diff --git a/AdvDataPlot.py b/AdvDataPlot.py
new file mode 100644
index 0000000000000000000000000000000000000000..97b3c3717ae09ac483d35d7a3fbc226b6bdd94f7
--- /dev/null
+++ b/AdvDataPlot.py
@@ -0,0 +1,138 @@
+import PySimpleGUI as sg
+import os
+import pandas as pd
+import matplotlib.pyplot as plt
+
+
+sg.theme("SystemDefaultForReal")
+
+class MainWindow (sg.Window):
+
+ dataframe = []
+ dataframe.append(None)
+ dataframe.append(None)
+ # Flags to enable the plot of variables in datasets : torque, curent, temperature, command position, measured position
+ _do_trace = [True, True, True, False, False]
+
+ def __init__ (self, *args, **kwargs):
+ """
+ With __make_layout, generate the pysimplegui window of the GUI
+ Return : sg.Window
+ """
+ super().__init__("Data Plot", self.__make_layout(), finalize = True, *args, *kwargs)
+
+ def __make_layout (self):
+
+ # plot des variables qu'on veut : combo selon les colonnes du dataframe ouvert
+ # plot des données d'une seule variable sur un seul axe
+ self.data = self.def_file_browse('data1')
+ self.data2 = self.def_file_browse('data2')
+
+ self.do_tq = sg.Checkbox('Motor torque', key='-do_tq-', size=(25, 1), enable_events=True, default=True)
+ self.do_curr = sg.Checkbox('Motor current', key='-do_curr-', size=(25, 1), enable_events=True, default=True)
+ self.do_tptr = sg.Checkbox('Motor temperature', key='-do_tprt-', size=(25, 1),enable_events=True, default=True)
+ self.do_posact = sg.Checkbox('Robot command position', key='-do_posact-', size=(25, 1), enable_events=True, default=False)
+ self.do_posreal = sg.Checkbox('Robot measured position', key='-do_posreal-', size=(25, 1), enable_events=True, default=False)
+ self.do_axis = [ sg.Checkbox(f'A{i}', key=f'-do_axis{i}-', enable_events=True, default=True) for i in range(1,7)]
+
+ self._layout = [
+ [ self.data ],
+ [ self.data2 ],
+ [ sg.Frame("Variables to plot :", border_width=0, layout=[
+ [self.do_tq],
+ [self.do_curr],
+ [self.do_tptr],
+ [self.do_posact],
+ [self.do_posreal]
+ ]),
+ ],
+ [ sg.Text('Axis to plot :'), *self.do_axis ],
+ [ sg.Button('Trace Selected variables', key='-trace_selvar-', disabled=False, expand_x=True) ]
+ ]
+ return self._layout
+
+ def def_file_browse(self, key:str):
+ data_path = os.path.dirname(os.path.realpath(__file__)) + "/data"
+ self._input_data = sg.Input(default_text=data_path, key=f'-path_{key}-', size=(130, 1), font=("Consolas", 10))
+ self.import_xlsx = sg.FileBrowse("Browse EXCEL",initial_folder=data_path, file_types=(('Excel Files', '*.xlsx'),), key=f'-browse_{key}-')
+ self.open_xlsx = sg.Button("OPEN", key=f'-open_{key}-')
+ return [self._input_data, self.import_xlsx, self.open_xlsx]
+
+ def open_xlsx_file (self, path: str, dfnb:int):
+ """Tries to load a .xslx file collected from the system variables
+
+ Args:
+ path (str): The path to the file to open
+ """
+ try:
+ self.dataframe[dfnb-1] = pd.read_excel(path)
+ if 'TRACE' in path :
+ self.dataframe[dfnb-1]['Sample_time_s'] = self.dataframe[dfnb-1]['Sample']/1000
+ self.enable_var_buttons(True, 'TRACE')
+ else:
+ self.dataframe[dfnb-1]['Sample_time_s'] = self.dataframe[dfnb-1]['Sample_time']/1000
+ self.enable_var_buttons(True, 'default')
+ self.update_do()
+ self.data_col = self.dataframe[dfnb-1].columns
+ except Exception as e:
+ self.enable_var_buttons(False)
+ sg.popup(e)
+
+ def update_do (self):
+ """_summary_
+ Update the state of the variables do_XXX if a checkbox is clicked
+ """
+ i=0
+ for checkbox in [self.do_tq, self.do_curr, self.do_tptr, self.do_posact, self.do_posreal]:
+ self._do_trace[i] = bool(checkbox.get()) and checkbox.Disabled == False
+ checkbox.update(value = self._do_trace[i])
+ i+=1
+
+ def trace_selected_variables (self, dfnb:int):
+ plt.close('all')
+ a = self.get_selected_axis()
+ if(self._do_trace[0]):
+ self.dataframe[dfnb-1].plot(x="Sample_time_s",y=[f"Torque_A{i}" for i in a], grid=True),plt.ylabel("Motor Torque (N.m)")
+ if(self._do_trace[1]):
+ self.dataframe[dfnb-1].plot(x="Sample_time_s",y=[f"Current_A{i}" for i in a], grid=True),plt.ylabel("Motor Current (%)")
+ if(self._do_trace[2]):
+ self.dataframe[dfnb-1].plot(x="Sample_time_s",y=[f"Temperature_A{i}" for i in a], grid=True),plt.ylabel("Motor Temperature (°K)")
+ if(self._do_trace[3]):
