1. 删除未使用部分 2. 删除本地sqlite保存功能 3. 新增do_current多采集两条曲线 4. 优化耐久采集，修改最短间隔未30s
This commit is contained in:
parent
6e547ca6a3
commit
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2
.gitignore
vendored
2
.gitignore
vendored
@ -3,5 +3,5 @@ venv/
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**/__pycache__/
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assets/files/examples/
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assets/logs/*
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codes/durable/curves_draw.py
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package/*
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test/
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20
aio.py
20
aio.py
@ -1,16 +1,9 @@
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import datetime
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import json
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import os
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import re
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import sqlite3
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import sys
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import time
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from urllib import request
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import os.path
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# import matplotlib
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# import matplotlib.pyplot as plt
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# import pandas
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# from matplotlib.widgets import Slider
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from PySide6.QtCore import Qt, QThread, Signal, QObject, QTimer
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from PySide6.QtGui import QTextCursor, QFont, QPixmap, QColor, QBrush, QIcon
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@ -22,7 +15,6 @@ import codes.ui.main_window as main_window
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from codes.analysis import brake, current, wavelogger, iso
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from codes.autotest import do_current, do_brake
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from codes.durable import factory_test, curves_draw
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# matplotlib.use('QtAgg')
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class ContentDialog(QDialog):
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@ -895,18 +887,6 @@ class MainWindow(main_window.Ui_MainWindow):
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info_text = "当前有程序正在停止中，确认退出？" if clibs.stop_flag else info_text
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reply = QMessageBox.question(self, "退出", info_text)
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if reply == QMessageBox.Yes:
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# os.chdir(clibs.log_path)
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# t = datetime.datetime.now().strftime("%Y%m%d%H%M%S")
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# disk_conn = sqlite3.connect(f"log_{t}.db", isolation_level=None, check_same_thread=False, cached_statements=256)
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#
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# clibs.conn.backup(target=disk_conn, pages=1, progress=None)
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#
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# _, logs = clibs.traversal_files(".")
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# logs.sort()
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# while len(logs) > 10:
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# _ = logs.pop(0)
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# os.remove(_)
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if clibs.status["md"] == 1:
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self.run_program_thread(clibs.c_md.close, -99, self.prog_done_disconn, "md")
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if clibs.status["ec"] == 1:
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@ -6,8 +6,8 @@ VSVersionInfo(
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ffi=FixedFileInfo(
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# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
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# Set not needed items to zero 0.
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filevers=(0, 4, 0, 2),
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prodvers=(0, 4, 0, 2),
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filevers=(0, 4, 0, 3),
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prodvers=(0, 4, 0, 3),
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# Contains a bitmask that specifies the valid bits 'flags'r
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mask=0x3f,
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# Contains a bitmask that specifies the Boolean attributes of the file.
