看机械臂代码，添加备注代码

robot/util_time.py

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+# !/usr/bin/python3
+"""
+# @Time    : 2025/12/12 11:05
+# @Author  : reenrr
+# @File    : util_time.py
+# @Desc    :
+"""
+import time
+
+class MyTimer:
+    @staticmethod
+    def gMyGetTickCount():
+        """
+        获取当前系统时间的毫秒级时间戳
+        """
+        ts = time.time()
+        return int(ts * 1000)  # Convert to milliseconds
+
+# CTon class equivalent in Python
+class CTon:
+    def __init__(self):
+        self.m_unET = 0
+        self.m_bLastI = False
+        self.m_bIn = False
+        self.m_bPause = False
+        self.m_bOver = True
+        self.m_unPT = 0
+        self.m_unStartTime = 0
+        self.m_unPauseET = 0
+
+    def GetET(self):
+        """
+        获取当前已流逝的延时时间
+        """
+        if self.m_bIn:
+            nET = self.m_unPT + (self.m_unStartTime - MyTimer.gMyGetTickCount())
+            return max(nET, 0)
+        else:
+            return 0
+
+    def SetReset(self):
+        """
+        复位TON所有状态属性，终止当前延时流程，恢复到初始状态，为下一次延时流程做准备
+        """
+        self.m_bIn = False
+        self.m_bLastI = False
+        self.m_bPause = False
+
+    def SetPause(self, value):
+        if self.m_bIn:
+            self.m_bPause = value
+        if self.m_bPause:
+            self.m_unPauseET = MyTimer.gMyGetTickCount() - self.m_unStartTime
+
+    def SetOver(self, value):
+        self.m_bOver = value
+
+    def GetStartTime(self):
+        return self.m_unStartTime
+
+    def Q(self, value_i, value_pt):
+        self.m_bIn = value_i
+        self.m_unPT = value_pt
+        un_tick = MyTimer.gMyGetTickCount()
+
+        if self.m_bOver and self.m_bIn:
+            self.m_unStartTime = un_tick - self.m_unPT
+            self.m_bOver = False
+
+        if self.m_bPause and self.m_bIn:
+            self.m_unStartTime = un_tick - self.m_unPauseET
+
+        if self.m_bIn != self.m_bLastI:
+            self.m_bLastI = self.m_bIn
+            if self.m_bIn:
+                self.m_unStartTime = un_tick
+            self.m_bPause = False
+
+        return self.m_bIn and (un_tick >= (self.m_unStartTime + self.m_unPT))
+
+# CClockPulse class equivalent in Python
+class CClockPulse:
+    def __init__(self):
+        self.m_bFirstOut = True
+        self.m_bTonAOut = False
+        self.m_bTonBOut = False
+        self.m_cTonA = CTon()
+        self.m_cTonB = CTon()
+
+    def Q(self, value_i, run_time, stop_time):
+        if self.m_bFirstOut:
+            self.m_bTonAOut = self.m_cTonA.Q(not self.m_bTonBOut and value_i, run_time)
+            self.m_bTonBOut = self.m_cTonB.Q(self.m_bTonAOut and value_i, stop_time)
+            return not self.m_bTonAOut and value_i
+        else:
+            self.m_bTonAOut = self.m_cTonA.Q(not self.m_bTonBOut and value_i, stop_time)
+            self.m_bTonBOut = self.m_cTonB.Q(self.m_bTonAOut and value_i, run_time)
+            return self.m_bTonAOut and value_i
+
+# CDelayOut class equivalent in Python
+class CDelayOut:
+    def __init__(self):
+        self.m_cOutTon = CTon()
+        self.m_cmWaitTon = CTon()
+
+    def Reset(self):
+        self.m_cOutTon.SetReset()
+        self.m_cmWaitTon.SetReset()
+
+    def Q(self, value_i, wait_time, out_time):
+        if self.m_cmWaitTon.Q(value_i, wait_time):
+            if self.m_cOutTon.Q(True, out_time):
+                self.m_cOutTon.SetReset()
+                self.m_cmWaitTon.SetReset()
+                value_i = False
+                return False
+            return True
+        return False
+
+# CRisOrFall class equivalent in Python
+class CRisOrFall:
+    def __init__(self):
+        self.m_bTemp = False
+
+    def Q(self, value_i, ris_or_fall):
+        result = False
+        if value_i != self.m_bTemp:
+            if ris_or_fall and value_i:  # Rising edge
+                result = True
+            if not ris_or_fall and not value_i:  # Falling edge
+                result = True
+        self.m_bTemp = value_i
+        return result
+
+# CTof class equivalent in Python
+class CTof:
+    def __init__(self):
+        self.m_cDelayTon = CTon()
+        self.m_bValue = False
+        self.m_cRis = CRisOrFall()
+
+    def SetReset(self):
+        self.m_bValue = False
+        self.m_cDelayTon.SetReset()
+
+    def Q(self, value_i, delay_time):
+        if self.m_cRis.Q(value_i, False):
+            self.m_cDelayTon.SetReset()
+            self.m_bValue = True
+        if self.m_cDelayTon.Q(self.m_bValue, delay_time):
+            self.m_bValue = False
+            self.m_cDelayTon.SetReset()
+        return value_i or self.m_bValue
+
+# Utility function
+def gGetNowTime():
+    return int(time.time())