def control():
""" Control if brakes slip"""
kneepitch_position_actuator = subdevice.JointPositionActuator(
dcm, mem, "KneePitch")
kneepitch_position_sensor = subdevice.JointPositionSensor(
dcm, mem, "KneePitch")
kneepitch_hardness_actuator = subdevice.JointHardnessActuator(
dcm, mem, "KneePitch")
hippitch_position_actuator = subdevice.JointPositionActuator(
dcm, mem, "HipPitch")
hippitch_position_sensor = subdevice.JointPositionSensor(
dcm, mem, "HipPitch")
hippitch_hardness_actuator = subdevice.JointHardnessActuator(
dcm, mem, "HipPitch")
hippitch_hardness_actuator.qqvalue = 0.
kneepitch_hardness_actuator.qqvalue = 0.
while not thread_flag.is_set():
if abs(hippitch_position_sensor.value) > 0.1 or\
abs(kneepitch_position_sensor.value) > 0.1:
hippitch_hardness_actuator.qqvalue = 1.
kneepitch_hardness_actuator.qqvalue = 1.
hippitch_position_actuator.qvalue = (0., 1000)
kneepitch_position_actuator.qvalue = (0., 1000)
qha_tools.wait(dcm, 2100)
hippitch_hardness_actuator.qqvalue = 0.
kneepitch_hardness_actuator.qqvalue = 0.
def fan_cycle(dcm, mem, nb_cycles, t_on=10000, t_off=10000):
fan_hardness_actuator = subdevice.FanHardnessActuator(dcm, mem)
for i in range(nb_cycles):
fan_hardness_actuator.qqvalue = 1.0
qha_tools.wait(dcm, t_on)
fan_hardness_actuator.qqvalue = 0.0
qha_tools.wait(dcm, t_off)
def stop_fans(dcm, mem):
"""
Tests setup. Fans must be turned off.
Stop fans and wait 3s.
"""
fan = subdevice.FanHardnessActuator(dcm, mem)
fan.qqvalue = 0.0
qha_tools.wait(dcm, 3000)
def hippitch_cycling(dcm, mem, max_joint_temperature):
""" HipPitch cycling"""
# Objects creation
kneepitch_position_actuator = subdevice.JointPositionActuator(
dcm, mem, "KneePitch")
kneepitch_position_sensor = subdevice.JointPositionSensor(
dcm, mem, "KneePitch")
kneepitch_hardness_actuator = subdevice.JointHardnessActuator(
dcm, mem, "KneePitch")
hippitch_position_actuator = subdevice.JointPositionActuator(
dcm, mem, "HipPitch")
hippitch_temperature = subdevice.JointTemperature(
dcm, mem, "HipPitch")
hiproll_position_actuator = subdevice.JointPositionActuator(
dcm, mem, "HipRoll")
parameters = qha_tools.read_section("test_pod.cfg", "DynamicCycling")
# Initial position
kneepitch_position_actuator.qvalue = (0.,
int(parameters["time_go_initial_position"][0]) * 1000)
hiproll_position_actuator.qvalue = (0.,
int(parameters["time_go_initial_position"][0]) * 1000)
qha_tools.wait(dcm, int(parameters["time_go_initial_position"][0]) * 1000)
kneepitch_hardness_actuator.qqvalue = 0.
while hippitch_temperature.value < max_joint_temperature:
hippitch_position_actuator.qvalue = (
float(parameters["amplitude_hippitch"][0]),
int(parameters["time_movement_hippitch"][0]) * 1000
)
qha_tools.wait(dcm, int(parameters["time_movement_hippitch"][0]) * 1000)
hippitch_position_actuator.qvalue = (
-float(parameters["amplitude_hippitch"][0]),
int(parameters["time_movement_hippitch"][0]) * 1000
)
qha_tools.wait(dcm, int(parameters["time_movement_hippitch"][0]) * 1000)
print(str(hippitch_temperature.value))
if abs(kneepitch_position_sensor.value) > \
float(parameters["angle_slipping"][0]):
print "KneePitch slip"
kneepitch_hardness_actuator.qqvalue = 1.