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@ -31,12 +31,12 @@ VSVersionInfo(
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'040904b0',
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[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
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StringStruct('FileDescription', 'All in one automatic toolbox'),
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StringStruct('FileVersion', '0.4.0.2 (2025-04-07)'),
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StringStruct('FileVersion', '0.4.0.3 (2025-04-10)'),
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StringStruct('InternalName', 'AIO.exe'),
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StringStruct('LegalCopyright', '© 2024-2025 Manford Fan'),
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StringStruct('OriginalFilename', 'AIO.exe'),
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StringStruct('ProductName', 'AIO'),
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StringStruct('ProductVersion', '0.4.0.2 (2025-04-07)')])
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StringStruct('ProductVersion', '0.4.0.3 (2025-04-10)')])
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]),
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VarFileInfo([VarStruct('Translation', [1033, 1200])])
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]
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@ -1 +1 @@
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0.4.0.2@04/07/2025
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0.4.0.3@04/10/2025
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@ -1 +1 @@
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0.4.0.2@04/07/2025
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0.4.0.3@04/10/2025
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@ -67,7 +67,7 @@ class DoCurrentTest(QThread):
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def single_axis_proc(self, records, number):
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text = "single" if number < 6 else "hold"
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number = number if number < 6 else number - 6
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d_vel, d_trq, d_sensor, d_trans = [], [], [], []
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d_vel, d_trq, d_sensor, d_trans, d_predict_trq, d_real_trq = [], [], [], [], [], []
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for record in records:
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data = eval(record[0])["data"]
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for item in data:
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@ -80,17 +80,24 @@ class DoCurrentTest(QThread):
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d_sensor.extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "hw_estimate_trans_trq_res":
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d_trans.extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "hw_predict_trq_res":
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d_predict_trq.extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "hw_real_trq_res":
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d_real_trq.extend(d_item)
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df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel})
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df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq})
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df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor})
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df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans})
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df = pandas.concat([df1, df2, df3, df4], axis=1)
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df5 = pandas.DataFrame.from_dict({"hw_predict_trq_res": d_predict_trq})
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df6 = pandas.DataFrame.from_dict({"hw_real_trq_res": d_real_trq})
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df = pandas.concat([df1, df2, df3, df4, df5, df6], axis=1)
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filename = f"{self.dir_path}/single/j{number + 1}_{text}_{time.time()}.data"
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df.to_csv(filename, sep="\t", index=False)
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def scenario_proc(self, records, number, scenario_time):
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d_vel, d_trq, d_sensor, d_trans = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
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# d_vel, d_trq, d_sensor, d_trans, d_predict_trq, d_real_trq = [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []], [[], [], [], [], [], []]
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d_vel, d_trq, d_sensor, d_trans, d_predict_trq, d_real_trq = [[[], [], [], [], [], []] for _ in range(6)]
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for record in records:
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data = eval(record[0])["data"]
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for item in data:
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@ -104,13 +111,19 @@ class DoCurrentTest(QThread):
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d_sensor[axis].extend(d_item)
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elif item.get("channel", None) == axis and item.get("name", None) == "hw_estimate_trans_trq_res":
