WIP Trace stop during execution

Adding a new state to read_done to stop the kuka trace if collector is done

kuka/reader.py

@@ -273,7 +273,7 @@ class KUKA_DataReader:
         # Flag indicating the state of the collection
         self._read_done = False
         
-        while not self._read_done:
+        while self._read_done != 1 :
             
             # Getting our sample
             data, self._data_available, self._read_done = self.read(now, load)
@@ -309,7 +309,9 @@ class KUKA_DataReader:
                 sleep(self.rate/2)
 
             else:
-                # Sleeping to wait for the next data to be sampled
+                # Sleeping to wait for the next data to be sampled, stop de trace if robot movement done
+                if self._read_done == 2:
+                    self.trace.Trace_Stop()
                 sleep(self.rate/2)
         
         # Creating a data frame
@@ -397,7 +399,6 @@ class KUKA_DataReader:
         trace_sampling = int(trace_config.split("_")[0])
 
         ## ---- Run for a single speed ---- ##
-
         if type(speed) == str or type(speed) == int:
 
             # Sync with other robots
@@ -429,7 +430,6 @@ class KUKA_DataReader:
             
             # Returning the two collected DataFrames
             return data_vars, data_trace
-        
         ## -------------------------------- ##
 
         ## ---- Run for multiple speeds ---- ##

robot/KRL/Data_collector.sub

@@ -205,8 +205,11 @@ DEF COMMUNICATION_ROUTINE ()
       __TAB_1[35] = 1    ;  __PYTHON_DATA_AVAILABLE = TRUE
       ENDIF
       
-      IF (NOT ColRUN) AND (SAMPLE_NUMBER == SAMPLE_READ) THEN
-         __TAB_1[36] = 1   ;  __READ_DONE
+      IF (NOT ColRUN) AND  THEN
+         IF SAMPLE_NUMBER == SAMPLE_READ THEN
+            __TAB_1[36] = 1   ;  __READ_DONE
+         ELSE
+            __TAB_1[36] = 2   ;  TRACE_STOP
       ELSE
          __TAB_1[36] = 0
       ENDIF

ui/measure_robot.py

@@ -13,6 +13,7 @@ class Measure_robot (CollectionGraphWindow):
 
     # Flag used to close the window when done
     collecting_data_done = False
+    storing_data_done = False
 
     # Collected data
     data = None
@@ -130,9 +131,11 @@ class Measure_robot (CollectionGraphWindow):
         
         if self.collecting_data_done :
             self.collecting_data_done = False
-            self._status.update("Collection Done !",text_color="#0c2")
+            self._status.update("Collection Done",text_color="#00f")
+        elif self.storing_data_done :
+            self.storing_data_done = False
+            self._status.update("Successfully stored data", text_color='#0c2')
         else:
             self.redraw()
-
         return True