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fix aubo hardware estop auto recovery

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This commit is contained in:
xtkuang 2026-08-18 10:12:58 +08:00
parent 1b3cd55505
commit d6997b03b1
2 changed files with 31 additions and 4 deletions
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15
cmvr-es/devices/arm/aubo_arm/aubo_safety_state.h
View File

@ -114,7 +114,12 @@ public:
return;
}
if (!latched_ || recovery_in_progress_ || changed) {
const bool preserve_hardware_estop_latch =
condition == SafetyCondition::Unknown && latched_ &&
latched_reason_ == SafetyCondition::RobotEmergencyStop &&
!software_emergency_stop_latched_;
if (!latched_ || recovery_in_progress_ ||
(changed && !preserve_hardware_estop_latch)) {
++epoch_;
}
latched_ = true;
@ -122,9 +127,11 @@ public:
// A physical E-stop sample can continue arriving after a software
// E-stop request. Keep the software stop independently latched so a
// later physical-input release can never clear it automatically.
latched_reason_ = software_emergency_stop_latched_
? SafetyCondition::SoftwareEmergencyStop
: condition;
if (software_emergency_stop_latched_) {
latched_reason_ = SafetyCondition::SoftwareEmergencyStop;
} else if (!preserve_hardware_estop_latch) {
latched_reason_ = condition;
}
}
std::optional<SafetyPermit> tryPermit() const

20
cmvr-es/devices/arm/aubo_arm/tests/aubo_safety_state_test.cpp
View File

@ -81,6 +81,26 @@ int main()
CHECK_TRUE(recovered_permit.has_value());
CHECK_TRUE(state.validate(*recovered_permit));
// Some AUBO cabinets drop the SDK connection while the physical E-stop is
// pressed. Losing the monitor sample must not erase the hardware E-stop
// latch; otherwise releasing the switch back to Normal would never trigger
// automatic power-on.
state.observe(SafetyCondition::RobotEmergencyStop);
const auto estop_epoch = state.snapshot().epoch;
state.observe(SafetyCondition::Unknown);
CHECK_TRUE(state.snapshot().latched);
CHECK_TRUE(state.snapshot().latched_reason ==
SafetyCondition::RobotEmergencyStop);
CHECK_TRUE(state.snapshot().epoch == estop_epoch);
state.observe(SafetyCondition::Normal);
CHECK_TRUE(shouldAutoRecoverHardwareEmergencyStop(
state.snapshot(), true, 0, true, false));
const auto disconnected_recovery = state.beginRecovery(
state.snapshot().epoch);
CHECK_TRUE(disconnected_recovery.has_value());
CHECK_TRUE(state.completeHardwareEmergencyStopRecovery(
*disconnected_recovery, true, true, true));
// Releasing a real E-stop must never clear a software-triggered stop that
// was latched while the hardware input was active.
state.observe(SafetyCondition::RobotEmergencyStop);