kneepitch_position_actuator.qvalue = (0.,
int(parameters["time_after_slipping"][0]) * 1000)
hippitch_position_actuator.qvalue = (0.,
int(parameters["time_after_slipping"][0]) * 1000)
qha_tools.wait(dcm, int(parameters["time_after_slipping"][0]) * 1000)
kneepitch_hardness_actuator.qqvalue = 0.
hippitch_position_actuator.qvalue = (0.,
int(parameters["time_go_initial_position"][0]) * 1000)
qha_tools.wait(dcm, int(parameters["time_go_initial_position"][0]) * 1000)
kneepitch_hardness_actuator.qqvalue = 1.
def test_joint_current_limitation(self, dcm, mem, parameters, joint,
result_base_folder, rest_pos,
stiffness_off, plot, plot_server):
# logger initialization
log = logging.getLogger('test_joint_current_limitation')
# erasing real time plot
plot_server.curves_erase()
# flags initialization
flag_loop = True # test loop stops when this flag is False
flag_joint = True # giving test result
flag_current_limit_low_exceeded = False
# checking that ALMemory key MinMaxChange Allowed = 1
if int(mem.getData("RobotConfig/Head/MinMaxChangeAllowed")) != 1:
flag_loop = False
log.error("MinMaxChangeAllowed ALMemory key missing")
# test parameters
test_params = parameters
joint_position_actuator = joint.position.actuator
joint_position_sensor = joint.position.sensor
joint_temperature_sensor = joint.temperature
joint_current_sensor = joint.current
slav = qha_tools.SlidingAverage(test_params["sa_nb_points"])
logger = qha_tools.Logger()
# Going to initial position
subdevice.multiple_set(dcm, mem, rest_pos, wait=True)
# unstiffing all the other joints to avoid leg motors overheat
subdevice.multiple_set(dcm, mem, stiffness_off, wait=False)
time.sleep(0.1)
# stiffing the joint we want to test
joint.hardness.qqvalue = 1.0
# keeping initial joint min and max
joint_initial_maximum = joint_position_actuator.maximum
joint_initial_minimum = joint_position_actuator.minimum
# put joint to its initial maximum in 3 seconds
if joint_position_actuator.short_name in\
("HipPitch", "RShoulderRoll", "RElbowRoll"):
joint_position_actuator.qvalue = (joint_initial_minimum, 3000)
else:
joint_position_actuator.qvalue = (joint_initial_maximum, 3000)
qha_tools.wait(dcm, 3000)
# setting current limitations
joint_max_current = joint_current_sensor.maximum
joint_min_current = joint_current_sensor.minimum
delta_current = joint_max_current - joint_min_current
k_sup = test_params["limit_factor_sup"]
k_inf = test_params["limit_factor_inf"]
current_limit_high = joint_max_current + k_sup * delta_current
current_limit_low = joint_max_current - k_inf * delta_current
# setting temperature limitatons
joint_temperature_min = joint_temperature_sensor.minimum
# setting new min and max out of the mechanical stop
joint_new_maximum = \
joint_initial_maximum + \
math.radians(test_params["limit_extension"])
joint_new_minimum = \
joint_initial_minimum - \
math.radians(test_params["limit_extension"])
joint_position_actuator.maximum = [[[
joint_new_maximum, dcm.getTime(0)
]], "Merge"]
joint_position_actuator.minimum = [[[
joint_new_minimum, dcm.getTime(0)
]], "Merge"]
if joint_position_actuator.short_name in\
("HipPitch", "RShoulderRoll", "RElbowRoll"):
joint_position_actuator.qvalue = (joint_new_minimum, 1000)
else:
joint_position_actuator.qvalue = (joint_new_maximum, 1000)
timer = qha_tools.Timer(dcm, test_params["test_time"])
timer_limit = qha_tools.Timer(dcm, test_params["test_time_limit"])
# test loop
while flag_loop and timer.is_time_not_out():
try:
loop_time = timer.dcm_time() / 1000.
