v0.1.9.2(2024/07/13)

1. [APIs: do_brake.py]
   - 修改ready_to_go信号的接收逻辑，适配大负载机型
2. [APIs: do_current.py]
   - 修改ready_to_go信号的接收逻辑，适配大负载机型
   - 调整单轴测试时间为35s，适配大负载机型，调整堵转电流持续时间15s，适当减少测试时间
   - 将act信号置为False的动作放在初始化，增加程序健壮性

aio/code/automatic_test/do_brake.py

@@ -227,15 +227,16 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                 _response = execution('state.switch_auto', hr, w2t)
                 _response = execution('state.switch_motor_on', hr, w2t)
                 _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
-                for i in range(3):
+                _t_start = time()
+                while True:
                     if md.read_ready_to_go() == 1:
                         md.write_act(True)
                         break
                     else:
-                        sleep(1)
-                else:
-                    w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
-
+                        if (time() - _t_start) // 20 > 1:
+                            w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                        else:
+                            sleep(1)
                 # 4. 第一次打开诊断曲线，并执行采集8s，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
                 if count == 1:
                     _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)

aio/code/automatic_test/do_current.py

@@ -308,6 +308,8 @@ def run_rl(path, hr, md, loadsel, w2t):
         _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
         md.trigger_estop()
         md.reset_estop()
+        md.write_act(False)
+        sleep(1)  # 让曲线彻底关闭
         _response = execution('state.switch_manual', hr, w2t)
         _response = execution('state.switch_motor_off', hr, w2t)
 
@@ -334,19 +336,19 @@ def run_rl(path, hr, md, loadsel, w2t):
 
         # 4. 开始运行程序，单轴运行15s
         _response = execution('rl_task.run', hr, w2t, tasks=['current'])
-        for i in range(3):
+        _t_start = time()
+        while True:
             if md.read_ready_to_go() == 1:
                 md.write_act(True)
-                sleep(1)
-                md.write_act(False)
                 break
             else:
-                sleep(1)
-        else:
-            w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                if (time() - _t_start) // 20 > 1:
+                    w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                else:
+                    sleep(1)
 
         # 5. 打开诊断曲线，并执行采集
-        sleep(7)  # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定
+        sleep(10)  # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定
         _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
         display_pdo_params = [
             {"name": "hw_joint_vel_feedback", "channel": 0},
@@ -365,7 +367,9 @@ def run_rl(path, hr, md, loadsel, w2t):
         ]
         _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
         scenario_time = 0
-        if number < 6 or number > 8:
+        if number < 6:
+            sleep(35)
+        elif number > 8:
             sleep(15)
         else:
             _t_start = time()