private void TestSequence_Thread(SrbThread.dIsThreadStoping IsStoping)
{
int max_speed = (bgd.pid_clu.k0 * 1024 / (bgd.pid_clu.k1 + 1024)) - 10;
int s0 = 0;
int s1 = max_speed / 4;
int s2 = max_speed * 3 / 4;
int[] speed_table_1 = { s0, s1, s2, s1, s2, s1, s2, s0, -s1, -s2, -s1, -s2, -s1, -s2, s0 };
Stopwatch sw = new Stopwatch();
string output_csv = "time,target_s,sensor_s,odometer\n";
double time = 0;
while (true)
{
sw.Restart();
int i = ((int)time) / 1000;
if (i >= speed_table_1.Length)
{
break;
}
bgd.target_speed = speed_table_1[((int)time) / 1000];
bgd.addDataAccess(1, true);
output_csv += string.Format("{0},{1},{2},{3}\n", time, bgd.target_speed, bgd.sensor_speed, bgd.odometer / 10.0);
if (IsStoping())
{
break;
}
while (getElapsedMs(sw) < period_in_ms)
{
;
}
time += period_in_ms;
}
string path = "./log/SpeedMotor-test-record/";
path += System.DateTime.Now.ToString("yy-MM-dd");
path += "/";
System.IO.Directory.CreateDirectory(path);//如果文件夹不存在就创建它
string time_str = System.DateTime.Now.ToString("HHmmss");
string Table_file = path + "speed_table_1" + time_str + ".csv";
try
{
System.IO.File.WriteAllText(Table_file, output_csv, System.Text.Encoding.UTF8);
}
catch (Exception exp)
{
MessageBox.Show(exp.ToString(), "不能写日志文件！");
}
try
{
System.Diagnostics.Process.Start(Application.StartupPath + "/" + Table_file);
}
catch (Exception exp)
{
MessageBox.Show(exp.ToString(), "不能打开日志文件！");
}
return;
}
private void sync_test_Thread(SrbThread.dIsThreadStoping IsStoping)
{
Node[] sync_check_nodes = null;
string sync_check_str = null;
while (true)
{
sync_bc.getSyncStatus(ref sync_check_str, ref sync_check_nodes);
System.Threading.Thread.Sleep(500);
if (IsStoping())
{
string path = "./log/Sync-record/";
path += System.DateTime.Now.ToString("yy-MM-dd");
path += "/";
System.IO.Directory.CreateDirectory(path);//如果文件夹不存在就创建它
string time_str = System.DateTime.Now.ToString("HHmmss");
string Table_file = path + "Sync" + time_str + ".csv";
string Png_file = path + "Sync" + time_str + ".png";
string md_file = path + "Sync" + time_str + ".md";
string R_Argument = path + "Sync" + time_str;
try
{
System.IO.File.WriteAllText(Table_file, sync_check_str, System.Text.Encoding.ASCII);
}
catch (Exception exp)
{
MessageBox.Show(exp.ToString(), "不能写日志文件！");
}
string cmdStr = string.Format(@"{2}/{0} {2}/{1}",
"R/SyncTest.r", R_Argument, Application.StartupPath);
SRB.Frame.LanguageR.run(cmdStr);
try
{
System.Diagnostics.Process.Start(Application.StartupPath + "/" + Png_file);
}
catch (Exception exp)
{
MessageBox.Show(exp.ToString(), "没有找到图像");
}
try
{
System.Diagnostics.Process.Start(Application.StartupPath + "/" + md_file);
}
catch (Exception exp)
{
MessageBox.Show(exp.ToString(), "没有找到文档");
}
return;
}
}
}
private void burnAllSTH(SrbThread.dIsThreadStoping IsStoping)
{
System.Collections.Generic.Queue <Node> node_to_update = new System.Collections.Generic.Queue <Node>();
appendInfo(null);
foreach (Node n in bus)
{
if (n.Is_in_update == true)
{
node_to_update.Enqueue(n);
}
}
