电机电流单独测试逻辑优化

codes/autotest/do_brake.py

@@ -1,3 +1,4 @@
+import random
 import threading
 import time
 import os
@@ -124,6 +125,7 @@ class DoBrakeTest(QThread):
             else:
                 clibs.count = 0
                 clibs.logger("WARNING", "do_brake", f"尝试三次后仍无法获取正确数据，本次数据无效，继续执行...", "red")
+                return None
 
         df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
         df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
@@ -314,9 +316,11 @@ class DoBrakeTest(QThread):
                         def exec_brake():
                             flag, start, data, record = True, time.time(), None, None
                             while flag:
-                                time.sleep(0.05)
+                                time.sleep(0.01*random.randint(1, 10))
+                                # time.sleep(0.05)
                                 if time.time() - start > 20:
-                                    clibs.logger("ERROR", "do_brake", "20s 内未触发急停，需排查......", "red")
+                                    clibs.logger("INFO", "do_brake", "20s 内未触发急停，需排查，当前先继续执行......", "red")
+                                    break
 
                                 try:
                                     clibs.lock.acquire(True)
@@ -337,10 +341,18 @@ class DoBrakeTest(QThread):
                                             time.sleep(clibs.INTERVAL*2)  # wait speed goes down to 0
                                             flag = False
                                             break
-                            return time.time()
+                            return time.time(), flag
 
                         time.sleep(11)  # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
-                        end_time = exec_brake()
+                        end_time, flag = exec_brake()
+                        if flag is True:  # 没有触发急停
+                            if clibs.count < 3:
+                                clibs.count += 1
+                                continue
+                            else:
+                                clibs.count = 0
+                                break
+
                         # 6. 保留数据并处理输出
                         ret = self.gen_result_file(axis, end_time, reach, load, speed, speed_max, rounds)
                         if ret != "retry":