+ self.dataframe[dfnb-1].plot(x="Sample_time_s",y=[f"Position_Command_A{i}" for i in a], grid=True),plt.ylabel("Robot command position in grid (mm))")
+ if(self._do_trace[4]):
+ self.dataframe[dfnb-1].plot(x="Sample_time_s",y=[f"Position_A{i}" for i in a], grid=True),plt.ylabel("Real Robot position in grid (mm))")
+ plt.pause(0.1) # Alternative to plt.show() that is not blocking
+
+ def get_selected_axis (self):
+ i=1
+ res = []
+ for axis in self.do_axis:
+ if axis.get():
+ res.append(i)
+ i+=1
+ return res
+
+ def enable_var_buttons (self, enable:bool, case:str = ''):
+ e = not(enable and (case == 'TRACE' or case == 'default'))
+ f = not(enable and case != 'TRACE')
+ self.do_tq.update(disabled=e)
+ self.do_curr.update(disabled=e)
+ self.do_tptr.update(disabled=f)
+ self.do_posact.update(disabled=f)
+ self.do_posreal.update(disabled=f)
+
+window = MainWindow()
+while True:
+ event, values = window.read(100)
+ if event == sg.WIN_CLOSED:
+ break
+ if event == '-open_data1-':
+ window.open_xlsx_file(values['-path_data1-'], 1)
+ if event == '-open_data2-':
+ window.open_xlsx_file(values['-path_data2-'], 2)
+ if '-do_' in event:
+ window.update_do()
+ if event == '-trace_selvar-':
+ window.trace_selected_variables(1)
+
+window.close()
\ No newline at end of file
diff --git a/README.md b/README.md
index 042b5e9c9ace33dcab4b6ac272c79684a8e52e0d..b041c3c6ef7e957eeb347e87474c8faaa4871e80 100644
--- a/README.md
+++ b/README.md
@@ -134,7 +134,7 @@ This section describes how to deploy the data collection on a cell.
### Global variables
-The following declaration must be added in the `System/$config.dat` file
+The following declarations must be added in the `System/$config.dat` file
on the robot KUKA workspace :
```
@@ -154,7 +154,7 @@ This progam can be found in [`robot/KRL/`](./robot/KRL).
Copy the provided configuration files found in [`robot/configurations/`](./robot/configurations) to
the `TRACE` folder of the robot.
-**Example path** : `\\192.168.1.151\...\TRACE\`
+**Example path** : `\\192.168.1.151\roboter\TRACE\`
### The `Axis_Main.src` program
diff --git a/main_refactor.py b/main_refactor.py
deleted file mode 100644
index 4a4ba6e6f2adfe03786eeb8132d92fcdaf34d782..0000000000000000000000000000000000000000
--- a/main_refactor.py
+++ /dev/null
@@ -1,340 +0,0 @@
-# Local Imports
-from ui import MainWindow, Measure_robot, Measure_latency
-from kuka import KUKA_Handler
-
-# Libs
-import traceback
-import PySimpleGUI as sg
-from threading import Semaphore, Thread
-from typing import List, Any
-import pandas as pd
-import matplotlib.pyplot as plt
-
-class MainProgram (MainWindow):
- """Wrapper for the main program. Classes are more reliable than global variables.
- """
-
- ### ---- State variables ---- ###
- dataframe = None
- window_latency = []
-
- ### ---- Robots ---- ###
- robot_handlers: List[KUKA_Handler] = [ None ] * 3
- robot_windows = [ ]
-
- ### ---- Sync Mechanism ---- ###
- sync_done = 0
- sync_number = 0
- sync_sem = Semaphore(0)
-
- ### ---- Methods ---- ###
- def __init__(self):
- super().__init__()
-
- self.update_disabled_ui()
-
- def open_cell (self, cell: int):
- """Establishes a connection to a robot
-
- Args:
- cell (int): The number of the cell (from 1 to 3)
- """
-
- handler = KUKA_Handler(f"192.168.1.15{cell}", 7000)
-
- try:
- ok = handler.KUKA_Open()
- if not ok:
- self.write_event_value(f"-rob_errored:{cell}-", None)
- return
- except Exception as e:
- traceback.print_exception(e)
- sg.popup_ok("\n".join(traceback.format_exception(e)))
- self.write_event_value(f"-rob_errored:{cell}-", None)
- return
-
- self.robot_handlers[cell - 1] = handler
- self.write_event_value(f"-rob_connected:{cell}-", None)
-
- def update_disabled_ui (self):
- """Updates the UI based on the robot connections
- """
-
- disabled = True
- for i in range(len(self.robot_handlers)):
- r = self.robot_handlers[i]
- disabled = disabled and (r is None)
- self.robots[i].disabled = (r is None)
-
- self.collection_settings.disabled = disabled
- self.kukatrace.disabled = disabled
- self.latency.disabled = disabled
- self.gripper.disabled = disabled
- self.data.disabled = disabled
-
- self.collection_settings.update_robot_buttons()
-
- def done (self):
- """Called when a robot has collected the samples for a run.
