	208	if parVerbose:
208	print "Appending result to %s ..." % parFileName,	209	print "Appending result to %s ..." % parFileName,
209	prevData = []	210	prevData = []
210	for line in logfile:	211	for line in logfile:
211	prevData.append(line[:-1])	212	prevData.append(line[:-1])
212	logfile.close()	213	logfile.close()
213	logfile = open(parFileName, "w")	214	logfile = open(parFileName, "w")
214	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))	215	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))
215	i = 1	216	i = 1
216	for value in data[1:]:	217	for value in data[1:]:
217	logfile.write("%s,%d\n" % (prevData[i], value))	218	logfile.write("%s,%d\n" % (prevData[i], value))
218	i += 1	219	i += 1
219	logfile.close()	220	logfile.close()
220	if parVerbose:	221	if parVerbose:
221	print "OK"	222	print "OK"
222		223
223	mk.close()	224	mk.close()
224		225
225	except Exception,e:	226	except Exception,e:
226	print	227	print
227	print "== ERROR ==: \"%s\"" % e	228	print "== ERROR ==: \"%s\"" % e
228	if parVerbose:	229	if parVerbose:
229	print	230	print
230	print "Traceback:"	231	print "Traceback:"
231	traceback.print_exc()	232	traceback.print_exc()
232	print	233	print
233	raw_input("Press ENTER, the application will close")	234	raw_input("Press ENTER, the application will close")
234	print	235	print
235		236

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(root)/VibrationTest/trunk/VibrationTest/VibrationTest.py @ 653 - Rev 565 → 569