if (node_to_update.Count == 0)
{
appendInfo("No Node in update mode. " +
"You may connect new nodes or set some nodes to update mode, than try burn all.\n");
}
else
{
appendInfo(string.Format(
"{0} node(s) waiting to be burn.\n\n", node_to_update.Count));
int node_counter = 0;
foreach (Node n in node_to_update)
{
if (IsStoping())
{
appendInfo("Update all canceled.");
return;
}
node_counter++;
string hc = n.Updater.Hardware_code;
appendInfo(string.Format(
"node {0}/{1} burning. hardware code is {2}\n",
node_counter, node_to_update.Count, hc));
var sup_file = sup_loader.findByHardwareCode(hc);
if (sup_file != null)
{
n.Updater.loadFile(sup_file);
n.Updater.update();
n.gotoNormalMode();
appendInfo(string.Format(
"\tburning done\n", hc));
}
else
{
appendInfo(string.Format(
"\t.sup file not found for {0}, burning cancled", hc));
}
}
}
}
private void motor_test_Thread(SrbThread.dIsThreadStoping IsStoping)
{
Stopwatch sw = new Stopwatch();
int speed;
string output_csv = "时间,目标速度,传感速度,里程计\n";
double time = 0;
while (true)
{
sw.Restart();
lock (speed_lock)
{
speed = this.speed;
}
bgd.target_speed = speed;
bgd.addDataAccess(1, true);
output_csv += string.Format("{0},{1},{2},{3}\n", time, speed, bgd.sensor_speed, bgd.odometer / 10.0);
if (IsStoping())
{
string path = "./log/测速电机调试记录/";
path += System.DateTime.Now.ToString("yy-MM-dd");
path += "/";
System.IO.Directory.CreateDirectory(path);//如果文件夹不存在就创建它
string time_str = System.DateTime.Now.ToString("HHmmss");
string Table_file = path + "电机数据" + time_str + ".csv";
try
{
System.IO.File.WriteAllText(Table_file, output_csv, System.Text.Encoding.UTF8);
}
catch (Exception exp)
{
MessageBox.Show(exp.ToString(), "不能写日志文件！");
}
try
{
System.Diagnostics.Process.Start(Application.StartupPath + "/" + Table_file);
}
catch (Exception exp)
{
MessageBox.Show(exp.ToString(), "不能打开日志文件！");
}
return;
}
while (getElapsedMs(sw) < period_in_ms)
{
;
}
time += period_in_ms;
}
}
private void synchronizeThread(SrbThread.dIsThreadStoping IsStoping)
{
while (true)
{
syncAll();
for (int i = 0; i < sync_timer_top; i++)
{
sync_timer_value = i;
if (IsStoping())
{
return;
}
Thread.Sleep(1000);
}
}
}
void gotoUpdateModeAllFromPowerOnSTH(SrbThread.dIsThreadStoping IsStoping)
{
var stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Restart();
while (true)
{
bus.singleAccess(bus.accessRequest(null, null, AccessPort.Udp, UDT_CMD_HOLD));
if (stopwatch.ElapsedMilliseconds > 10000)
{
return;
}
if (IsStoping())
{
return;
}
}
}
private void get_speed_table_Thread(SrbThread.dIsThreadStoping IsStoping)
{
Stopwatch sw = new Stopwatch();
string output_csv = "pwm,speed\n";
double time = 0;
ushort pwm = 50;
for (pwm = 0; pwm < 1000; pwm += 1)
{
for (int i = 0; i < 20; i++)
{
sw.Restart();
bgd.test_pwm_clu.Direction = 0;
bgd.test_pwm_clu.Pwm = pwm;
bgd.test_pwm_clu.write();
bgd.addDataAccess(1, true);
output_csv += string.Format("{0},{1}\n", pwm, bgd.sensor_speed);
if (IsStoping())
{
bgd.test_pwm_clu.Direction = 4;
bgd.test_pwm_clu.Pwm = 0;