- Unlocks the syncing mechanism if all robots are done
- """
-
- self.sync_done += 1
- if self.sync_done == self.sync_number:
- self.sync_done = 0
- self.sync_sem.release(self.sync_number)
-
- def close (self):
- """Closes the main program
- """
- for r in self.robot_handlers:
- if r is not None:
- r.KUKA_Close()
- plt.close("all")
-
- super().close()
-
- def start (self, values: Any):
- """Starts the data collection
- """
-
- # Check inputs
- if not self.collection_settings.check_configuration():
- print("Failed to run the collection : invalid configuration")
- return
-
- # Creating the file names
- file_path = values["-user_path-"] + "/" + values["-dataset_name-"]
-
- # Creating the windows used to collect data
- self.robot_windows = [ ]
- for i in range(len(self.robot_handlers)):
- r = self.robot_handlers[i]
- if r is not None:
- self.robot_windows.append(Measure_robot(r, i + 1, file_path))
-
- # Initializing the sync mechanism
- self.sync_number = len(self.robot_windows)
- self.sync_sem = Semaphore(0)
- self.sync_done = 0
-
- # Getting the configuration
- A_iter = [ values[f'num_of_iter{i}'] for i in range(1,7) ]
- speed = self.collection_settings.speed
- sampling = values["-Sys_sampling-"]
- trace_sampling = values["-Trace_config-"]
-
- # Running the collection for each robot
- for r in self.robot_windows:
-
- r._poll() # Forces the window to open
-
- # Reading and writing the files via another thread not to block the main window
- t = Thread(
- target=r.measure_sequence,
- args=[
- A_iter, speed, sampling, trace_sampling, # Collection settings
- self.get_category(r.cell), # Sample class
- self.sync_sem, lambda: self.done() # Sync mechanism
- ],
- daemon=False)
- t.start()
-
- # Unlock the robots at the same time
- self.sync_sem.release(self.sync_number)
-
- def measure_latencies (self):
- """Runs a latency measurement for each connected robot
- """
-
- try:
- window_latency = []
- for i in range(len(self.robot_handlers)):
- r = self.robot_handlers[i]
- if r is not None:
- w = Measure_latency(f"Latency measurement for Robot {i + 1}")
- w._poll()
- window_latency.append(w)
- t = Thread(target=w.measure_latency, args=[r], daemon=False)
- t.start()
-
- except Exception as e:
- sg.popup_ok(traceback.format_exception(e))
- traceback.print_exception(e)
-
- def toggle_robot (self, cell: int):
- """Toggles a robot state
-
- Args:
- cell (int): From 1 to 3, the number of the cell
- """
-
- # The robot is already connected
- if self.robot_handlers[cell - 1] is not None:
- print(f"Trying to disconnect from robot {cell}")
- self.collection_settings.set_robot_connected(cell - 1, False)
- self.robot_handlers[cell - 1].KUKA_Close()
- self.robot_handlers[cell - 1] = None
- self.update_disabled_ui()
- return
-
- # Connecting to the robot
- self.update_disabled_ui()
- print(f"Trying to connect to robot {cell}")
- self.perform_long_operation(lambda: self.open_cell(cell), "-connect-call-end-")
-
- def gripper_open (self):
- """Tries to open the gripper of the selected robot
- """
-
- if self.robot_handlers[self.gripper._robot_choice - 1] is not None:
- self.robot_handlers[self.gripper._robot_choice - 1].KUKA_WriteVar('PyOPEN_GRIPPER', True)
- self.gripper._btn_open.update(disabled=True)
- self.gripper._btn_close.update(disabled=False)
-
- def gripper_close (self):
- """Tries to close the gripper of the selected robot
- """
- if self.robot_handlers[self.gripper._robot_choice - 1] is not None:
- self.robot_handlers[self.gripper._robot_choice - 1].KUKA_WriteVar('PyCLOSE_GRIPPER', True)
- self.gripper._btn_open.update(disabled=False)
- self.gripper._btn_close.update(disabled=True)
-