joint_temperature = joint_temperature_sensor.value
joint_current = joint_current_sensor.value
slav.point_add(joint_current)
joint_current_sa = slav.calc()
if not flag_current_limit_low_exceeded and\
joint_current_sa > current_limit_low:
flag_current_limit_low_exceeded = True
log.info("Current limit low exceeded")
if joint_current_sa > current_limit_high:
flag_joint = False
log.warning("Current limit high overshoot")
if flag_current_limit_low_exceeded and\
joint_current_sa < current_limit_low:
flag_joint = False
log.warning("Current lower than current limit low")
if timer_limit.is_time_out() and not \
flag_current_limit_low_exceeded:
flag_joint = False
log.info("Timer limit finished and "+\
"current limit low not exceeded")
# out of test loop if temperature is higher than min temperature
if joint_temperature >= joint_temperature_min:
flag_loop = False
log.info("Temperature higher than Min temperature")
log.info("Test finished")
logger.log(("Time", timer.dcm_time() / 1000.),
("Current", joint_current),
("CurrentSA", joint_current_sa),
("CurrentLimitHigh", current_limit_high),
("CurrentLimitLow", current_limit_low),
("MaxAllowedCurrent", joint_max_current),
("Temperature", joint_temperature),
("TemperatureMin", joint_temperature_min),
("Command", joint_position_actuator.value),
("Position", joint_position_sensor.value))
if plot:
plot_server.add_point("Current", loop_time, joint_current)
plot_server.add_point("CurrentSA", loop_time,
joint_current_sa)
plot_server.add_point("CurrentLimitHigh", loop_time,
current_limit_high)
plot_server.add_point("CurrentLimitLow", loop_time,
current_limit_low)
plot_server.add_point("MaxAllowedCurrent", loop_time,
joint_max_current)
plot_server.add_point("Temperature", loop_time,
joint_temperature)
plot_server.add_point("TemperatureMin", loop_time,
joint_temperature_min)
except KeyboardInterrupt:
flag_loop = False # out of test loop
log.info("KeyboardInterrupt from user")
log.info("OUT OF TEST LOOP")
result_file_path = "/".join([
result_base_folder, joint_position_actuator.subdevice_type,
joint_position_actuator.short_name + "_" + str(flag_joint)
]) + ".csv"
logger.log_file_write(result_file_path)
joint_position_actuator.maximum = [[[
joint_initial_maximum, dcm.getTime(0)
]], "Merge"]
joint_position_actuator.minimum = [[[
joint_initial_minimum, dcm.getTime(0)
]], "Merge"]
plot_server.curves_erase()
assert flag_joint
assert flag_current_limit_low_exceeded
def head_behavior(dcm, mem, ctime, head_behavior_number):
"""Head behavior for false positive test."""
head_pitch = subdevice.Joint(dcm, mem, "HeadPitch")
head_yaw = subdevice.Joint(dcm, mem, "HeadYaw")
headpitch_pos_max = PROTECTION * head_pitch.position.actuator.maximum
headpitch_pos_min = PROTECTION * head_pitch.position.actuator.minimum
headyaw_pos_max = PROTECTION * head_yaw.position.actuator.maximum
headyaw_pos_min = PROTECTION * head_yaw.position.actuator.minimum
for _ in range(head_behavior_number):
head_pitch.position.actuator.qvalue = (headpitch_pos_max, ctime)
head_yaw.position.actuator.qvalue = (headyaw_pos_max, ctime)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (0.0, ctime / 2.)
head_yaw.position.actuator.qvalue = (0.0, ctime / 2.)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (headpitch_pos_min, ctime)
head_yaw.position.actuator.qvalue = (headyaw_pos_min, ctime)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (0.0, ctime / 2.)
head_yaw.position.actuator.qvalue = (0.0, ctime / 2.)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (headpitch_pos_max, ctime)
head_yaw.position.actuator.qvalue = (headyaw_pos_min, ctime)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (0.0, ctime / 2.)
head_yaw.position.actuator.qvalue = (0.0, ctime / 2.)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (headpitch_pos_min, ctime)
head_yaw.position.actuator.qvalue = (headyaw_pos_max, ctime)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (0.0, ctime / 2.)
