def main():
NUM_PRODUCTION_CYCLES = 5
ConfigureLogging()
# Have one plc memory per MUJIN controller
memory = plcmemory.PLCMemory()
logger = plcmemory.PLCMemoryLogger(memory)
controller = plccontroller.PLCController(memory, maxHeartbeatInterval=0.1)
plc = plclogic.PLCLogic(controller)
# Start a network server instance for MUJIN controllers to connect to
log.warn('Server starting...')
server = plczmqserver.PLCZMQServer(memory, 'tcp://*:5555')
server.Start()
log.warn('Server started!')
# Wait until connected to controller
log.warn('Connecting to controller...')
plc.WaitUntilConnected(timeout=1.0)
log.warn('Connected to controller!')
# Clean slate
if plc.IsError() is True:
plc.ResetError()
log.warn('Reset error(s)')
# Clear signals
plc.ClearAllSignals()
log.warn('Cleared all signal(s)')
# Wait for robot ready to move robot to home
# Debug later: Timeout...caused by not setting correct values?
try:
plc.WaitUntilMoveToHomeReady()
log.warn('Robot ready to move to home')
except:
log.warn('Robot ready to move to home timeout')
# Move robot to home
# Debug later: Issue caused by robot bridges not setting PLC variable(s) to correct values
try:
plc.StartMoveToHome()
log.warn('Robot moving to home')
except:
log.warn('Robot moving to home timeout')
# Wait for robot ready for order cycle
# Debug later: Timeout...caused by not setting correct values?
try:
plc.WaitUntilOrderCycleReady()
log.warn('Robot ready for order cycle')
except:
log.warn('Robot ready for order cycle timeout')
# Define order parameters
# Debug later: PLC logic class fails to set order variables in memory correctly
controller.Set('orderRobotName', 'GP7')
controller.Set('orderPartType', 'polydent')
controller.Set('orderPickLocation', 2)
controller.Set('orderPlaceLocation', 3)
controller.Set('orderNumber', NUM_PRODUCTION_CYCLES)
controller.Set('startOrderCycle', True)
log.warn('Prepared order parameters')
# Start timer
startTime = time.time()
# Waits for controller to set 'isRunningOrderCycle' to True
# Debug later: plc.WaitForOrderCycleStatusChange()
while controller.SyncAndGet('isRunningOrderCycle') is not True:
continue
log.warn('Started running order cycles!')
# Set PLC signal done
controller.Set('startOrderCycle', False)
log.warn('Set startOrderCycle to OFF')
# Waits for controller to set 'isRunningOrderCycle' to False
while controller.SyncAndGet('isRunningOrderCycle') is not False:
continue
log.warn('Finished running order cycles!')
# Stop timer
endTime = time.time()
# Write to output file
totalTime = endTime - startTime
f = open('results.txt', 'a')
f.write('Ran production cycle %d times, which took %d seconds\n' %
(NUM_PRODUCTION_CYCLES, totalTime))
# Stop everything
log.warn('Server stopping.')
server.Stop()
log.warn('Server stopped.')
'%(asctime)s %(name)s [%(levelname)s] [%(filename)s:%(lineno)s %(funcName)s] %(message)s'
))
handler.setLevel(logLevel)
root = logging.getLogger()
root.setLevel(logLevel)
root.handlers = []
root.addHandler(handler)
if __name__ == '__main__':
ConfigureLogging()
# have one plc memory per MUJIN controller
memory = plcmemory.PLCMemory()
logger = plcmemory.PLCMemoryLogger(memory)
# start a network server instance for MUJIN controllers to connect to
server = plcudpserver.PLCUDPServer(memory, 5555)
server.Start()
log.warn('server started.')
# pause until we want to stop
# in a real program, should handle SIGTERM instead
input('Press ENTER to stop.\n')
# stop everything
log.warn('stopping.')
server.Stop()
log.warn('stopped.')
def main():
####################
# MEASUREMENTS
####################
# Number of CPUs
num_physical_cpu = psutil.cpu_count(logical=False) # Physical CPU count
num_total_cpu = psutil.cpu_count() # Total CPU count (physical and virtual)
# Overall motion controller CPU percent usage
psutil.cpu_percent() # Ignore first value. See documentation on usage
total_cpu_percent = list() # Total CPU usage
per_cpu_percent = list() # Per CPU usage
# Real time CPU frequency
total_cpu_freq = list() # Real time CPU frequency
per_cpu_freq = list() # Real time per CPU frequency
cpu_temp = list() # CPU temperature
total_context_switches = 0 # Total number of context switches
# Resource heavy processes for monitoring
planning_cpu_affinity = [p.cpu_affinity() for p in psutil.process_iter() if 'mujin_plannings' in p.as_dict(attrs=['pid', 'name'])['name']]
rbridges_cpu_affinity = [p.cpu_affinity() for p in psutil.process_iter() if 'mujin_robotbridges_start' in p.as_dict(attrs=['pid', 'name'])['name']]
######################
# INFRASTRUCTURE SETUP
######################
parser = argparse.ArgumentParser(description='client for collecting vision controller data')
parser.add_argument('-v', '--vision_server', action='store', type=str, dest='serverIp', required=True, help='IP address for vision controller server process')
parser.add_argument('-p', '--port', action='store', type=int, dest='serverPort', default=7777, help='Port for vision controller server process')
parser.add_argument('-c', '--cycles', action='store', type=int, dest='productionCycles', default=10, help='Number of production cycles to run')
parser.add_argument('-s', '--seconds', action='store', type=int, dest='samplingRate', default=5, help='Sample frequency: Number of seconds per sample')
options = parser.parse_args()
ConfigureLogging()
# Have one plc memory per MUJIN controller
memory = plcmemory.PLCMemory()
logger = plcmemory.PLCMemoryLogger(memory)
controller = plccontroller.PLCController(memory, maxHeartbeatInterval=0.1)
plc = plclogic.PLCLogic(controller)
# Start a network server instance for MUJIN controllers to connect to
log.warn('Server starting...')
server = plczmqserver.PLCZMQServer(memory, 'tcp://*:5555')
server.Start()
log.warn('Server started!')