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d_trans[axis].extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "hw_predict_trq_res":
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d_predict_trq[axis].extend(d_item)
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elif item.get("channel", None) == number and item.get("name", None) == "hw_real_trq_res":
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d_real_trq[axis].extend(d_item)
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for axis in range(6):
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df1 = pandas.DataFrame.from_dict({"hw_joint_vel_feedback": d_vel[axis]})
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df2 = pandas.DataFrame.from_dict({"device_servo_trq_feedback": d_trq[axis]})
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df3 = pandas.DataFrame.from_dict({"hw_sensor_trq_feedback": d_sensor[axis]})
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df4 = pandas.DataFrame.from_dict({"hw_estimate_trans_trq_res": d_trans[axis]})
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df = pandas.concat([df1, df2, df3, df4], axis=1)
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df5 = pandas.DataFrame.from_dict({"hw_predict_trq_res": d_predict_trq[axis]})
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df6 = pandas.DataFrame.from_dict({"hw_real_trq_res": d_real_trq[axis]})
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df = pandas.concat([df1, df2, df3, df4, df5, df6], axis=1)
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filename = f"{self.dir_path}/s_{number-11}/j{axis+1}_s_{number-11}_{scenario_time}_{time.time()}.data"
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df.to_csv(filename, sep="\t", index=False)
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@ -139,7 +152,7 @@ class DoCurrentTest(QThread):
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@staticmethod
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def change_curve_state(stat):
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curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res"]
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curves = ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback", "hw_estimate_trans_trq_res", "hw_predict_trq_res", "hw_real_trq_res"]
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display_pdo_params = [] if not stat else [{"name": curve, "channel": chl} for curve in curves for chl in range(6)]
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clibs.c_hr.execution("diagnosis.open", open=stat, display_open=stat)
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clibs.c_hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params)
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@ -104,14 +104,13 @@ def detect_db_size():
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PREFIX = "resources/assets" # for pyinstaller
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# PREFIX = "assets" # for local testing
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# log_path = f"{PREFIX}/logs"
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lock = threading.Lock()
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running = [0, 0, 0, 0, 0, 0, 0] # 制动数据/转矩数据/激光数据/精度数据/制动自动化/转矩自动化/耐久数据采集
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stop_flag = False
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functions = ["制动数据处理", "转矩数据处理", "激光数据处理", "精度数据处理", "制动自动化测试", "转矩自动化测试", "耐久数据采集"]
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levels = ["DEBUG", "INFO", "WARNING", "ERROR"]
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ip_addr, ssh_port, socket_port, xService_port, external_port, modbus_port, upgrade_port = "", 22, 5050, 6666, 8080, 502, 4567
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username, password = "luoshi", "123456"
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username, password = "luoshi", "luoshi2019"
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INTERVAL, RADIAN, MAX_FRAME_SIZE, MAX_LOG_NUMBER, CYCLE = 1, 57.3, 1024, 10, 30
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c_md, c_hr, c_ec, c_pd, conn, cursor, search_records, logger, count = None, None, None, None, None, None, None, None, 0
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status = {"mysql": 0, "hmi": 0, "md": 0, "ec": 0}
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226
codes/durable/curves_draw.py
Normal file
226
codes/durable/curves_draw.py
Normal file
@ -0,0 +1,226 @@
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from PySide6.QtWidgets import QApplication, QMainWindow, QSlider, QVBoxLayout, QComboBox, QWidget, QPushButton, QToolBar, QGridLayout, QHBoxLayout, QLabel, QRadioButton, QScrollArea, QSizePolicy, QSpacerItem
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from PySide6.QtCore import Qt, QTimer, QSize, QPointF
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from PySide6.QtCharts import QChart, QChartView, QLineSeries, QValueAxis
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from PySide6.QtGui import QAction, QPainter, QColor, QIcon, QFont
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from codes.common import clibs
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import os
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import pandas
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class ChartWindow(QMainWindow):
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curve_map = {
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"周期内平均转矩": ["device_servo_trq_feedback", ],
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"周期内最大速度": ["hw_joint_vel_feedback", ],