head_yaw.position.actuator.qvalue = (0.0, ctime / 2.)
qha_tools.wait(dcm, ctime)
def test_damage(dcm, mem, kill_motion):
"""
Test robot docking/undocking to check damages
"""
time.sleep(10)
# Test parameters
parameters = qha_tools.read_section("test_pod.cfg",
"DockCyclingParameters")
# Objects creation
motion = subdevice.WheelsMotion(dcm, mem, float(parameters["speed"][0]))
robot_on_charging_station = subdevice.ChargingStationSensor(dcm, mem)
wheelfr_temperature_sensor = subdevice.WheelTemperatureSensor(
dcm, mem, "WheelFR")
wheelfl_temperature_sensor = subdevice.WheelTemperatureSensor(
dcm, mem, "WheelFL")
back_bumper_sensor = subdevice.Bumper(dcm, mem, "Back")
# Internal flags
cycles_done = 0
cycles_with_bumper_ok = 0
list_bumper_nok = []
unlock_bumper_status = 0
bumper_blocked_flag = False
detection = 1
loose_connexion_flag = 0
stop_cycling_flag = False
# Flag initialization
flag_detection = True
flag_bumper = True
flag_keep_connexion = True
timer = qha_tools.Timer(dcm, 10)
log_file = open(parameters["cycling_cvs_name"][0], 'w')
log_file.write(
"CyclesDone,CyclesDoneWithBumperOk," +
"Detection,LooseConnection,UnlockBumperStatus,LockBumperStatus\n")
plot_log = Plot(dcm, mem, parameters["easy_plot_csv_name"][0])
plot_log.start()
# Cyclage
# If the robot is not on the pod or bumper not activated, test don't start
if robot_on_charging_station.value == 0:
print "Put the robot on the pod\n"
stop_cycling_flag = True
flag_detection = False
flag_bumper = False
flag_keep_connexion = False
while stop_cycling_flag == False:
# Robot moves front
cycles_done += 1
motion.move_x(float(parameters["distance_front"][0]))
qha_tools.wait(dcm, int(parameters["time_wait_out_the_pod"][0]) * 1000)
unlock_bumper_status = back_bumper_sensor.value
# Verification of bumper
if back_bumper_sensor.value == 1:
bumper_blocked_flag = True
else:
bumper_blocked_flag = False
# Robot moves back
motion.move_x(float(parameters["distance_back"][0]))
motion.stiff_wheels(["WheelFR", "WheelFL", "WheelB"],
float(parameters["stiffness_wheels_value"][0]))
qha_tools.wait(
dcm,
float(parameters["time_wait_before_verify_detection"][0]) * 1000)
# Verification of connexion
t_init = timer.dcm_time()
test_time = 0
while robot_on_charging_station.value == 1 and\
test_time < int(parameters["time_wait_on_the_pod"][0]) * 1000:
detection = 1
loose_connexion_flag = 0
test_time = timer.dcm_time() - t_init
# If no detection
if test_time == 0:
detection = 0
# If connexion is lost
elif test_time < int(parameters["time_wait_on_the_pod"][0]) * 1000:
loose_connexion_flag = 1
flag_keep_connexion = False
# Verification of bumper
if back_bumper_sensor.value == 1 and bumper_blocked_flag == False:
cycles_with_bumper_ok += 1
else:
list_bumper_nok.append(cycles_done)
# Log data
line_to_write = ",".join([
str(cycles_done),
str(cycles_with_bumper_ok),
str(detection),
str(loose_connexion_flag),
str(unlock_bumper_status),
str(back_bumper_sensor.value)
])
line_to_write += "\n"
log_file.write(line_to_write)
log_file.flush()
# Wait if temperature of wheels too hot
while wheelfr_temperature_sensor.value > \
int(parameters["wheels_temperature_limit"][0]) or\
wheelfl_temperature_sensor.value > \
int(parameters["wheels_temperature_limit"][0]):
qha_tools.wait(dcm, int(parameters["time_wait_wheels cooled"][0]))
# End if nb_cycles is reached
if cycles_done == int(parameters["nb_cycles"][0]):
stop_cycling_flag = True
if len(list_bumper_nok) > cycles_done / 100:
flag_bumper = False
log_file.close()
plot_log.stop()
print("Cycles done = " + str(cycles_done))
print("Cycles done with bumper ok = " + str(cycles_with_bumper_ok))
assert flag_detection
assert flag_bumper
assert flag_keep_connexion
def test_fuseboard_temperature(self, dcm, mem, fuse, wheel_objects,
multi_fuseboard_ambiant_tmp,
multi_fuseboard_total_current, test_time,
joint_limit_extension, result_base_folder,
plot, plot_server):
"""
If on a fuse max temperature is reached, HAL is supposed to cut the
stiffness on all the joints behind the considered fuse.
