85 lines
2.9 KiB
Python
85 lines
2.9 KiB
Python
import os.path
|
|
import matplotlib.pyplot as plt
|
|
import pandas
|
|
from matplotlib.widgets import Slider
|
|
from PySide6.QtCore import Signal, QThread
|
|
from common import clibs
|
|
|
|
|
|
# class DrawCurves(QThread):
|
|
# output = Signal(str, str)
|
|
#
|
|
# def __init__(self, /):
|
|
# super().__init__()
|
|
#
|
|
# @staticmethod
|
|
# def logger(level, module, content, color="black", error="", flag="both", signal=output):
|
|
# clibs.logger(level, module, content, color, flag, signal)
|
|
# if level.upper() == "ERROR":
|
|
# raise Exception(error)
|
|
#
|
|
# def initialization(self):
|
|
# path, curves = None, None
|
|
# try:
|
|
# path = clibs.data_dd["path"]
|
|
# curves = clibs.data_dd["curves"]
|
|
# except Exception:
|
|
# clibs.w2t("程序未开始运行，暂无数据可以展示......\n", "red")
|
|
# return None, None
|
|
#
|
|
# for curve in curves:
|
|
# if not os.path.exists(f"{path}/{curve}.csv"):
|
|
# clibs.w2t(f"{curve}曲线数据暂未生成，稍后再试......\n", "orange")
|
|
# return None, None
|
|
#
|
|
# return path, curves
|
|
#
|
|
#
|
|
# def data_plot(path, curve):
|
|
# titles = {"hw_joint_vel_feedback": "各关节最大速度曲线", "device_servo_trq_feedback": "各关节平均有效转矩曲线"}
|
|
# ylabels = {"hw_joint_vel_feedback": "速度(rad/s)", "device_servo_trq_feedback": "转矩(Nm)"}
|
|
#
|
|
# fig, axes = plt.subplots(figsize=(10, 4.5), dpi=100)
|
|
# cols = [f"{curve}_{i}" for i in range(6)]
|
|
# cols.insert(0, "time")
|
|
# df = pandas.read_csv(f"{path}/{curve}.csv")
|
|
# plt.plot(df[cols[1]], label="一轴")
|
|
# plt.plot(df[cols[2]], label="二轴")
|
|
# plt.plot(df[cols[3]], label="三轴")
|
|
# plt.plot(df[cols[4]], label="四轴")
|
|
# plt.plot(df[cols[5]], label="五轴")
|
|
# plt.plot(df[cols[6]], label="六轴")
|
|
# axes.set_title(titles[curve])
|
|
# axes.set_ylabel(ylabels[curve])
|
|
# axes.legend(loc="upper right")
|
|
#
|
|
# slider_position = plt.axes((0.1, 0.01, 0.8, 0.05), facecolor="blue") # (left, bottom, width, height)
|
|
# scrollbar = Slider(slider_position, 'Time', 1, int(len(df)), valstep=1)
|
|
#
|
|
# def update(val):
|
|
# pos = scrollbar.val
|
|
# axes.set_xlim([pos, pos + 10])
|
|
# fig.canvas.draw_idle()
|
|
#
|
|
# scrollbar.on_changed(update)
|
|
# fig.tight_layout(rect=(0, 0.02, 0.96, 1)) # tuple (left, bottom, right, top)
|
|
#
|
|
#
|
|
# def main():
|
|
# path, curves = initialization()
|
|
# if not path or not curves:
|
|
# return
|
|
#
|
|
# for curve in curves:
|
|
# data_plot(path, curve)
|
|
#
|
|
# plt.show()
|
|
#
|
|
#
|
|
# plt.rcParams['font.sans-serif'] = ['SimHei']
|
|
# plt.rcParams['axes.unicode_minus'] = False
|
|
# plt.rcParams['figure.dpi'] = 100
|
|
# plt.rcParams['font.size'] = 14
|
|
# plt.rcParams['lines.marker'] = 'o'
|
|
# plt.rcParams["figure.autolayout"] = True
|
|
# |