- def open_xlsx (self, path: str):
- """Tries to load a .xslx file collected from the system variables
-
- Args:
- path (str): The path to the file to open
- """
- try:
- self.dataframe = pd.read_excel(path)
- self.dataframe['Sample_time_s'] = self.dataframe['Sample_time']/1000
- sg.popup("Done")
- self.data.enable_plot_buttons(True)
- except Exception as e:
- sg.popup(e)
- self.data.enable_plot_buttons(False)
-
- def trace_selected_variables (self):
- if(self.collection_settings._do_tq):
- self.dataframe.plot(x="Sample_time_s",y=[f"Torque_A{i}" for i in range(1,7,1)], grid=True),plt.ylabel("Motor Torque (N.m)")
- if(self.collection_settings._do_curr):
- self.dataframe.plot(x="Sample_time_s",y=[f"Current_A{i}" for i in range(1,7,1)], grid=True),plt.ylabel("Motor Current (%)")
- if(self.collection_settings._do_temp):
- self.dataframe.plot(x="Sample_time_s",y=[f"Temperature_A{i}" for i in range(1,7,1)], grid=True),plt.ylabel("Motor Temperature (°K)")
- if(self.collection_settings._do_posact):
- self.dataframe.plot(x="Sample_time_s",y=[f"Command_A{i}" for i in range(1,7,1)], grid=True),plt.ylabel("Robot command position in grid (mm))")
- if(self.collection_settings._do_posreal):
- self.dataframe.plot(x="Sample_time_s",y=[f"Position_A{i}" for i in range(1,7,1)], grid=True),plt.ylabel("Real Robot position in grid (mm))")
- plt.pause(0.1) # Alternative to plt.show() that is not blocking
-
- def trace_sampling (self):
- self.dataframe.plot(x="Sample_time_s",y=["Queue_Read", "Queue_Write"], grid=True),plt.ylabel("Samples")
- plt.xlabel("Collection execution time (s)")
- plt.twinx(), plt.plot(self.dataframe["Sample_time_s"],self.dataframe['Read_time'], alpha=0.05), plt.ylabel("Request time of the sample (ms)")
- plt.title("Samples in the buffer and red by Python")
- plt.text(10,10,f"Mean ample time : {self.dataframe['Sample_time'].diff().mean()}")
- plt.show()
-
- def trace_latencies (self):
- self.dataframe.hist(column='Read_time', grid=True, bins=30)
- plt.title("Distribution of the collection time of a sample")
- plt.xlabel(f"Request time (ms) : mean = {self.dataframe['Read_time'].mean().__round__(2)}"),plt.ylabel("Number of samples")
- plt.show()
-
- def run (self):
- """Runs the main program
- """
-
- while True:
-
- event, values = self.read(timeout=10)
-
- ## ---- Core Events ---- ##
-
- if event in (sg.WINDOW_CLOSE_ATTEMPTED_EVENT, sg.WIN_CLOSED, 'Exit'):
- self.close()
- break
-
- if event == '-equal_iter-':
- for i in range(1, 7):
- self[f'num_of_iter{i}'].update(value=values['num_of_iter1'])
-
- if event == '-BTN_start-':
- self.start(values)
-
- if event == "-dataset_auto-name-":
- self.collection_settings._input_dataset_name.update(value=self.collection_settings.now())
-
- if event == '-BTN_latency-':
- self.measure_latencies()
-
- if event == '-doconst_speed-':
- self.collection_settings.update_speed_entry()
-
- if 'do' in event:
- self.collection_settings.update_do()
-
- ## ---- Robot selector Events ---- ##
- if "rob_select" in event:
- cell = int(event.split(':')[1][:-1])
- self.toggle_robot(cell)
-
- if "rob_connected" in event:
- cell = int(event.split(':')[1][:-1])
- self.collection_settings.set_robot_connected(cell - 1, True)
- self.update_disabled_ui()
-
- if "rob_errored" in event:
- cell = int(event.split(':')[1][:-1])
- self.collection_settings.set_robot_connected(cell - 1, False, True)
- self.update_disabled_ui()
-
- ## ---- Gripper Events ---- ##
- if event == '-BTN_open_gripper-':
- self.gripper_open()
-
- if event == '-BTN_close_gripper-':
- self.gripper_close()
-
- ## ---- Trace Events ---- ##
-
- if event == '-open_xlsx-':
- self.open_xlsx(values['-data_path-'])