To add in /media/internal/DeviveInternalHeadGeode.xml before the test:
<Preference name="Key15"
memoryName="RobotConfig/Head/MinMaxChangeAllowed" description=""
value="1" type="string" />
"""
# logger initialization
log = logging.getLogger('MULTIFUSEBOARD_PERF_HW_01')
# erasing real time curves
if plot:
plot_server.curves_erase()
# flag initialization
flag_loop = True
flag_key = True
fuse_state = True
flag_ambiant_temperature = True
flag_fuse_status = True
flag_first_overshoot = False
flag_protection_on = False
# flags
(flag1, flag2, flag3) = (False, False, False)
# objects creation
fuse_temperature = fuse["FuseTemperature"]
fuse_current = fuse["FuseCurrent"]
fuse_voltage = fuse["FuseVoltage"]
fuse_resistor = fuse["FuseResistor"]
battery = subdevice.BatteryChargeSensor(dcm, mem)
log.info("")
log.info("***********************************************")
log.info("Testing fuse : " + str(fuse_temperature.part))
log.info("***********************************************")
log.info("")
# checking that ALMemory key MinMaxChange Allowed = 1
if int(mem.getData("RobotConfig/Head/MinMaxChangeAllowed")) != 1:
flag_loop = False
flag_key = False
log.error("MinMaxChangeAllowed ALMemory key missing")
# setting fuse temperature min and max
fuse_temperature_max = fuse_temperature.maximum
fuse_temperature_min = fuse_temperature.minimum
fuse_temperature_mid = (fuse_temperature_max +
fuse_temperature_min) / 2.
# setting fuse temperature min and max for hysteresis
fuse_temperature_max_hyst = fuse_temperature_max - 10
log.debug("fuse_temperature_max_hyst = " +
str(fuse_temperature_max_hyst))
fuse_temperature_min_hyst = fuse_temperature_min - 10
log.debug("fuse_temperature_min_hyst = " +
str(fuse_temperature_min_hyst))
fuse_temperature_mid_hyst = fuse_temperature_mid - 10
log.debug("fuse_temperature_mid_hyst = " +
str(fuse_temperature_mid_hyst))
# position dictionnary creation with normal min or max
state = \
qha_tools.read_section(
"multifuse_scenario4.cfg", fuse_temperature.part)
# creating joint list
joint_list = state.keys()
log.info("Joints to use are : " + str(joint_list))
# max stiffness is set on all joints except for LegFuse
if fuse_temperature.part == "LegFuse":
# stiff joints
qha_tools.stiff_joints_proportion(dcm, mem, joint_list, 1.0)
# stiff wheels
for wheel in wheel_objects:
wheel.stiffness.qqvalue = 1.0
wheel.speed.actuator.qvalue = \
(wheel.speed.actuator.maximum, 5000)
else:
qha_tools.stiff_joints_proportion(dcm, mem, joint_list, 1.0)
# defining increment in radians
increment = math.radians(joint_limit_extension)
# modifying max or min position and put the joint in that position
# it makes current rise a lot
for joint, value in state.items():
joint_object = subdevice.JointPositionActuator(dcm, mem, joint)
if value[0] == 'max':
new_maximum_angle = joint_object.maximum + increment
else:
new_maximum_angle = joint_object.minimum - increment
joint_object.maximum = [[[new_maximum_angle,
dcm.getTime(0)]], "Merge"]
joint_object.qvalue = (new_maximum_angle, 10000)
# logger creation
logger = qha_tools.Logger()
# list object creation
joint_hardness_list = \
[subdevice.JointHardnessActuator(dcm, mem, x) for x in joint_list]
joint_current_list = \
[subdevice.JointCurrentSensor(dcm, mem, joint)
for joint in joint_list]
# loop timer creation
timer = qha_tools.Timer(dcm, test_time)
# test loop
while flag_loop and timer.is_time_not_out():
try:
loop_time = timer.dcm_time() / 1000.
