diff --git a/ui/graph_window.py b/ui/graph_window.py
index 307466fdcc261f58fb104d71a2924f637312a18d..9f0eaf5e13a1a313b483143dc242d3c04f65f4e8 100644
--- a/ui/graph_window.py
+++ b/ui/graph_window.py
@@ -52,7 +52,7 @@ class CollectionGraphWindow (sg.Window):
else:
self._canvas_elem = None
self._status = sg.Text("",key="-colstatus-", text_color="#000", font="Helvetica 15")
- self._exit = sg.Button("Exit", key='-colexit-',font="Helvetica 11", size=(15,1),button_color='#F0F0F0')
+ self._exit = sg.Button("Abort", key='-colexit-',font="Helvetica 11", size=(15,1),button_color='#F0F0F0')
layout = [
[ sg.Push(), self._title, sg.Push() ],
diff --git a/ui/measure_robot.py b/ui/measure_robot.py
index 0463cbf73e213f23d693ee59f010ce1aec29c4b6..f17b119820b8aece14bd72a4b40670e8e8fcc84c 100644
--- a/ui/measure_robot.py
+++ b/ui/measure_robot.py
@@ -3,6 +3,7 @@ import numpy as np
import traceback
from threading import Semaphore
from typing import Callable
+from os import _exit
from ui import CollectionGraphWindow
from kuka import KUKA_DataReader, KUKA_Handler
@@ -46,7 +47,7 @@ class Measure_robot (CollectionGraphWindow):
self.file_prefix = file_prefix
self.temp_dir = temp_dir
- def generate_file_name (self, A_iter, speed, sampling, load):
+ def generate_file_name (self, A_iter, speed, sampling, load, trace_config = "4_ms"):
"""Creates a suffix for the output file name containing the acquisition
parameters
@@ -55,18 +56,32 @@ class Measure_robot (CollectionGraphWindow):
speed (str|int|slice): The speed (range) of the acquisition
sampling (int|str): The sampling rate of the system variables
load (int): The class of the acquisition
+ trace_config (str): The trace configuration name
Returns:
str: The standardized suffix
"""
- self.settings = "[" + (speed if type(speed) != slice else f'{speed.start}%-{speed.stop}') + "%] "
- self.settings += f"[{sampling}ms] "
- self.settings += f"[class {load}] "
- iter = " ".join(A_iter)
- self.settings += f"[{iter}] "
+ iter = " ".join(A_iter)
+
+ self.settings = " ".join([
+ "[" + (speed if type(speed) != slice else f'{speed.start}%-{speed.stop}') + "%]",
+ f"[{sampling}ms]",
+ f"[class {load}]",
+ f"[{iter}]"
+ ])
+
+ trace_sampling = "".join(trace_config.split("_")[:2])
+ self.trace_settings = " ".join([
+ "[" + (speed if type(speed) != slice else f'{speed.start}%-{speed.stop}') + "%]",
+ f"[{trace_sampling}]",
+ f"[class {load}]",
+ f"[{iter}]"
+ ])
+
+ self.file_name = self.file_prefix + " " + self.settings + " - " + self.name
+ self.trace_file_name = self.file_prefix + " " + self.trace_settings + " - " + self.name
- self.file_name = self.file_prefix + " " + self.settings + "- " + self.name
return self.file_name
def measure_sequence (self, A_iter, speed, sampling, trace_sampling, load: int = 0, lock: Semaphore = None, done: Callable = None):
@@ -81,14 +96,14 @@ class Measure_robot (CollectionGraphWindow):
lock (Semaphore, optional): The semaphore used to sync multiple robots. Defaults to None.
done (Callable, optional): The function used to declare the end of a run. Defaults to None.
"""
-
+
self.generate_file_name(A_iter, speed, sampling, load)
print("Starting data collection for " + self.name + " with settings " + self.settings)
def next (latency: float, queue_read: int, queue_write: int):
# Changer 500 par la taille finale du buffer
- buffer = queue_write - queue_read if queue_read <= queue_write else 500 - queue_read + queue_write
+ buffer = queue_write - queue_read if queue_read <= queue_write else 20000 - queue_read + queue_write
self.add(buffer, latency)
self.latencies = np.append(self.latencies, latency)
@@ -109,7 +124,7 @@ class Measure_robot (CollectionGraphWindow):
"""
file_name = self.file_name + ".xlsx"
- trace_file_name = self.file_name + "_TRACE" + ".xlsx"
+ trace_file_name = self.trace_file_name + ".xlsx"
try:
if self._dosysvar and self.data is not None:
@@ -135,17 +150,19 @@ class Measure_robot (CollectionGraphWindow):
event, value = self.read(timeout=10)
if event == sg.WIN_CLOSED or event == '-colexit-':
+ if not (self.storing_data_done or self.collecting_data_done):
+ if self.dotrace:
+ self.reader.trace.Trace_Stop()
+ _exit(0)
self.close()
return False
- if self.collecting_data_done :
- self.collecting_data_done = False
- self._status.update("Collection Done",text_color="#00f")
- self._exit.update(disabled=True)
- elif self.storing_data_done :
- self.storing_data_done = False
+ if self.storing_data_done :
self._status.update("Successfully stored data", text_color='#0c2')
self._exit.update(disabled=False)
+ elif self.collecting_data_done :
+ self._status.update("Collection Done",text_color="#00f")
+ self._exit.update(disabled=True, text="Exit")
elif self._dosysvar:
self.redraw()
if not self._dosysvar:
diff --git a/ui/ui_trace.py b/ui/ui_trace.py
index 327b980c294499e4384fcd4b5b7b6b33b2deff2a..32d761881541f006ed70cc8f85313724b53f17d7 100644
--- a/ui/ui_trace.py
+++ b/ui/ui_trace.py
@@ -13,7 +13,10 @@ class UI_KUKATrace( sg.Frame):
def __make_layout (self):
- self._sampling_rate = sg.Combo(['12_ms_v2','4_ms_v2'], key='-Trace_config-', default_value='12_ms_v2', size=(20, 1))
+ self._sampling_rate = sg.Combo([
+ '12_ms_v2',
+ '4_ms_v2'
+ ], key='-Trace_config-', default_value='12_ms_v2', size=(20, 1))
self._layout = [
[ sg.Text('Trace Sampling rate:'), self._sampling_rate ]