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}
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ylabels = {"周期内最大速度": "速度(rad/s)", "周期内平均转矩": "转矩(Nm)"}
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colors = [QColor(255, 0, 0), QColor(255, 0, 0), QColor(0, 0, 255), QColor(0, 255, 0), QColor(254, 153, 0), QColor(0, 255, 255), QColor(255, 0, 255), QColor(0, 0, 0), QColor(255, 255, 255), QColor(128, 128, 128), QColor(255, 182, 193), QColor(173, 216, 230), QColor(144, 238, 144)]
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def __init__(self, dir_path, procs):
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super().__init__()
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self.procs = procs
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self.dir_path = dir_path
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self.setup_ui()
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self.detect_files()
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# self.timer = QTimer()
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# self.timer.timeout.connect(self.reset_zoom)
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# self.timer.start(60000) # 60000ms 更新一次数据
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def detect_files(self):
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with open(f"{clibs.PREFIX}/qss/style.qss", mode="r", encoding="utf-8") as f_qss:
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style_sheet = f_qss.read()
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self.setStyleSheet(style_sheet)
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if not os.path.exists(self.dir_path):
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clibs.logger("ERROR", "curves_draw", f"数据文件夹{self.dir_path}不存在，请确认后重试......", "red")
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for proc_name, is_enabled in self.procs.items():
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if is_enabled:
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break
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else:
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clibs.logger("ERROR", "curves_draw", f"需要选择至少一个功能，才能继续绘图......", "red")
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_, files = clibs.traversal_files(self.dir_path)
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csv_files = []
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for file in files:
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if file.lower().endswith(".csv"):
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self.cb_func_name.addItem(file.split("/")[-1].split(".")[0])
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csv_files.append(file)
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if len(csv_files) == 0:
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clibs.logger("ERROR", "curves_draw", "程序未开始运行，暂无数据可以展示......", "red")
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self.reset_zoom()
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def get_current_info(self):
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self.func_name = self.cb_func_name.currentText()
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self.file_name = f"{self.dir_path}/{self.func_name}.csv"
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self.df = pandas.read_csv(self.file_name)
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self.horizontal_slider.setRange(0, len(self.df))
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def center_on_screen(self):
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screen_geometry = QApplication.primaryScreen().geometry()
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screen_width = screen_geometry.width()
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screen_height = screen_geometry.height()
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win_width = self.width()
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win_height = self.height()
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x = (screen_width - win_width) // 2
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y = (screen_height - win_height) // 2
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self.move(x, y)
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def setup_ui(self):
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self.setWindowTitle("曲线绘制")
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self.setGeometry(100, 100, 1000, 500)
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self.setWindowIcon(QIcon(f"{clibs.PREFIX}/media/icon.ico"))
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self.center_on_screen()
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# 窗体布局
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self.centralwidget = QWidget(self)
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self.centralwidget.setObjectName(u"centralwidget")
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self.gridLayout = QGridLayout(self.centralwidget)
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self.gridLayout.setObjectName(u"gridLayout")
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# 布局spinbox 和 label coordinate
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self.hl_spinbox_btn = QHBoxLayout()
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self.hl_spinbox_btn.setObjectName(u"hl_spinbox_btn")
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font = QFont()
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font.setFamilies([u"Consolas"])