fuse_temperature_status = fuse_temperature.status
fuse_temperature_value = fuse_temperature.value
fuse_current_value = fuse_current.value
fuse_voltage_value = fuse_voltage.value
fuse_resistor_value = fuse_resistor.value
fuse_resistor_calculated = fuse_voltage_value / \
fuse_current_value
battery_total_voltage = battery.total_voltage
multifuseboard_ambiant_tmp = \
multi_fuseboard_ambiant_tmp.value
multifuseboard_total_current = \
multi_fuseboard_total_current.value
stiffness_decrease = mem.getData(
"Device/SubDeviceList/FuseProtection/"+\
"StiffnessDecrease/Value")
stiffness_decrease_immediate = mem.getData(
"Device/SubDeviceList/FuseProtection/"+\
"StiffnessDecreaseImmediate/Value")
listeofparams = [("Time", loop_time),
("MultifuseBoardAmbiantTemperature",
multifuseboard_ambiant_tmp),
("MultifuseBoardTotalCurrent",
multifuseboard_total_current),
("FuseTemperature", fuse_temperature_value),
("FuseCurrent", fuse_current_value),
("FuseVoltage", fuse_voltage_value),
("FuseResistor", fuse_resistor_value),
("FuseResistorCalculated",
fuse_resistor_calculated),
("BatteryVoltage", battery_total_voltage),
("Status", fuse_temperature_status),
("StiffnessDecrease", stiffness_decrease),
("StiffnessDecreaseImmediate",
stiffness_decrease_immediate),
("FuseTemperatureMin", fuse_temperature_min),
("FuseTemperatureMid", fuse_temperature_mid),
("FuseTemperatureMax", fuse_temperature_max)]
for joint_hardness in joint_hardness_list:
new_tuple = \
(joint_hardness.header_name, joint_hardness.value)
listeofparams.append(new_tuple)
for joint_current in joint_current_list:
new_tuple = (joint_current.header_name,
joint_current.value)
listeofparams.append(new_tuple)
for wheel in wheel_objects:
new_tuple = (wheel.short_name + "_Current",
wheel.current.value)
listeofparams.append(new_tuple)
# Logging informations
logger.log_from_list(listeofparams)
# for real time plot
if plot:
plot_server.add_point("MultifuseBoardAmbiantTemperature",
loop_time,
multifuseboard_ambiant_tmp)
plot_server.add_point("MultifuseBoardTotalCurrent",
loop_time,
multifuseboard_total_current)
plot_server.add_point("FuseTemperature", loop_time,
fuse_temperature_value)
plot_server.add_point("FuseCurrent", loop_time,
fuse_current_value)
plot_server.add_point("FuseVoltage", loop_time,
fuse_voltage_value)
plot_server.add_point("FuseResistor", loop_time,
fuse_resistor_value)
plot_server.add_point("FuseResistorCalculated", loop_time,
fuse_resistor_calculated)
plot_server.add_point("BatteryVoltage", loop_time,
battery_total_voltage)
plot_server.add_point("Status", loop_time,
fuse_temperature_status)
plot_server.add_point("StiffnessDecrease", loop_time,
stiffness_decrease)
plot_server.add_point("StiffnessDecreaseImmediate",
loop_time,
stiffness_decrease_immediate)
# Checking REQ_FUSE_TEMPERATURE_002
if fuse_temperature_value < multifuseboard_ambiant_tmp:
flag_ambiant_temperature = False
log.info("Fuse temperature is lower than MultiFuseBoard" +\
"ambiant temperature")
# Checking REQ_FUSE_PERF_003
# Fuse status evolves correctly with its estimated temperature
# Hysteresis works correctly too
if fuse_temperature_value >= fuse_temperature_min:
flag1 = True
if fuse_temperature_mid < fuse_temperature_value <=\
