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优化自动测试

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gitea
2025-02-12 08:39:20 +08:00
parent 49d5f6c3db
commit 2ffeeffd46
8 changed files with 34 additions and 18 deletions
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27
code/automatic_test/do_brake.py
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@@ -151,7 +151,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
pon = ws.cell(row=5, column=2).value
io_name = ws.cell(row=6, column=2).value.upper()
wb.close()
w2t(f"基本参数配置：write_diagnosis = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}, pon = {pon}\n")
w2t(f"基本参数配置：write_diagnosis(废弃) = {write_diagnosis}, get_init_speed = {get_init_speed}, single_brake = {single_brake}, pon = {pon}\n")
if pon == "positive":
md.write_pon(1)
@@ -198,7 +198,6 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
md.r_reset_estop()
md.r_clear_alarm()
md.write_act(0)
time.sleep(write_diagnosis) # 急停超差后，等待写诊断时间，可通过configs.xlsx配置，2.3 版本之后设置为 0 即可
while count % 3 == 1:
# 2. 修改要执行的场景
@@ -238,8 +237,8 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
break
else:
time.sleep(1)
if (time.time() - t_start) > 3:
w2t("3s 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...\n", "red", "ReadySignalTimeoutError")
if (time.time() - t_start) > 15:
w2t("15s 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...\n", "red", "ReadySignalTimeoutError")
# 4. 找出最大速度，传递给RL程序，最后清除相关记录
time.sleep(5) # 消除前 5s 的不稳定数据
change_curve_state(hr, True)
@@ -290,17 +289,28 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
hr.execution("rl_task.pp_to_main", tasks=["brake"])
hr.execution("state.switch_auto")
hr.execution("state.switch_motor_on")
hr.execution("rl_task.run", tasks=["brake"])
for i in range(3):
t_start = time.time()
while 1:
md.r_clear_alarm()
hr.execution("rl_task.run", tasks=["brake"])
time.sleep(1)
if md.w_program_state == 1:
break
else:
time.sleep(5)
if time.time() - t_start > 60:
w2t("60s 内程序未能正常执行，需检查...\n", "red", "RlProgramStartTimeout")
for i in range(16):
if md.read_ready_to_go() == 1:
md.write_act(1)
break
else:
time.sleep(1)
else:
w2t("3s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...\n", "red", "ReadySignalTimeoutError")
w2t("16s 内未收到机器人的运行信号，需要确认 RL 程序配置正确并正常执行...\n", "red", "ReadySignalTimeoutError")
time.sleep(5+random.randint(1, 5)) # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
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
def exec_brake():
flag, start, data, record = True, time.time(), None, None
@@ -337,6 +347,7 @@ def run_rl(path, sub, hr, md, config_file, prj_file, result_dirs, avs, w2t):
if ret != "retry":
clibs.count = 0
break
else:
w2t(f"\n{sub.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。\n", "green")

4
code/automatic_test/do_current.py
View File

@@ -210,8 +210,8 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
break
else:
time.sleep(1)
if (time.time() - t_start) > 3:
w2t("3s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...\n", "red", "ReadySignalTimeoutError")
if (time.time() - t_start) > 15:
w2t("15s 内未收到机器人的运行信号，需要确认RL程序和工具通信是否正常执行...\n", "red", "ReadySignalTimeoutError")
# 4. 执行采集
time.sleep(10) # 消除前 10s 的不稳定数据