From a198a018e59dec641d09a935ef968ae693675d9c Mon Sep 17 00:00:00 2001
From: antcsny <131650489+antcsny@users.noreply.github.com>
Date: Fri, 24 May 2024 11:02:46 +0200
Subject: [PATCH] WIP Trace stop during execution
Adding a new state to read_done to stop the kuka trace if collector is done
---
kuka/reader.py | 8 ++++----
robot/KRL/Data_collector.sub | 7 +++++--
ui/measure_robot.py | 7 +++++--
3 files changed, 14 insertions(+), 8 deletions(-)
diff --git a/kuka/reader.py b/kuka/reader.py
index e791f30..95bcd00 100644
--- a/kuka/reader.py
+++ b/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 ---- ##
diff --git a/robot/KRL/Data_collector.sub b/robot/KRL/Data_collector.sub
index 4729910..b5638c7 100644
--- a/robot/KRL/Data_collector.sub
+++ b/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
diff --git a/ui/measure_robot.py b/ui/measure_robot.py
index fac6951..10b6909 100644
--- a/ui/measure_robot.py
+++ b/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
--
GitLab