bgd.test_pwm_clu.write();
return;
}
while (getElapsedMs(sw) < period_in_ms)
{
;
}
}
}
bgd.test_pwm_clu.Direction = 4;
bgd.test_pwm_clu.Pwm = 0;
bgd.test_pwm_clu.write();
string path = "./log/SpeedMotor-test-record/";
path += System.DateTime.Now.ToString("yy-MM-dd");
path += "/";
System.IO.Directory.CreateDirectory(path);//如果文件夹不存在就创建它
string time_str = System.DateTime.Now.ToString("HHmmss");
string Table_file = path + "PWM-speed-test" + time_str + ".csv";
string Png_file = path + "PWM-speed-test" + time_str + ".png";
try
{
System.IO.File.WriteAllText(Table_file, output_csv, System.Text.Encoding.ASCII);
}
catch (Exception exp)
{
MessageBox.Show(exp.ToString(), "不能写日志文件！");
}
using (Process myPro = new Process())
{
string cmdStr = string.Format(@"{3}/{0} {3}/{1} {3}/{2}",
"R/moto4.r", Table_file, Png_file, Application.StartupPath);
string cmdExe = @"C:\Program Files\R\R-4.0.1\bin\rscript.exe";
//指定启动进程是调用的应用程序和命令行参数
ProcessStartInfo psi = new ProcessStartInfo(cmdExe, cmdStr);
myPro.StartInfo = psi;
myPro.Start();
myPro.WaitForExit();
}
try
{
System.Diagnostics.Process.Start(Application.StartupPath + "/" + Png_file);
}
catch (Exception exp)
{
MessageBox.Show(exp.ToString(), "没有找到图像");
}
return;
}
public void TestSequence_Thread(SrbThread.dIsThreadStoping IsStoping)
{
pd = new PerformanceDetector(10);
bgd.setPd(pd);
int lose_times = 0;
if (pg_last != null)
{
chart.remove(pg_last.Plots[0]);
chart.remove(pg_last.Plots[1]);
}
if (pg != null)
{
pg_last = pg;
pg_last.Plots[0].Color = System.Drawing.Color.FromArgb(64, pg_last.Plots[0].Color);
pg_last.Plots[1].Color = System.Drawing.Color.FromArgb(64, pg_last.Plots[1].Color);
}
pg = new PlotGroup(3);
pg.Plots[0].Color = System.Drawing.Color.ForestGreen;
pg.Plots[1].Color = System.Drawing.Color.Violet;
chart.Forcu_on_plot = pg.Plots[0];
chart.add(pg.Plots[0]);
chart.add(pg.Plots[1]);
if (target_speed_table == null)
{
target_speed_table = initSpeedArray();
}
Stopwatch sw = new Stopwatch();
float time = 0f;
sw.Restart();
object motion = null;
double[] temp = new double[3];
while (time < target_speed_table.Max_time)
{
pd.beginCheck();
bgd.target_speed = target_speed_table.speed(time, ref motion);
pd.checkPoint(1);
bgd.addDataAccess_pd(1, true);
pd.checkPoint(5);
temp[0] = bgd.target_speed;
temp[1] = bgd.sensor_speed;
temp[2] = bgd.odometer;
pg.append(time, temp);
pd.checkPoint(6);
bool check(long[] ticks)
{
return(((ticks[6] - ticks[0]).tickToMs()) > 2);
}
pd.endCheckPoint(check);
if (IsStoping())
{
break;
}
while (sw.getElapsedMs() - time < period_in_ms)
{
;
}
time = sw.getElapsedMs();
}
string lose_sync_report = "";
pd.initPage();
do
{
lose_sync_report += $"T={(pd[6] - pd[0]).tickToMs():f2}, Send = {pd[3] - pd[2]}, recv = {pd[4] - pd[3]},";
lose_sync_report += $"a1={pd[2] - pd[1]}, a2 = {pd[5] - pd[4]} ";
lose_sync_report += $"access-(send+recv)={pd[5] - pd[1]-(pd[4] - pd[2])}\n\n";
}while (pd.nextPage());
this.lose_sync_report = lose_sync_report;
if (eGetMotorStatus != null)
{
eGetMotorStatus.Invoke(pg);
}
}
