WebSVN - Projects - Diff - Rev 553 and 554 - /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()
        voltage = 0
        if parVerbose:
          print "Version: %d.%d" % msg.getVersion()
         
        msg = mk.getDebugMsg()
        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)
            minval = min(data[1:])
            maxval = max(data[1:])
            if (maxval-minval)>100: print data
            msg = mk.getDebugMsg()
            voltage = msg.getVoltage()
       
            if voltage<minVoltage:
              print "VOLTAGE TOO LOW, TEST ABORTED"
              sys.exit(2)
             
            print "%s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName,  speed, voltage, channelName, minval, maxval, maxval-minval)
             
            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 553	Rev 554
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. e.g. 50,80,110,140,170"	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"
-		27	print " Format 2: e.g. 100-200:50 Tests at speeds 100, 150 and 200"
26	print " CHANNELS Channels to monitor. e.g. 5,6,7"	28	print " CHANNELS Channels to monitor. e.g. 5,6,7"
27	i = 0	-
28	for channelName in CHANNEL_NAMES:	29	for i,channelName in enumerate(CHANNEL_NAMES):
29	print " Channel %d = %s" % (i, channelName)	30	print " Channel %d = %s" % (i, channelName)
30	i += 1	-
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():
-		39	usage()
-		40	sys.exit(2)
38		41
39	if __name__ == '__main__':	42	if __name__ == '__main__':
40		43
41	#print sys.argv	44	#print sys.argv
42	if len(sys.argv)<5:	45	if len(sys.argv)<5:
43	usage()	46	exit_usage()
44	sys.exit(2)	-
45		47
46	parComPort = sys.argv[1]	48	parComPort = sys.argv[1]
47	parMotors = sys.argv[2].split(',')	49	parMotors = sys.argv[2].split(',')
48	parSpeeds = sys.argv[3].split(',')	-
49	parChannels = sys.argv[4].split(',')	50	parChannels = sys.argv[4].split(',')
-		51
-		52	par = sys.argv[3]
-		53	if par.count("-") == 1:
-		54	# assume from-to:step format
-		55	par = par.split("-")
-		56	if len(par) != 2:
-		57	exit_usage()
-		58
-		59	par[1] = par[1].split(":")
-		60	if len(par[1]) != 2:
-		61	exit_usage()
-		62
-		63	parSpeeds = range(int(par[0]),int(par[1][0])+int(par[1][1]),int(par[1][1]))
-		64
-		65	else:
-		66	parSpeeds = par.split(',')
50		67
51	try:	68	try:
52	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")
53	except Exception, err:	70	except Exception, err:
54	print str(err) # will print something like "option -a not recognized"	71	print str(err) # will print something like "option -a not recognized"
55	usage()	72	usage()
56	sys.exit(2)	73	sys.exit(2)
57		74
58	parVerbose = False	75	parVerbose = False
59	parFileName = None	76	parFileName = None
60	parNbSamples = 400	77	parNbSamples = 400
61	parMinSpeed = 25	78	parMinSpeed = 25
62	parTestName = ""	79	parTestName = ""
63		80
64	for o, a in opts:	81	for o, a in opts:
65	if o == "-v":	82	if o == "-v":
66	parVerbose = True	83	parVerbose = True
67	elif o == "-d":	84	elif o == "-d":
68	parFileName = a	85	parFileName = a
69	elif o == "-s":	86	elif o == "-s":
70	parNbSamples = int(a)	87	parNbSamples = int(a)
71	elif o == "-m":	88	elif o == "-m":
72	parMinSpeed = int(a)	89	parMinSpeed = int(a)
73	elif o == "-n":	90	elif o == "-n":
74	parTestName = a	91	parTestName = a
75		92
76	else:	93	else:
77	assert False, "unhandled option %s" % (o)	94	assert False, "unhandled option %s" % (o)
78		95
79	if parVerbose:	96	if parVerbose:
80	print "comPort =", parComPort	97	print "comPort =", parComPort
81	print "motors =", parMotors	98	print "motors =", parMotors
82	print "minSpeed =", parMinSpeed	99	print "minSpeed =", parMinSpeed
83	print "speeds =", parSpeeds	100	print "speeds =", parSpeeds
84	print "channels =", parChannels	101	print "channels =", parChannels
85	print "nbSamples=", parNbSamples	102	print "nbSamples=", parNbSamples
86	print "fileName =", parFileName	103	print "fileName =", parFileName
87	print "testName =", parTestName	104	print "testName =", parTestName
88		105
89		106
90	try:	107	try:
91	parMotors = map(int, parMotors)	108	parMotors = map(int, parMotors)
92	parSpeeds = map(int, parSpeeds)	109	parSpeeds = map(int, parSpeeds)
93	parChannels = map(int, parChannels)	110	parChannels = map(int, parChannels)
94		111
95		112
96	if parVerbose:	113	if parVerbose:
97	print "Opening comPort... "	114	print "Opening comPort... "
98	mk = mkProto.MkComm()	115	mk = mkProto.MkComm()
99	mk.open(comPort=parComPort)	116	mk.open(comPort=parComPort)
100		117
101	msg = mk.getVersionMsg()	118	msg = mk.getVersionMsg()
102	voltage = 0	119	voltage = 0
103	if parVerbose:	120	if parVerbose:
104	print "Version: %d.%d" % msg.getVersion()	121	print "Version: %d.%d" % msg.getVersion()
105		122
106	msg = mk.getDebugMsg()	123	msg = mk.getDebugMsg()
107	if (voltage > 4.2*3):	124	if (voltage > 4.2*3):
