WebSVN - Projects - Diff - Rev 554 and 556 - /VibrationTest/trunk/VibrationTest/VibrationTest.py


#! /usr/bin/env python
 
#
# Mikrokopter Vibration Test
#
# Author: FredericG
# 
 
 
import mkProto
import time
import traceback
import getopt
import sys
 
 
 
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)
       
        msg = mk.getVersionMsg()
        version = msg.getVersion()
        if parVerbose:
          print "Version: %d.%d" % version
        if version != (0,74):
          print "INVALID VERSION", version
          sys.exit(2)
         
         
        msg = mk.getDebugMsg()
        voltage = msg.getVoltage()
        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 i in range(0,parMinSpeed):
          time.sleep(.2)
          for motor in parMotors:
            motorStartSpeeds[motor-1] = i
          mk.setMotorTest(motorStartSpeeds)
         
        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"
         
    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 554	Rev 556
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		16
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	msg = mk.getVersionMsg()	118	msg = mk.getVersionMsg()
119	voltage = 0	119	version = msg.getVersion()
120	if parVerbose:	120	if parVerbose:
121	print "Version: %d.%d" % msg.getVersion()	121	print "Version: %d.%d" % version
-		122	if version != (0,74):
-		123	print "INVALID VERSION", version
-		124	sys.exit(2)
-		125
122		126
-		127	msg = mk.getDebugMsg()
123	msg = mk.getDebugMsg()	128	voltage = msg.getVoltage()
124	if (voltage > 4.2*3):	129	if (voltage > 4.2*3):
125	minVoltage = 4*3.5	130	minVoltage = 4*3.5
126	else:	131	else:
127	minVoltage = 3*3.5	132	minVoltage = 3*3.5
128		133
129	if parVerbose:	134	if parVerbose:
130	print "Voltage: %2.1fV" % msg.getVoltage()	135	print "Voltage: %2.1fV" % msg.getVoltage()
131	print "Minimum Voltage: %2.1fV" % minVoltage	136	print "Minimum Voltage: %2.1fV" % minVoltage
132		137
133	motorStartSpeeds = [0,0,0,0]	138	motorStartSpeeds = [0,0,0,0]
134		139
135	if parVerbose:	140	if parVerbose:
136	print "Starting motor(s) (speed=%d)... " % (parMinSpeed),	141	print "Starting motor(s) (speed=%d)... " % (parMinSpeed),
137	for i in range(0,parMinSpeed):	142	for i in range(0,parMinSpeed):
138	time.sleep(.2)	143	time.sleep(.2)
139	for motor in parMotors:	144	for motor in parMotors:
140	motorStartSpeeds[motor-1] = i	145	motorStartSpeeds[motor-1] = i
141	mk.setMotorTest(motorStartSpeeds)	146	mk.setMotorTest(motorStartSpeeds)
142		147
143	if parVerbose:	148	if parVerbose:
144	print "OK"	149	print "OK"
145		150
146	for speed in parSpeeds:	151	for speed in parSpeeds:
147	if len(parChannels)>1:	152	if len(parChannels)>1:
148	print	153	print
149		154
150	if parVerbose:	155	if parVerbose:
151	print "Setting speed to %3d ..." % speed	156	print "Setting speed to %3d ..." % speed
152	motorSpeeds = [0,0,0,0]	157	motorSpeeds = [0,0,0,0]
153	for motor in parMotors:	158	for motor in parMotors:
154	motorSpeeds[motor-1] = speed	159	motorSpeeds[motor-1] = speed
155	for i in range(0,10):	160	for i in range(0,10):
156	time.sleep(.1)	161	time.sleep(.1)
157	mk.setMotorTest(motorSpeeds)	162	mk.setMotorTest(motorSpeeds)
158		163
159	for channel in parChannels:	164	for channel in parChannels:
160	channelName = CHANNEL_NAMES[channel]	165	channelName = CHANNEL_NAMES[channel]
161	if parVerbose:	166	if parVerbose:
162	print "Getting data... " ,	167	print "Getting data... " ,
163	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)	168	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)
-		169	#data = (0,1,2)
164	minval = min(data[1:])	170	minval = min(data[1:])
165	maxval = max(data[1:])	171	maxval = max(data[1:])
166	if (maxval-minval)>100: print data	172	#if (maxval-minval)>100: print data
-		173	time.sleep(.1)
167	msg = mk.getDebugMsg()	174	msg = mk.getDebugMsg()
168	voltage = msg.getVoltage()	175	voltage = msg.getVoltage()
169		176
170	if voltage<minVoltage:	177	if voltage<minVoltage:
171	print "VOLTAGE TOO LOW, TEST ABORTED"	178	print "VOLTAGE TOO LOW, TEST ABORTED"
172	sys.exit(2)	179	sys.exit(2)
173		180
-		181	pp = maxval-minval;
174	print "%s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName, speed, voltage, channelName, minval, maxval, maxval-minval)	182	print "%10s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName, speed, voltage, channelName, minval, maxval, pp),
-		183	print ""(min(pp,200)/5)
175		184
176	if parFileName != None:	185	if parFileName != None:
177	try:	186	try:
178	logfile = open(parFileName, "r")	187	logfile = open(parFileName, "r")
179	newFile = False	188	newFile = False
180	except:	189	except:
181	newFile = True	190	newFile = True
182		191
183	if newFile:	192	if newFile:
184	logfile = open(parFileName, "w")	193	logfile = open(parFileName, "w")
185	if parVerbose:	194	if parVerbose:
186	print "Writing result to %s ..." % parFileName,	195	print "Writing result to %s ..." % parFileName,
187	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))	196	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))
188	for value in data[1:]:	197	for value in data[1:]:
189	logfile.write("%d\n" % value)	198	logfile.write("%d\n" % value)
190	logfile.close()	199	logfile.close()
191	if parVerbose:	200	if parVerbose:
192	print "OK"	201	print "OK"
193	else:	202	else:
194	if parVerbose:	203	if parVerbose:
195	print "Appending result to %s ..." % parFileName,	204	print "Appending result to %s ..." % parFileName,
196	prevData = []	205	prevData = []
197	for line in logfile:	206	for line in logfile:
198	prevData.append(line[:-1])	207	prevData.append(line[:-1])
199	logfile.close()	208	logfile.close()
200	logfile = open(parFileName, "w")	209	logfile = open(parFileName, "w")
201	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))	210	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))
202	i = 1	211	i = 1
203	for value in data[1:]:	212	for value in data[1:]:
204	logfile.write("%s,%d\n" % (prevData[i], value))	213	logfile.write("%s,%d\n" % (prevData[i], value))
205	i += 1	214	i += 1
206	logfile.close()	215	logfile.close()
207	if parVerbose:	216	if parVerbose:
208	print "OK"	217	print "OK"
209		218
210	except Exception,e:	219	except Exception,e:
211	print	220	print
212	print "== ERROR ==: \"%s\"" % e	221	print "== ERROR ==: \"%s\"" % e
213	if parVerbose:	222	if parVerbose:
214	print	223	print
215	print "Traceback:"	224	print "Traceback:"
216	traceback.print_exc()	225	traceback.print_exc()
217	print	226	print
218	raw_input("Press ENTER, the application will close")	227	raw_input("Press ENTER, the application will close")
219	print	228	print

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(root)/VibrationTest/trunk/VibrationTest/VibrationTest.py @ 563 - Rev 554 → 556