fuse_temperature_max:
flag2 = True
if fuse_temperature_value >= fuse_temperature_max:
flag3 = True
if (flag1, flag2, flag3) == (False, False, False):
theorical_status = 0
elif (flag1, flag2, flag3) == (True, False, False):
theorical_status = 1
elif (flag1, flag2, flag3) == (True, True, False):
theorical_status = 2
elif (flag1, flag2, flag3) == (True, True, True):
theorical_status = 3
if theorical_status == 3 and fuse_temperature_value <=\
fuse_temperature_max_hyst:
theorical_status = 2
flag3 = False
if theorical_status == 2 and fuse_temperature_value <=\
fuse_temperature_mid_hyst:
theorical_status = 1
flag2 = False
if theorical_status == 1 and fuse_temperature_value <=\
fuse_temperature_min_hyst:
theorical_status = 0
flag1 = False
if fuse_temperature_status != theorical_status:
log.warning("!!! Fuse status problem !!!")
log.info("fuse temperature = " +\
str(fuse_temperature_value))
log.info("fuse status = " + str(fuse_temperature_status))
log.info("fuse theorical status = " +
str(theorical_status))
flag_fuse_status = False
# Indicating fuse first max temperature overshoot
if fuse_temperature_value >= fuse_temperature_max and not\
flag_first_overshoot:
flag_first_overshoot = True
log.info("First temperature overshoot")
timer_overshoot = qha_tools.Timer(dcm, 200)
# Indicating that protection worked
# Set stiffness actuator to 0 to let fuse cool down
if flag_first_overshoot and timer_overshoot.is_time_out()\
and not flag_protection_on and\
(stiffness_decrease_immediate == 0 or\
stiffness_decrease == 0):
log.info("Flag protection ON")
flag_protection_on = True
log.info("Concerned joints pluggin activated")
qha_tools.unstiff_joints(dcm, mem, joint_list)
# Checking REQ_FUSE_PERF_004
if flag_first_overshoot and\
timer_overshoot.is_time_out() and not\
flag_protection_on:
if fuse_temperature.part == "LegFuse":
if stiffness_decrease_immediate != 0:
fuse_state = False
log.warning("LegFuse protection NOK")
else:
if stiffness_decrease != 0:
fuse_state = False
log.warning(fuse_temperature.part +\
" protection NOK")
if flag_protection_on and fuse_temperature_value < 80.0:
flag_loop = False
log.info("End of test, fuse is cold enough")
except KeyboardInterrupt:
flag_loop = False # out of test loop
log.info("KeyboardInterrupt from user")
log.info("!!!! OUT OF TEST LOOP !!!!")
file_name = "_".join([str(fuse_temperature.part), str(fuse_state)])
result_file_path = "/".join([result_base_folder, file_name]) + ".csv"
logger.log_file_write(result_file_path)
# setting original min and max
log.info("Setting orininal min and max position actuator values...")
for joint, value in state.items():
joint_object = subdevice.JointPositionActuator(dcm, mem, joint)
if value[0] > 0:
joint_object.maximum = value[0]
joint_object.qvalue = (joint_object.maximum, 500)
else:
joint_object.minimum = value[0]
joint_object.qvalue = (joint_object.minimum, 500)
qha_tools.wait(dcm, 200)
log.info("Unstiff concerned joints")
qha_tools.unstiff_joints(dcm, mem, joint_list)
if fuse_temperature.part == "LegFuse":
for wheel in wheel_objects:
wheel.speed.actuator.qvalue = (0.0, 3000)
time.sleep(3.0)
wheel.stiffness.qqvalue = 0.0
assert flag_key
assert fuse_state
assert flag_fuse_status
assert flag_ambiant_temperature