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font.setPointSize(10)
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self.rb_x = QRadioButton(self.centralwidget)
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self.rb_x.setObjectName(u"rb_x")
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self.rb_x.setText(u"仅X轴缩放")
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self.rb_x.setFont(font)
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self.rb_y = QRadioButton(self.centralwidget)
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self.rb_y.setObjectName(u"rb_y")
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self.rb_y.setText(u"仅Y轴缩放")
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self.rb_y.setFont(font)
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self.rb_xy = QRadioButton(self.centralwidget)
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self.rb_xy.setObjectName(u"rb_xy")
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self.rb_xy.setText(u"XY轴缩放")
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self.rb_xy.setFont(font)
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self.rb_xy.setChecked(True)
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self.cb_func_name = QComboBox(self.centralwidget)
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self.cb_func_name.setObjectName(u"cb_func_name")
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self.cb_func_name.setMinimumSize(QSize(200, 0))
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self.cb_func_name.setFont(font)
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self.button_reset = QPushButton(self.centralwidget)
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self.button_reset.setObjectName(u"button_reset")
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self.button_reset.setFont(font)
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self.button_reset.setText(u"视图重置")
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self.horizontalSpacer = QSpacerItem(40, 20, QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Minimum)
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self.hl_spinbox_btn.addWidget(self.rb_x)
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self.hl_spinbox_btn.addWidget(self.rb_y)
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self.hl_spinbox_btn.addWidget(self.rb_xy)
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self.hl_spinbox_btn.addItem(self.horizontalSpacer)
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self.hl_spinbox_btn.addWidget(self.cb_func_name)
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self.hl_spinbox_btn.addWidget(self.button_reset)
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# 连接信号
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self.rb_x.clicked.connect(lambda: self.set_zoom_mode(QChartView.RubberBand.HorizontalRubberBand))
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self.rb_y.clicked.connect(lambda: self.set_zoom_mode(QChartView.RubberBand.VerticalRubberBand))
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self.rb_xy.clicked.connect(lambda: self.set_zoom_mode(QChartView.RubberBand.RectangleRubberBand))
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self.button_reset.clicked.connect(self.reset_zoom)
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self.cb_func_name.currentTextChanged.connect(self.cb_func_name_change)
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# 生成曲线图
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self.chart = QChart()
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self.chart.setTheme(QChart.ChartTheme.ChartThemeLight) # 设置主题
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self.chart.legend().setVisible(True)
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self.chart.legend().setAlignment(Qt.AlignmentFlag.AlignRight) # 图例右对齐
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self.chart_view = QChartView(self.chart)
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self.chart_view.setRubberBand(QChartView.RubberBand.RectangleRubberBand) # 矩形缩放
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self.chart_view.setRenderHint(QPainter.RenderHint.Antialiasing) # 抗锯齿
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self.axisX = QValueAxis()
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# self.axisX.setTitleText("X轴")
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self.axisX.setRange(0, 10) # 初始显示范围
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self.axisY = QValueAxis()
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# self.axisY.setTitleText("Y轴")
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self.axisY.setRange(-5, 5)
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self.chart.addAxis(self.axisX, Qt.AlignmentFlag.AlignBottom)
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self.chart.addAxis(self.axisY, Qt.AlignmentFlag.AlignLeft)
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# 创建水平滚动条
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self.horizontal_slider = QSlider(Qt.Orientation.Horizontal)
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self.horizontal_slider.valueChanged.connect(self.update_view)
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# self.horizontal_slider.setFixedHeight(200)
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# 左侧布局
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self.vl_central = QVBoxLayout()
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self.vl_central.setObjectName(u"vl_central")
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self.vl_central.addWidget(self.chart_view)
