WebSVN - Projects - Diff - Rev 564 and 565 - /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 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"
                 
        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 564	Rev 565
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	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 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):	146	for i in range(0,parMinSpeed):
147	time.sleep(.2)	147	time.sleep(.2)
148	for motor in parMotors:	148	for motor in parMotors:
149	motorStartSpeeds[motor-1] = i	149	motorStartSpeeds[motor-1] = i
150	mk.setMotorTest(motorStartSpeeds)	150	mk.setMotorTest(motorStartSpeeds)
151		151
152	if parVerbose:	152	if parVerbose:
153	print "OK"	153	print "OK"
154		154
155	for speed in parSpeeds:	155	for speed in parSpeeds:
156	if len(parChannels)>1:	156	if len(parChannels)>1:
157	print	157	print
158		158
159	if parVerbose:	159	if parVerbose:
160	print "Setting speed to %3d ..." % speed	160	print "Setting speed to %3d ..." % speed
161	motorSpeeds = [0,0,0,0]	161	motorSpeeds = [0,0,0,0]
162	for motor in parMotors:	162	for motor in parMotors:
163	motorSpeeds[motor-1] = speed	163	motorSpeeds[motor-1] = speed
164	for i in range(0,10):	164	for i in range(0,10):
165	time.sleep(.1)	165	time.sleep(.1)
166	mk.setMotorTest(motorSpeeds)	166	mk.setMotorTest(motorSpeeds)
167		167
168	for channel in parChannels:	168	for channel in parChannels:
169	channelName = CHANNEL_NAMES[channel]	169	channelName = CHANNEL_NAMES[channel]
170	if parVerbose:	170	if parVerbose:
171	print "Getting data... " ,	171	print "Getting data... " ,
172	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)	172	data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)
173	#data = (0,1,2)	173	#data = (0,1,2)
174	minval = min(data[1:])	174	minval = min(data[1:])
175	maxval = max(data[1:])	175	maxval = max(data[1:])
176	#if (maxval-minval)>100: print data	176	#if (maxval-minval)>100: print data
177	time.sleep(.1)	177	time.sleep(.1)
178	msg = mk.getDebugMsg()	178	msg = mk.getDebugMsg()
179	voltage = msg.getVoltage()	179	voltage = msg.getVoltage()
180		180
181	if voltage<minVoltage:	181	if voltage<minVoltage:
182	print "VOLTAGE TOO LOW, TEST ABORTED"	182	print "VOLTAGE TOO LOW, TEST ABORTED"
183	sys.exit(2)	183	sys.exit(2)
184		184
185	pp = maxval-minval;	185	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),	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 ""(min(pp,200)/5)	187	print ""(min(pp,200)/5)
188		188
189	if parFileName != None:	189	if parFileName != None:
190	try:	190	try:
191	logfile = open(parFileName, "r")	191	logfile = open(parFileName, "r")
192	newFile = False	192	newFile = False
193	except:	193	except:
194	newFile = True	194	newFile = True
195		195
196	if newFile:	196	if newFile:
197	logfile = open(parFileName, "w")	197	logfile = open(parFileName, "w")
198	if parVerbose:	198	if parVerbose:
199	print "Writing result to %s ..." % parFileName,	199	print "Writing result to %s ..." % parFileName,
200	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))	200	logfile.write("%s %d %s\n" % (parTestName, speed, channelName))
201	for value in data[1:]:	201	for value in data[1:]:
202	logfile.write("%d\n" % value)	202	logfile.write("%d\n" % value)
203	logfile.close()	203	logfile.close()
204	if parVerbose:	204	if parVerbose:
205	print "OK"	205	print "OK"
206	else:	206	else:
207	if parVerbose:	207	if parVerbose:
208	print "Appending result to %s ..." % parFileName,	208	print "Appending result to %s ..." % parFileName,
209	prevData = []	209	prevData = []
210	for line in logfile:	210	for line in logfile:
211	prevData.append(line[:-1])	211	prevData.append(line[:-1])
212	logfile.close()	212	logfile.close()
213	logfile = open(parFileName, "w")	213	logfile = open(parFileName, "w")
214	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))	214	logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))
215	i = 1	215	i = 1
216	for value in data[1:]:	216	for value in data[1:]:
217	logfile.write("%s,%d\n" % (prevData[i], value))	217	logfile.write("%s,%d\n" % (prevData[i], value))
218	i += 1	218	i += 1
219	logfile.close()	219	logfile.close()
220	if parVerbose:	220	if parVerbose:
221	print "OK"	221	print "OK"
222		222
223	mk.close()	223	mk.close()
224		224
225	except Exception,e:	225	except Exception,e:
226	print	226	print
227	print "== ERROR ==: \"%s\"" % e	227	print "== ERROR ==: \"%s\"" % e
228	if parVerbose:	228	if parVerbose:
229	print	229	print
230	print "Traceback:"	230	print "Traceback:"
231	traceback.print_exc()	231	traceback.print_exc()
232	print	232	print
233	raw_input("Press ENTER, the application will close")	233	raw_input("Press ENTER, the application will close")
234	print	234	print
235		235

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(root)/VibrationTest/trunk/VibrationTest/VibrationTest.py @ 653 - Rev 564 → 565