# Wait until connected to controller
log.warn('Connecting to controller...')
plc.WaitUntilConnected(timeout=1.0)
log.warn('Connected to controller!')
# Clean errors
if plc.IsError() is True:
plc.ResetError()
log.warn('Reset error(s)')
# Clear signals
plc.ClearAllSignals()
log.warn('Cleared all signal(s)')
# Wait for robot ready to move robot to home
# Debug later: Timeout...caused by not setting correct values?
try:
plc.WaitUntilMoveToHomeReady()
log.warn('Robot ready to move to home')
except:
log.warn('Robot ready to move to home timeout')
# Move robot to home
# Debug later: Issue caused by robot bridges not setting PLC variable(s) to correct values
try:
plc.StartMoveToHome()
log.warn('Robot moving to home')
except:
log.warn('Robot moving to home timeout')
# Wait for robot ready for order cycle
# Debug later: Timeout...caused by not setting correct values?
try:
plc.WaitUntilOrderCycleReady()
log.warn('Robot ready for order cycle')
except:
log.warn('Robot ready for order cycle timeout')
# Define order parameters
# Debug later: PLC logic class fails to set order variables in memory correctly
controller.Set('orderRobotName', 'GP7')
controller.Set('orderPartType', 'polydent')
controller.Set('orderPickLocation', 2)
controller.Set('orderPlaceLocation', 3)
controller.Set('orderNumber', options.productionCycles)
controller.Set('startOrderCycle', True)
log.warn('Prepared order parameters')
# Sync with vision controller, so that controller begins running test
visionClient = SyncVisionTestClient(options.serverIp, options.serverPort)
serverState = visionClient.StartVisionBenchmark()
#########################
# DATA COLLECTION
#########################
if serverState is True:
# Waits for controller to set 'isRunningOrderCycle' to True
# Debug later: plc.WaitForOrderCycleStatusChange()
while controller.SyncAndGet('isRunningOrderCycle') is not True:
continue
log.warn('Started running order cycles!')
# Set PLC signal done
controller.Set('startOrderCycle', False)
log.warn('Set startOrderCycle to OFF')
# Start measuring context switches
contextSwitchesStart = psutil.cpu_stats().ctx_switches
# Waits for controller to set 'isRunningOrderCycle' to False (production cycles finished running)
lastSample = time.time()
sampleInterval = options.samplingRate
while controller.SyncAndGet('isRunningOrderCycle') is not False:
if time.time() - lastSample < sampleInterval:
total_cpu_percent.append(psutil.cpu_percent())
per_cpu_percent.append(psutil.cpu_percent(percpu=True))
total_cpu_freq.append(psutil.cpu_freq())
per_cpu_freq.append(psutil.cpu_freq(percpu=False))
cpu_temp.append(psutil.sensors_temperatures()['coretemp'][1:(num_total_cpu+1)])
lastSample = time.time()
continue
log.warn('Finished running order cycles!')
# Stop measuring context switches
total_context_switches = contextSwitchesStart - psutil.cpu_stats().ctx_switches
###################################
# COLLECT DATA FROM ORDER CYCLE LOG
###################################
# Collect data from /var/log/mujin/ordercycles/ordercycles.log
logFile = '/var/log/mujin/ordercycles/ordercycles.log'
numCycles = kwargs['num_cycles']
orderCycleLogEntriesList = ParseRotatedLog(logFile, logparserfn=lambda cursor, line: (cursor, ujson.loads(line)), limit=1)[0][1]
total_time = float(orderCycles['cycleElapsedProcessingTime'])
detection_times = [cycle['objectDetectionTime'] for cycle in orderCycleLogEntriesList['visionStatistics']['detectionHistory']]
planning_times = [cycle['totalPlanningComputationTime'] for cycle in orderCycleLogEntriesList['cycleStatistics']['executed']]
trajectory_times = [cycle['trajtotalduration'] for cycle in orderCycleLogEntriesList['cycleStatistics']['executed']]
#####################################
# WRITE DATA TO FILES AND SAVE GRAPHS
#####################################
# Data
kwargs =
{
'num_total_cpu': num_total_cpu,
'num_physical_cpu': num_physical_cpu,
'total_time': total_time,
'num_cycles': options.productionCycles,
'detection_times': detection_times,
'planning_times': planning_times,
'trajectory_times': trajectory_times,
'total_cpu_percent': total_cpu_percent,
'per_cpu_percent': per_cpu_percent,
'total_cpu_freq': total_cpu_freq,
'per_cpu_freq': per_cpu_freq,
'cpu_temp': cpu_temp,
'total_context_switches': total_context_switches,
'detector_cpu_affinity': detector_cpu_affinity,
'planning_cpu_affinity': planning_cpu_affinity,
'rbridges_cpu_affinity': rbridges_cpu_affinity
}
# Write to output file
WriteDataSaveGraphs(**kwargs)
else:
log.warn('Unable to sync with vision controller for testing!')
# Stop everything
log.warn('Server stopping.')
server.Stop()
log.warn('Server stopped.')