-
- if event == '-trace_selvar-':
- self.trace_selected_variables()
-
- if event == '-trace_sample-':
- self.trace_sampling()
-
- if event == '-trace_latency-':
- self.trace_latencies()
-
-
- ## ---- Other windows updates ---- ##
-
- for i in range(len(self.window_latency)):
- w = self.window_latency[i]
- if w is not None:
- if w._poll() is False:
- self.window_latency[i] = None
-
- for i in range(len(self.robot_windows)):
- win = self.robot_windows[i]
-
- # Window closed
- if win is None:
- continue
-
- # Window closed
- if not win._poll():
- # Récupérer les données
-
- self.robot_windows[i] = None
- continue
-
-if __name__ == "__main__":
- main = MainProgram()
- main.run()
- main.close()
\ No newline at end of file
diff --git a/robot/KRL/Data_collector.sub b/robot/KRL/Data_collector.sub
new file mode 100644
index 0000000000000000000000000000000000000000..4729910ef41c7d5a2c5992ebfbe4967c202dbbe2
--- /dev/null
+++ b/robot/KRL/Data_collector.sub
@@ -0,0 +1,213 @@
+&ACCESS RVP
+&COMMENT USER specified PLC program
+DEF Data_collector( )
+ ;FOLD DECLARATIONS
+ ;FOLD USER DECL
+ ; Please insert user defined declarations
+ DECL INT __I
+
+ ;ENDFOLD (USER DECL)
+ ;ENDFOLD (DECLARATIONS)
+ ;FOLD INI
+ ;FOLD USER INIT
+ ; Please insert user defined initialization commands
+ ColRUN = FALSE
+
+ FOR __I = 1 TO 36
+ __TAB_1[__I] = 0
+ ENDFOR
+
+ FOR __I = 1 TO ColBUFFER_SIZE
+
+ ColBUFFER_TQ_A1[__I] = 0
+ ColBUFFER_TQ_A2[__I] = 0
+ ColBUFFER_TQ_A3[__I] = 0
+ ColBUFFER_TQ_A4[__I] = 0
+ ColBUFFER_TQ_A5[__I] = 0
+ ColBUFFER_TQ_A6[__I] = 0
+ ColBUFFER_TEMP_A1[__I] = 0
+ ColBUFFER_TEMP_A2[__I] = 0
+ ColBUFFER_TEMP_A3[__I] = 0
+ ColBUFFER_TEMP_A4[__I] = 0
+ ColBUFFER_TEMP_A5[__I] = 0
+ ColBUFFER_TEMP_A6[__I] = 0
+ ColBUFFER_CURR_A1[__I] = 0
+ ColBUFFER_CURR_A2[__I] = 0
+ ColBUFFER_CURR_A3[__I] = 0
+ ColBUFFER_CURR_A4[__I] = 0
+ ColBUFFER_CURR_A5[__I] = 0
+ ColBUFFER_CURR_A6[__I] = 0
+ ColBUFFER_TIME[__I] = 0
+ ColBUFFER_ANALOG[__I] = 0
+ ColBUFFER_POS_ACT[__I] = $AXIS_ACT
+ ColBUFFER_POS_MEAS[__I] = $AXIS_ACT_MEAS
+
+ ENDFOR
+
+ ;ENDFOLD (USER INIT)
+ ;ENDFOLD (INI)
+
+ LOOP
+ ;FOLD USER PLC
+ ;Make your modifications here
+ IF ColRESET THEN
+ ColRESET = FALSE
+ ColRESET_DONE = FALSE
+ SAMPLE_NUMBER = 1
+ ColKEEPING_UP = TRUE
+ ColRESET_DONE = TRUE
+ RESET_COMMUNICATION()
+ IF __PyResetTimer THEN
+ __PyResetTimer = FALSE
+ $TIMER[1] = 0
+ ENDIF
+ FOR __I = 1 TO 36
+ __TAB_1[__I] = 0
+ ENDFOR
+ ENDIF
+
+ IF ColRUN THEN
+ $TIMER_STOP[5] = FALSE
+ IF $TIMER[5] >= ColSAMPLING THEN
+ $TIMER[5] = 0
+ ColBUFFER_TIME[SAMPLE_NUMBER] = $TIMER[1]
+ ColBUFFER_POS_ACT[SAMPLE_NUMBER] = $AXIS_ACT
+ ColBUFFER_POS_MEAS[SAMPLE_NUMBER] = $AXIS_ACT_MEAS
+
+ ColBUFFER_TQ_A1[SAMPLE_NUMBER] = $TORQUE_AXIS_ACT[1]
+ ColBUFFER_TQ_A2[SAMPLE_NUMBER] = $TORQUE_AXIS_ACT[2]
+ ColBUFFER_TQ_A3[SAMPLE_NUMBER] = $TORQUE_AXIS_ACT[3]
+ ColBUFFER_TQ_A4[SAMPLE_NUMBER] = $TORQUE_AXIS_ACT[4]
+ ColBUFFER_TQ_A5[SAMPLE_NUMBER] = $TORQUE_AXIS_ACT[5]
+ ColBUFFER_TQ_A6[SAMPLE_NUMBER] = $TORQUE_AXIS_ACT[6]
+
+ ColBUFFER_TEMP_A1[SAMPLE_NUMBER] = $MOT_TEMP[1]
+ ColBUFFER_TEMP_A2[SAMPLE_NUMBER] = $MOT_TEMP[2]
+ ColBUFFER_TEMP_A3[SAMPLE_NUMBER] = $MOT_TEMP[3]
+ ColBUFFER_TEMP_A4[SAMPLE_NUMBER] = $MOT_TEMP[4]
+ ColBUFFER_TEMP_A5[SAMPLE_NUMBER] = $MOT_TEMP[5]
+ ColBUFFER_TEMP_A6[SAMPLE_NUMBER] = $MOT_TEMP[6]
+
+ ColBUFFER_CURR_A1[SAMPLE_NUMBER] = $CURR_ACT[1]
+ ColBUFFER_CURR_A2[SAMPLE_NUMBER] = $CURR_ACT[2]
+ ColBUFFER_CURR_A3[SAMPLE_NUMBER] = $CURR_ACT[3]
+ ColBUFFER_CURR_A4[SAMPLE_NUMBER] = $CURR_ACT[4]
+ ColBUFFER_CURR_A5[SAMPLE_NUMBER] = $CURR_ACT[5]
+ ColBUFFER_CURR_A6[SAMPLE_NUMBER] = $CURR_ACT[6]
+