108	minVoltage = 4*3.5	125	minVoltage = 4*3.5
109	else:	126	else:
110	minVoltage = 3*3.5	127	minVoltage = 3*3.5
111		128
112	if parVerbose:	129	if parVerbose:
113	print "Voltage: %2.1fV" % msg.getVoltage()	130	print "Voltage: %2.1fV" % msg.getVoltage()
114	print "Minimum Voltage: %2.1fV" % minVoltage	131	print "Minimum Voltage: %2.1fV" % minVoltage
115		132
116	motorStartSpeeds = [0,0,0,0]	133	motorStartSpeeds = [0,0,0,0]
117		134
118	if parVerbose:	135	if parVerbose:
119	print "Starting motor(s) (speed=%d)... " % (parMinSpeed),	136	print "Starting motor(s) (speed=%d)... " % (parMinSpeed),
120	for i in range(0,parMinSpeed):	137	for i in range(0,parMinSpeed):
121	time.sleep(.2)	138	time.sleep(.2)
122	for motor in parMotors:	139	for motor in parMotors:
123	motorStartSpeeds[motor-1] = i	140	motorStartSpeeds[motor-1] = i
124	mk.setMotorTest(motorStartSpeeds)	141	mk.setMotorTest(motorStartSpeeds)
125		142
126	if parVerbose:	143	if parVerbose:
127	print "OK"	144	print "OK"
128		145
129	for speed in parSpeeds:	146	for speed in parSpeeds:
130	if len(parChannels)>1:	147	if len(parChannels)>1:
131	print	148	print
132		149
133	if parVerbose:	150	if parVerbose:
134	print "Setting speed to %3d ..." % speed	151	print "Setting speed to %3d ..." % speed
135	motorSpeeds = [0,0,0,0]	152	motorSpeeds = [0,0,0,0]
136	for motor in parMotors:	153	for motor in parMotors:
137	motorSpeeds[motor-1] = speed	154	motorSpeeds[motor-1] = speed
138	for i in range(0,10):	155	for i in range(0,10):
139	time.sleep(.1)	156	time.sleep(.1)
140	mk.setMotorTest(motorSpeeds)	157	mk.setMotorTest(motorSpeeds)
141		158
142	for channel in parChannels:	159	for channel in parChannels:
143	channelName = CHANNEL_NAMES[channel]	160	channelName = CHANNEL_NAMES[channel]
144	if parVerbose:	161	if parVerbose:
145	print "Getting data... " ,	162	print "Getting data... " ,
146	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)	163	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)
147	minval = min(data[1:])	164	minval = min(data[1:])
148	maxval = max(data[1:])	165	maxval = max(data[1:])
149	if (maxval-minval)>100: print data	166	if (maxval-minval)>100: print data
150	msg = mk.getDebugMsg()	167	msg = mk.getDebugMsg()
151	voltage = msg.getVoltage()	168	voltage = msg.getVoltage()
152		169
153	if voltage<minVoltage:	170	if voltage<minVoltage:
154	print "VOLTAGE TOO LOW, TEST ABORTED"	171	print "VOLTAGE TOO LOW, TEST ABORTED"
155	sys.exit(2)	172	sys.exit(2)
156		173
157	print "%s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName, speed, voltage, channelName, minval, maxval, 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)
158		175
159	if parFileName != None:	176	if parFileName != None:
160	try:	177	try:
161	logfile = open(parFileName, "r")	178	logfile = open(parFileName, "r")
162	newFile = False	179	newFile = False
163	except:	180	except:
164	newFile = True	181	newFile = True
165		182
166	if newFile:	183	if newFile:
167	logfile = open(parFileName, "w")	184	logfile = open(parFileName, "w")
168	if parVerbose:	185	if parVerbose:
169	print "Writing result to %s ..." % parFileName,	186	print "Writing result to %s ..." % parFileName,
170	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))	187	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))
171	for value in data[1:]:	188	for value in data[1:]:
172	logfile.write("%d\n" % value)	189	logfile.write("%d\n" % value)
173	logfile.close()	190	logfile.close()
174	if parVerbose:	191	if parVerbose:
175	print "OK"	192	print "OK"
176	else:	193	else:
177	if parVerbose:	194	if parVerbose:
178	print "Appending result to %s ..." % parFileName,	195	print "Appending result to %s ..." % parFileName,
179	prevData = []	196	prevData = []
180	for line in logfile:	197	for line in logfile:
181	prevData.append(line[:-1])	198	prevData.append(line[:-1])
182	logfile.close()	199	logfile.close()
183	logfile = open(parFileName, "w")	200	logfile = open(parFileName, "w")
184	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))	201	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))
185	i = 1	202	i = 1
186	for value in data[1:]:	203	for value in data[1:]:
187	logfile.write("%s,%d\n" % (prevData[i], value))	204	logfile.write("%s,%d\n" % (prevData[i], value))
188	i += 1	205	i += 1
189	logfile.close()	206	logfile.close()
190	if parVerbose:	207	if parVerbose:
191	print "OK"	208	print "OK"
192		209
193	except Exception,e:	210	except Exception,e:
194	print	211	print
195	print "== ERROR ==: \"%s\"" % e	212	print "== ERROR ==: \"%s\"" % e
196	if parVerbose:	213	if parVerbose:
197	print	214	print
198	print "Traceback:"	215	print "Traceback:"
199	traceback.print_exc()	216	traceback.print_exc()
200	print	217	print
201	raw_input("Press ENTER, the application will close")	218	raw_input("Press ENTER, the application will close")
202	print	219	print

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