优化自动测试

assets/files/version/file_version_info.txt

@@ -6,8 +6,8 @@ VSVersionInfo(
   ffi=FixedFileInfo(
     # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
     # Set not needed items to zero 0.
-    filevers=(0, 3, 1, 0),
+    filevers=(0, 3, 1, 2),
-    prodvers=(0, 3, 1, 0),
+    prodvers=(0, 3, 1, 2),
     # Contains a bitmask that specifies the valid bits 'flags'r
     mask=0x3f,
     # Contains a bitmask that specifies the Boolean attributes of the file.
@@ -31,12 +31,12 @@ VSVersionInfo(
         '040904b0',
         [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
         StringStruct('FileDescription', 'All in one automatic toolbox'),
-        StringStruct('FileVersion', '0.3.1.0 (2025-01-22)'),
+        StringStruct('FileVersion', '0.3.1.2 (2025-02-11)'),
         StringStruct('InternalName', 'AIO.exe'),
         StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
         StringStruct('OriginalFilename', 'AIO.exe'),
         StringStruct('ProductName', 'AIO'),
-        StringStruct('ProductVersion', '0.3.1.0 (2025-01-22)')])
+        StringStruct('ProductVersion', '0.3.1.2 (2025-02-11)')])
       ]),
     VarFileInfo([VarStruct('Translation', [1033, 1200])])
   ]

assets/files/version/release_change.md

@@ -471,6 +471,9 @@ v0.3.1.0(2025/01/23)
    - 耐久数据采集并记录，优化了执行以及数据展示
    - 基恩士数据采集处理，适配任意编码格式的文件处理
 
-
+v0.3.1.2(2025/02/11)
+1. 修改自动测试（制动/转矩/耐久）的read_ready_to_go信号等待时间为15s
+2. 废弃write_diagnosis参数
+3. 优化do_brake中，触发超差写诊断等待操作流程
 
 

assets/files/version/vers

@@ -1 +1 @@
-0.3.1.0@01/22/2025
+0.3.1.2@02/11/2025

code/automatic_test/do_brake.py

@@ -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:
+                            if (time.time() - t_start) > 15:
-                                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")
+                                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")
+                    t_start = time.time()
+                    while 1:
+                        md.r_clear_alarm()
                         hr.execution("rl_task.run", tasks=["brake"])
-                    for i in range(3):
+                        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")
 

code/automatic_test/do_current.py

@@ -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:
+                if (time.time() - t_start) > 15:
-                    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")
+                    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

code/durable_docs/factory_test.py

@@ -111,8 +111,8 @@ def run_rl(path, params, curves, hr, md, w2t):
             md.write_act(True)
             break
         else:
-            if (time.time() - t_start) > 3:
+            if (time.time() - t_start) > 15:
-                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")
+                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")
             else:
                 time.sleep(1)
 

readme.md

@@ -73,6 +73,8 @@
 
 ## 三、注意事项
 
+> **！！仅内网使用！！**
+
 1. 仅适用于 xCore 2.3.0.7 及以上的版本
 2. 仅适配了六轴工业/协作机型，其他机型可能会存在使用上的问题，具体可以找fanmingfu@rokae.com确认
 3. 单轴电机电流数据处理，至少需要三个完整周期，使用本工具采集一般不会有问题，主要是针对手动采集命名的数据