+ ColBUFFER_ANALOG[SAMPLE_NUMBER] = $ANOUT[1]
+
+ SAMPLE_NUMBER=SAMPLE_NUMBER+1
+
+ IF SAMPLE_NUMBER > ColBUFFER_SIZE THEN
+ SAMPLE_NUMBER = 1
+ ENDIF
+
+ ELSE
+ COMMUNICATION_ROUTINE()
+ ENDIF
+ IF $TIMER[5] >= 2 * ColSAMPLING THEN
+ ColKEEPING_UP = FALSE
+ ENDIF
+ ELSE
+ $TIMER_STOP[5] = TRUE
+ COMMUNICATION_ROUTINE()
+ ENDIF
+
+ ;ENDFOLD (USER PLC)
+ ENDLOOP
+END
+ ;ENDFOLD
+ ;FOLD USER SUBROUTINE
+ ;Integrate your user defined subroutines
+
+ ;ENDFOLD (USER SUBROUTINE)
+
+DEF RESET_COMMUNICATION ()
+
+ ;Tabs initialisation
+ DECL INT __I
+ FOR __I = 1 TO 36
+ __TAB_1[__I] = 0
+ ENDFOR
+ SAMPLE_READ = 1
+ __PYTHON_HAS_READ = 0
+END
+
+DEF COMMUNICATION_ROUTINE ()
+
+ WAIT SEC 0
+
+ ; Check if python read and if data available
+ IF ((__PYTHON_HAS_READ == (SAMPLE_READ - 1)) OR (__PYTHON_HAS_READ == ColBUFFER_SIZE)) AND (SAMPLE_READ <> SAMPLE_NUMBER) THEN
+ ; __PYTHON_HAS_READ = FALSE
+ __TAB_1[35] = 0 ; __PYTHON_DATA_AVAILABLE = FALSE
+
+ ; Make data available
+
+ ; Sample
+ __TAB_1[1] = ColBUFFER_TIME[SAMPLE_READ]
+
+ ; A1
+ __TAB_1[2] = ColBUFFER_POS_ACT[SAMPLE_READ].A1
+ __TAB_1[3] = ColBUFFER_POS_MEAS[SAMPLE_READ].A1
+ __TAB_1[4] = ColBUFFER_TQ_A1[SAMPLE_READ]
+ __TAB_1[5] = ColBUFFER_CURR_A1[SAMPLE_READ]
+ __TAB_1[6] = ColBUFFER_TEMP_A1[SAMPLE_READ]
+
+ ; A2
+ __TAB_1[7] = ColBUFFER_POS_ACT[SAMPLE_READ].A2
+ __TAB_1[8] = ColBUFFER_POS_MEAS[SAMPLE_READ].A2
+ __TAB_1[9] = ColBUFFER_TQ_A2[SAMPLE_READ]
+ __TAB_1[10] = ColBUFFER_CURR_A2[SAMPLE_READ]
+ __TAB_1[11] = ColBUFFER_TEMP_A2[SAMPLE_READ]
+
+ ; A3
+ __TAB_1[12] = ColBUFFER_POS_ACT[SAMPLE_READ].A3
+ __TAB_1[13] = ColBUFFER_POS_MEAS[SAMPLE_READ].A3
+ __TAB_1[14] = ColBUFFER_TQ_A3[SAMPLE_READ]
+ __TAB_1[15] = ColBUFFER_CURR_A3[SAMPLE_READ]
+ __TAB_1[16] = ColBUFFER_TEMP_A3[SAMPLE_READ]
+
+
+ ; A4
+ __TAB_1[17] = ColBUFFER_POS_ACT[SAMPLE_READ].A4
+ __TAB_1[18] = ColBUFFER_POS_MEAS[SAMPLE_READ].A4
+ __TAB_1[19] = ColBUFFER_TQ_A4[SAMPLE_READ]
+ __TAB_1[20] = ColBUFFER_CURR_A4[SAMPLE_READ]
+ __TAB_1[21] = ColBUFFER_TEMP_A4[SAMPLE_READ]
+
+ ; A5
+ __TAB_1[22] = ColBUFFER_POS_ACT[SAMPLE_READ].A5
+ __TAB_1[23] = ColBUFFER_POS_MEAS[SAMPLE_READ].A5
+ __TAB_1[24] = ColBUFFER_TQ_A5[SAMPLE_READ]
+ __TAB_1[25] = ColBUFFER_CURR_A5[SAMPLE_READ]
+ __TAB_1[26] = ColBUFFER_TEMP_A5[SAMPLE_READ]
+
+ ; A6
+ __TAB_1[27] = ColBUFFER_POS_ACT[SAMPLE_READ].A6
+ __TAB_1[28] = ColBUFFER_POS_MEAS[SAMPLE_READ].A6
+ __TAB_1[29] = ColBUFFER_TQ_A6[SAMPLE_READ]
+ __TAB_1[30] = ColBUFFER_CURR_A6[SAMPLE_READ]
+ __TAB_1[31]= ColBUFFER_TEMP_A6[SAMPLE_READ]
+
+ ; System variables
+ __TAB_1[32] = ColBUFFER_ANALOG[SAMPLE_READ]
+ __TAB_1[33] = SAMPLE_READ
+ __TAB_1[34] = SAMPLE_NUMBER
+
+
+ SAMPLE_READ = SAMPLE_READ + 1
+ IF SAMPLE_READ > ColBUFFER_SIZE THEN
+ SAMPLE_READ = 1
+ ENDIF
+
+ __TAB_1[35] = 1 ; __PYTHON_DATA_AVAILABLE = TRUE
+ ENDIF
+
+ IF (NOT ColRUN) AND (SAMPLE_NUMBER == SAMPLE_READ) THEN
+ __TAB_1[36] = 1 ; __READ_DONE
+ ELSE
+ __TAB_1[36] = 0
+ ENDIF
+END
\ No newline at end of file
diff --git a/robot/KRL/_Axis_MAIN_dataset.src b/robot/KRL/_Axis_MAIN_dataset.src
new file mode 100644
index 0000000000000000000000000000000000000000..39738e2aff8d738855b005d4b9d4da6687687d82
--- /dev/null
+++ b/robot/KRL/_Axis_MAIN_dataset.src
@@ -0,0 +1,90 @@
+&ACCESS RVP
+&REL 8
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+&PARAM DISKPATH = KRC:\R1\Diagnostika
+DEF _Axis_MAIN_dataset ( )
+ ;FOLD INI;%{PE}
+ ;FOLD BASISTECH INI
+ GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+ INTERRUPT ON 3
+ BAS (#INITMOV,0 )
+ ;ENDFOLD (BASISTECH INI)
+ ;FOLD USER INI
+ ;Make your modifications here
+
+ ;ENDFOLD (USER INI)
+ ;ENDFOLD (INI)
+ PyRUN=FALSE
+ PyDONE=FALSE