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self.vl_central.addWidget(self.horizontal_slider)
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self.vl_central.addLayout(self.hl_spinbox_btn)
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self.vl_central.setStretch(0, 20)
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self.vl_central.setStretch(1, 1)
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self.vl_central.setStretch(2, 1)
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self.gridLayout.addLayout(self.vl_central, 0, 0)
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self.setCentralWidget(self.centralwidget)
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def connect_legend_markers(self):
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for marker in self.chart.legend().markers():
|
||||
try:
|
||||
marker.clicked.disconnect()
|
||||
except:
|
||||
pass
|
||||
marker.clicked.connect(self.toggle_series_visibility)
|
||||
self.update_legend_style(marker)
|
||||
|
||||
def update_legend_style(self, marker):
|
||||
alpha = 255 if marker.series().isVisible() else 128
|
||||
color = marker.labelBrush().color()
|
||||
color.setAlpha(alpha)
|
||||
marker.setLabelBrush(color)
|
||||
|
||||
marker_color = marker.series().color()
|
||||
marker_color.setAlpha(alpha)
|
||||
marker.setBrush(marker_color)
|
||||
marker.setPen(marker_color.darker())
|
||||
|
||||
def toggle_series_visibility(self):
|
||||
marker = self.sender()
|
||||
if series := marker.series():
|
||||
new_visibility = not series.isVisible()
|
||||
series.setVisible(new_visibility)
|
||||
self.update_legend_style(marker)
|
||||
marker.setVisible(True)
|
||||
|
||||
def cb_func_name_change(self):
|
||||
self.reset_zoom()
|
||||
|
||||
def set_zoom_mode(self, mode):
|
||||
"""设置缩放模式"""
|
||||
self.chart_view.setRubberBand(mode)
|
||||
# 取消其他按钮的选中状态
|
||||
self.rb_x.setChecked(mode == QChartView.RubberBand.HorizontalRubberBand)
|
||||
self.rb_y.setChecked(mode == QChartView.RubberBand.VerticalRubberBand)
|
||||
self.rb_xy.setChecked(mode == QChartView.RubberBand.RectangleRubberBand)
|
||||
|
||||
def reset_zoom(self):
|
||||
self.chart.removeAllSeries()
|
||||
self.get_current_info()
|
||||
self.axisY.setTitleText(self.ylabels[self.func_name])
|
||||
|
||||
series_s = [QLineSeries() for _ in range(18)]
|
||||
for col in range(1, len(self.df.columns)):
|
||||
self.series = series_s[col]
|
||||
self.chart.addSeries(self.series)
|
||||
self.series.attachAxis(self.axisX)
|
||||
self.series.attachAxis(self.axisY)
|
||||
data = [QPointF(idx, self.df.iloc[:, col].values[idx]) for idx in range(len(self.df))]
|
||||
self.series.append(data)
|
||||
self.series.setColor(self.colors[col])
|
||||
self.series.setName(self.df.columns[col])
|
||||
|
||||
self.chart.zoomReset() # 重置所有缩放
|
||||
self.horizontal_slider.setValue(0)
|
||||
self.axisX.setRange(0, len(self.df))
|
||||
self.axisY.setRange(min(self.df.iloc[:, 1:].min())-1, max(self.df.iloc[:, 1:].max())+1)
|
||||
self.connect_legend_markers()
|
||||
|
||||
def update_view(self):
|
||||
self.connect_legend_markers()
|
||||
# 自动滚动显示最新10个点
|
||||
if self.horizontal_slider.value() > 10:
|
||||
self.axisX.setRange(self.horizontal_slider.value() - 10, self.horizontal_slider.value())
|
||||
else:
|
||||
self.axisX.setRange(0, 10)
|
||||
@ -27,7 +27,7 @@ class Ui_MainWindow(QMainWindow):
|
||||
if not MainWindow.objectName():
|
||||
MainWindow.setObjectName(u"MainWindow")
|
||||
MainWindow.setEnabled(True)
|
||||
MainWindow.resize(1006, 568)
|
||||
MainWindow.resize(1004, 563)
|
||||
sizePolicy = QSizePolicy(QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Expanding)
|
||||
sizePolicy.setHorizontalStretch(0)
|
||||
sizePolicy.setVerticalStretch(0)
|
||||
@ -281,7 +281,7 @@ class Ui_MainWindow(QMainWindow):
|
||||
self.sa_durable.setWidgetResizable(True)
|
||||
self.scrollAreaWidgetContents = QWidget()
|
||||
self.scrollAreaWidgetContents.setObjectName(u"scrollAreaWidgetContents")
|
||||
self.scrollAreaWidgetContents.setGeometry(QRect(0, 0, 213, 78))
|
||||
self.scrollAreaWidgetContents.setGeometry(QRect(0, 0, 212, 78))
|
||||
self.horizontalLayout_9 = QHBoxLayout(self.scrollAreaWidgetContents)
|
||||
self.horizontalLayout_9.setObjectName(u"horizontalLayout_9")
|
||||
self.verticalLayout_5 = QVBoxLayout()
|
||||
@ -950,7 +950,7 @@ class Ui_MainWindow(QMainWindow):
|
||||
#if QT_CONFIG(whatsthis)
|
||||
self.le_durable_interval.setWhatsThis("")
|
||||
#endif // QT_CONFIG(whatsthis)
|
||||
self.le_durable_interval.setPlaceholderText(QCoreApplication.translate("MainWindow", u"\u6bcf\u6b21\u6570\u636e\u91c7\u96c6\u7684\u65f6\u95f4\u95f4\u9694\uff0c\u9ed8\u8ba4(\u6700\u5c0f)300s", None))
|
||||
self.le_durable_interval.setPlaceholderText(QCoreApplication.translate("MainWindow", u"\u6bcf\u6b21\u6570\u636e\u91c7\u96c6\u7684\u65f6\u95f4\u95f4\u9694\uff0c\u9ed8\u8ba4(\u6700\u5c0f)30s", None))
|
||||
self.cb_durable_total.setText(QCoreApplication.translate("MainWindow", u"\u5168\u90e8\u6253\u5f00/\u5173\u95ed", None))
|
||||
self.btn_draw.setText(QCoreApplication.translate("MainWindow", u"\u7ed8\u56fe", None))
|
||||
self.label_3.setText("")
|
||||
|
||||
@ -225,7 +225,7 @@
|
||||
</font>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>1</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="elideMode">
|
||||
<enum>Qt::TextElideMode::ElideNone</enum>
|
||||
@ -702,7 +702,7 @@
|
||||
<set>Qt::InputMethodHint::ImhNone</set>
|
||||
</property>
|
||||
<property name="placeholderText">
|
||||
<string>每次数据采集的时间间隔，默认(最小)300s</string>
|
||||
<string>每次数据采集的时间间隔，默认(最小)30s</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user