From 50e2750fc5a2b0fefabfe33eec986c5993c1be5f Mon Sep 17 00:00:00 2001
From: antcsny <131650489+antcsny@users.noreply.github.com>
Date: Fri, 24 May 2024 16:28:17 +0200
Subject: [PATCH] Working : trace stop after robot run end
- Debug from previous commit
- added more clarity to the end status of data collection in graph_window
- bug fix of showing an empty figure when ploting variables
- checkboxes in variable plot are now by defaut at false
---
kuka/reader.py | 16 +++++++++-------
kuka/trace.py | 19 ++++++++++---------
main.py | 2 +-
robot/KRL/Data_collector.sub | 3 ++-
ui/graph_window.py | 2 +-
ui/measure_robot.py | 3 +++
ui/ui_data.py | 4 ++--
ui/ui_trace.py | 2 +-
8 files changed, 29 insertions(+), 22 deletions(-)
diff --git a/kuka/reader.py b/kuka/reader.py
index 95bcd00..c69e170 100644
--- a/kuka/reader.py
+++ b/kuka/reader.py
@@ -151,7 +151,7 @@ class KUKA_DataReader:
return [ (1 if i == motor else 0) for i in range(1,7) ]
## Get data
- def get_data (self) -> Tuple[List[float|int], bool, bool]:
+ def get_data (self) -> Tuple[List[float|int], bool, int]:
"""Collects the latest sample made available by the Data collector sub
Raises:
@@ -180,11 +180,11 @@ class KUKA_DataReader:
return (
data,
TAB1[self.__TAB1_DATA_AVAILABLE] == 1, # Data available flag
- TAB1[self.__TAB1_DONE] == 1 # PyDone flag
+ TAB1[self.__TAB1_DONE] # PyDone status
)
## Reading function for the queue
- def read (self, time_before, load: int = 0) -> Tuple[List[float|int], bool, bool]:
+ def read (self, time_before, load: int = 0) -> Tuple[List[float|int], bool, int]:
"""Reads a sample from the data collection sub
Args:
@@ -272,6 +272,7 @@ class KUKA_DataReader:
# Flag indicating the state of the collection
self._read_done = False
+ trace_stoped = False
while self._read_done != 1 :
@@ -310,7 +311,8 @@ class KUKA_DataReader:
else:
# Sleeping to wait for the next data to be sampled, stop de trace if robot movement done
- if self._read_done == 2:
+ if self._read_done == 2 and not(trace_stoped):
+ trace_stoped = True
self.trace.Trace_Stop()
sleep(self.rate/2)
@@ -338,7 +340,7 @@ class KUKA_DataReader:
Tuple[pd.DataFrame, int]: The collected data and the number of samples
"""
- data_trace = self.trace.Trace_Download(dir, True)
+ data_trace = self.trace.Trace_Download(dir, False)
dataset_length = len(data_trace['Sample'])
data_trace['Speed'] = [f'{speed}%'] * dataset_length
@@ -420,8 +422,8 @@ class KUKA_DataReader:
# KUKA Trace
if self.tracing:
- self.trace.Trace_Stop()
- sleep(0.1)
+ # self.trace.Trace_Stop()
+ sleep(5)
data_trace, _ = self.get_trace_data(speed, load, trace_sampling, temp_dir)
# Indicating the end of this run
diff --git a/kuka/trace.py b/kuka/trace.py
index af71ce7..e2d61f7 100644
--- a/kuka/trace.py
+++ b/kuka/trace.py
@@ -41,17 +41,17 @@ class KUKA_Trace:
if self.enable:
config_path = fr'\\{self.rob_instance.ipAddress}\roboter\TRACE\{configuration}.xml'
- try:
- tree = et.parse(config_path)
- root = tree.getroot()
+ # try: # Comented to not modify the xml file
+ # tree = et.parse(config_path)
+ # root = tree.getroot()
- for time_element in root.iter('Time'):
- time_element.text = duration
- tree.write(config_path)
+ # for time_element in root.iter('Time'):
+ # time_element.text = duration
+ # tree.write(config_path)
- except Exception as e:
- print(f"XML writing error: {e}")
+ # except Exception as e:
+ # print(f"XML writing error: {e}")
if type(name) == str and type(configuration) == str:
self.rob_instance.KUKA_WriteVar('$TRACE.CONFIG[]', f'"{configuration}.xml"')
@@ -100,7 +100,8 @@ class KUKA_Trace:
"""
if self.enable:
self.rob_instance.KUKA_WriteVar('$TRACE.MODE', '#T_STOP')
- print('Trace stopped')
+ if self.rob_instance.KUKA_ReadVar('$TRACE.STATE') in [b'#T_END', b'#T_WRITING']:
+ print('Trace stopped')
def Trace_State(self):
"""
diff --git a/main.py b/main.py
index 4e1c2a8..3c560ec 100644
--- a/main.py
+++ b/main.py
@@ -233,7 +233,7 @@ class MainProgram (MainWindow):
for i, var in enumerate(self.data._var_totrace):
if(self.data._do_trace_var[i]):
self.dataframe.plot(x="Sample_time_s",y=[f"{var}_A{i}" for i in a], grid=True),plt.ylabel(f"Motor {var}")
- plt.tight_layout()
+ plt.tight_layout()
plt.pause(0.1) # Alternative to plt.show() that is not blocking
def trace_sampling (self):
diff --git a/robot/KRL/Data_collector.sub b/robot/KRL/Data_collector.sub
index b5638c7..eb239e0 100644
--- a/robot/KRL/Data_collector.sub
+++ b/robot/KRL/Data_collector.sub
@@ -205,11 +205,12 @@ DEF COMMUNICATION_ROUTINE ()
__TAB_1[35] = 1 ; __PYTHON_DATA_AVAILABLE = TRUE
ENDIF
- IF (NOT ColRUN) AND THEN
+ IF (NOT ColRUN) THEN
IF SAMPLE_NUMBER == SAMPLE_READ THEN
__TAB_1[36] = 1 ; __READ_DONE
ELSE
__TAB_1[36] = 2 ; TRACE_STOP
+ ENDIF
ELSE
__TAB_1[36] = 0
ENDIF
diff --git a/ui/graph_window.py b/ui/graph_window.py
index 2f6db56..56128d1 100644
--- a/ui/graph_window.py
+++ b/ui/graph_window.py
@@ -46,7 +46,7 @@ class CollectionGraphWindow (sg.Window):
self._subtitle = sg.Text("Collecting sample n°...", key="Subtitle")
self._canvas_elem = sg.Canvas(size=(480,360), key="-CANVAS-")
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))
+ self._exit = sg.Button("Exit", 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 10b6909..f3835bf 100644
--- a/ui/measure_robot.py
+++ b/ui/measure_robot.py
@@ -112,6 +112,7 @@ class Measure_robot (CollectionGraphWindow):
try:
self.data.to_excel(file_name)
self.trace_data.to_excel(trace_file_name)
+ self.storing_data_done = True
except Exception as e:
traceback.print_exception(e)
print("Lost data from " + self.name)
@@ -132,9 +133,11 @@ class Measure_robot (CollectionGraphWindow):
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
self._status.update("Successfully stored data", text_color='#0c2')
+ self._exit.update(disabled=False)
else:
self.redraw()
return True
diff --git a/ui/ui_data.py b/ui/ui_data.py
index 245fe12..212429f 100644
--- a/ui/ui_data.py
+++ b/ui/ui_data.py
@@ -119,8 +119,8 @@ class UI_Data (sg.Frame):
if '_A1' in col: # sorting the variables per axis
colname = col.rsplit('_A1', 1)[0]
self._var_totrace.append(colname)
- self.var_checkbox.append(sg.Checkbox('Motor ' + colname, enable_events=True, default=True, key=f'-varplot_cbx{i}-'))
+ self.var_checkbox.append(sg.Checkbox('Motor ' + colname, enable_events=True, default=False, key=f'-varplot_cbx{i}-'))
win.extend_layout(win['-col_var_to_plot-'], [[sg.pin(sg.Col([[self.var_checkbox[i]]], key=f'-varplot_line{i}-', pad=(1,0.2)))]])
- self._do_trace_var.append(True)
+ self._do_trace_var.append(False)
i+=1
diff --git a/ui/ui_trace.py b/ui/ui_trace.py
index 2bf1683..cee285b 100644
--- a/ui/ui_trace.py
+++ b/ui/ui_trace.py
@@ -13,7 +13,7 @@ class UI_KUKATrace( sg.Frame):
def __make_layout (self):
- self._sampling_rate = sg.Combo(['12_ms','12_ms_v2','4_ms'], key='-Trace_config-', default_value='12_ms', size=(20, 1))
+ self._sampling_rate = sg.Combo(['12_ms','12_ms_v2','4_ms_v2'], key='-Trace_config-', default_value='12_ms_v2', size=(20, 1))
self._do_delfile = sg.Checkbox('Delete files from KRC?',key='-delete-',default=True, disabled=True)
self._layout = [
--
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