+ PySPEED=50
+ $ADVANCE = 0
+ ;FOLD domu
+ SPTP DOMOV WITH $VEL_AXIS[1] = SVEL_JOINT(100), $TOOL = STOOL2(FP1), $BASE = SBASE(FP1.BASE_NO), $IPO_MODE = SIPO_MODE(FP1.IPO_FRAME), $LOAD = SLOAD(FP1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+ ;ENDFOLD
+ LOOP
+ $ANOUT[1]=0
+ WAIT FOR PyRUN
+ PyDONE = FALSE
+ ; $TIMER[1]=0
+ $TIMER_STOP[1]=FALSE
+ ;FOLD domu
+ SPTP DOMOV WITH $VEL_AXIS[1] = SVEL_JOINT(PySPEED), $TOOL = STOOL2(FP1), $BASE = SBASE(FP1.BASE_NO), $IPO_MODE = SIPO_MODE(FP1.IPO_FRAME), $LOAD = SLOAD(FP1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+ ;ENDFOLD
+ $ANOUT[1]=1
+ FOR counter = 0 TO PyITER[1]-1 STEP 1
+ A1()
+ ENDFOR
+ $ANOUT[1]=0
+ ;FOLD domu
+ SPTP DOMOV WITH $VEL_AXIS[1] = SVEL_JOINT(PySPEED), $TOOL = STOOL2(FP1), $BASE = SBASE(FP1.BASE_NO), $IPO_MODE = SIPO_MODE(FP1.IPO_FRAME), $LOAD = SLOAD(FP1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+ ;ENDFOLD
+ $ANOUT[1]=2
+ FOR counter = 0 TO PyITER[2]-1 STEP 1
+ A2()
+ ENDFOR
+ $ANOUT[1]=0
+ ;FOLD domu
+ SPTP DOMOV WITH $VEL_AXIS[1] = SVEL_JOINT(PySPEED), $TOOL = STOOL2(FP1), $BASE = SBASE(FP1.BASE_NO), $IPO_MODE = SIPO_MODE(FP1.IPO_FRAME), $LOAD = SLOAD(FP1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+ ;ENDFOLD
+ $ANOUT[1]=3
+ FOR counter = 0 TO PyITER[3]-1 STEP 1
+ A3()
+ ENDFOR
+ $ANOUT[1]=0
+ ;FOLD domu
+ SPTP DOMOV WITH $VEL_AXIS[1] = SVEL_JOINT(PySPEED), $TOOL = STOOL2(FP1), $BASE = SBASE(FP1.BASE_NO), $IPO_MODE = SIPO_MODE(FP1.IPO_FRAME), $LOAD = SLOAD(FP1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+ ;ENDFOLD
+ $ANOUT[1]=4
+ FOR counter = 0 TO PyITER[4]-1 STEP 1
+ A4()
+ ENDFOR
+ $ANOUT[1]=0
+ ;FOLD domu
+ SPTP DOMOV WITH $VEL_AXIS[1] = SVEL_JOINT(PySPEED), $TOOL = STOOL2(FP1), $BASE = SBASE(FP1.BASE_NO), $IPO_MODE = SIPO_MODE(FP1.IPO_FRAME), $LOAD = SLOAD(FP1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+ ;ENDFOLD
+ $ANOUT[1]=5
+ FOR counter = 0 TO PyITER[5]-1 STEP 1
+ A5()
+ ENDFOR
+ $ANOUT[1]=0
+ ;FOLD domu
+ SPTP DOMOV WITH $VEL_AXIS[1] = SVEL_JOINT(PySPEED), $TOOL = STOOL2(FP1), $BASE = SBASE(FP1.BASE_NO), $IPO_MODE = SIPO_MODE(FP1.IPO_FRAME), $LOAD = SLOAD(FP1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+ ;ENDFOLD
+ $ANOUT[1]=6
+ FOR counter = 0 TO PyITER[6]-1 STEP 1
+ A6()
+ ENDFOR
+ $ANOUT[1]=0
+ ;FOLD domu
+ SPTP DOMOV WITH $VEL_AXIS[1] = SVEL_JOINT(PySPEED), $TOOL = STOOL2(FP1), $BASE = SBASE(FP1.BASE_NO), $IPO_MODE = SIPO_MODE(FP1.IPO_FRAME), $LOAD = SLOAD(FP1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+ ;ENDFOLD
+ WAIT SEC 0
+ PyDONE = TRUE
+ PyRUN = FALSE
+ ColRUN = FALSE
+ $TIMER_STOP[1]=TRUE
+ WAIT SEC 1
+ PyDONE = FALSE
+ ENDLOOP
+END
\ No newline at end of file
diff --git a/robot/KRL/placeholder.txt b/robot/KRL/placeholder.txt
deleted file mode 100644
index 22cbe50235f4b1595bcc417bf415dd0f106893a1..0000000000000000000000000000000000000000
--- a/robot/KRL/placeholder.txt
+++ /dev/null
@@ -1 +0,0 @@
-This file is meant to be removed
\ No newline at end of file
diff --git a/robot/configurations/$config.dat b/robot/configurations/$config.dat
new file mode 100644
index 0000000000000000000000000000000000000000..8a3266af0deaa54498f9753725598293cc31f6d1
--- /dev/null
+++ b/robot/configurations/$config.dat
@@ -0,0 +1,59 @@
+; Global variables needed for the execution of the data collector ;
+
+;FOLD ------DIAGNOSTIKA GLOBAL PROMENNE-------
+;Program control
+DECL BOOL PyRUN=FALSE
+DECL BOOL PyDONE=FALSE
+DECL INT PySPEED=30
+DECL INT PyITER[6]
+DECL BOOL PyOPEN_GRIPPER=FALSE
+DECL BOOL PyCLOSE_GRIPPER=FALSE
+DECL INT PyKNUCKLE
+DECL REAL SPEED
+
+;Data collection control
+DECL BOOL ColRUN=FALSE
+DECL BOOL ColRESET=FALSE
+DECL BOOL ColBUFFER_FULL=FALSE
+DECL BOOL ColKEEPING_UP=FALSE
+DECL BOOL ColRESET_DONE=TRUE
+DECL INT ColSAMPLING=12
+DECL INT ColBUFFER_SIZE=20000
+
+;Data communication buffers and flags
+DECL INT SAMPLE_READ=772
+DECL INT SAMPLE_NUMBER=772
+DECL REAL __TAB_1[36]
+
+DECL INT __PYTHON_HAS_READ=771 ;
+DECL BOOL __PyResetTimer=FALSE ;
+
+;Data collection buffers
+DECL REAL ColBUFFER_TQ_A1[20000]
+DECL REAL ColBUFFER_TQ_A2[20000]
+DECL REAL ColBUFFER_TQ_A3[20000]
+DECL REAL ColBUFFER_TQ_A4[20000]
+DECL REAL ColBUFFER_TQ_A5[20000]
+DECL REAL ColBUFFER_TQ_A6[20000]
+DECL REAL ColBUFFER_TEMP_A1[20000]
+DECL REAL ColBUFFER_TEMP_A2[20000]
+DECL REAL ColBUFFER_TEMP_A3[20000]
+DECL REAL ColBUFFER_TEMP_A4[20000]
+DECL REAL ColBUFFER_TEMP_A5[20000]
+DECL REAL ColBUFFER_TEMP_A6[20000]
+DECL REAL ColBUFFER_CURR_A1[20000]
+DECL REAL ColBUFFER_CURR_A2[20000]
+DECL REAL ColBUFFER_CURR_A3[20000]
+DECL REAL ColBUFFER_CURR_A4[20000]
+DECL REAL ColBUFFER_CURR_A5[20000]
+DECL REAL ColBUFFER_CURR_A6[20000]
+DECL REAL ColBUFFER_TIME[20000]
+DECL REAL ColBUFFER_ANALOG[20000]
+
+DECL E6AXIS __LAST_POS_ACT
+DECL E6AXIS ColBUFFER_POS_ACT[20000]
+DECL E6AXIS __LAST_POS_MEAS
+DECL E6AXIS ColBUFFER_POS_MEAS[20000]
+;ENDFOLD
+
+...
\ No newline at end of file
diff --git a/robot/configurations/placeholder.txt b/robot/configurations/placeholder.txt
deleted file mode 100644
index 0d4904a3c93b6274553fe5ba10ad87f053fd14b5..0000000000000000000000000000000000000000
--- a/robot/configurations/placeholder.txt
+++ /dev/null
@@ -1 +0,0 @@
-This file is meant to be removed later
\ No newline at end of file
diff --git a/ui/graph_window.py b/ui/graph_window.py
index 920bfef18d70c5b1ca50df19eef9910faf6dcedc..2f6db56a6604f89dc38692ea660f16b0d60fb14d 100644
--- a/ui/graph_window.py
+++ b/ui/graph_window.py
@@ -20,14 +20,8 @@ class CollectionGraphWindow (sg.Window):
self._data_latency = []
self._s = 0
- super().__init__(f'Robot {cell}', self.__make_layout(), finalize=True)
- def __make_layout (self):
- self._title = sg.Text(f'Robot {self.cell}', key="-TITLE-", font='Helvetica 20')
- 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))
+ super().__init__(f'Robot {cell}', self.__make_layout(), finalize=True)
# Canvas settings
self._canvas = self._canvas_elem.TKCanvas
@@ -47,6 +41,13 @@ class CollectionGraphWindow (sg.Window):
self._fig_agg.draw()
self._fig_agg.get_tk_widget().pack(side='top', fill='both', expand=1)
+ def __make_layout (self):
+ self._title = sg.Text(f'Robot {self.cell}', key="-TITLE-", font='Helvetica 20')
+ 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))
+
layout = [
[ sg.Push(), self._title, sg.Push() ],
[ sg.Push(), self._subtitle, sg.Push() ],
@@ -90,5 +91,7 @@ class CollectionGraphWindow (sg.Window):
self._ay.grid()
self._ay.plot(range(len(b)), b)
+ self._figure.tight_layout()
+
self._fig_agg.draw()
self._subtitle.update(f"Collecting sample n°{self._s}")
\ No newline at end of file
diff --git a/ui/ui_collection_settings.py b/ui/ui_collection_settings.py
index a13926cf3457c9e3f049861acd34ca490954f82b..ece5598acd95cc92c08bdb7658310383f3dac80a 100644
--- a/ui/ui_collection_settings.py
+++ b/ui/ui_collection_settings.py
@@ -29,7 +29,7 @@ class UI_Collection_Settings (sg.Frame):
now = self.now()
self._input_dataset_name = sg.InputText(now, key='-dataset_name-', size=(30, 1), font=("Consolas", 10))
- dir_path = os.path.dirname(os.path.realpath(__file__)) + "/data"
+ dir_path = os.getcwd() + "/data"
self._input_working_dir = sg.Input(default_text=dir_path, key='-user_path-', size=(40, 1), font=("Consolas", 10))
self._input_browse_dir = sg.FolderBrowse(initial_folder=dir_path, key='-browse-')