minor modifications
This commit is contained in:
parent
dd0873637f
commit
1cefe4a16b
Binary file not shown.
BIN
aio/assets/templates/durable/durable_data_current_max.xlsx
Normal file
BIN
aio/assets/templates/durable/durable_data_current_max.xlsx
Normal file
Binary file not shown.
Binary file not shown.
@ -13,13 +13,13 @@ from automatic_test import *
|
||||
from durable_action import *
|
||||
import openapi
|
||||
import matplotlib.pyplot as plt
|
||||
import matplotlib
|
||||
import pandas as pd
|
||||
from matplotlib import use
|
||||
from pandas import DataFrame, read_excel
|
||||
|
||||
matplotlib.use('Agg')
|
||||
use('Agg')
|
||||
heartbeat = f'{dirname(__file__)}/../assets/templates/heartbeat'
|
||||
durable_data_current_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current.xlsx'
|
||||
durable_data_velocity_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_velocity.xlsx'
|
||||
durable_data_current_max_xlsx = f'{dirname(__file__)}/../assets/templates/durable/durable_data_current_max.xlsx'
|
||||
customtkinter.set_appearance_mode("System") # Modes: "System" (standard), "Dark", "Light"
|
||||
customtkinter.set_default_color_theme("blue") # Themes: "blue" (standard), "green", "dark-blue"
|
||||
customtkinter.set_widget_scaling(1.1) # widget dimensions and text size
|
||||
@ -35,7 +35,7 @@ durable_data_current = {
|
||||
'axis5': [0 for _ in range(25)],
|
||||
'axis6': [0 for _ in range(25)],
|
||||
}
|
||||
durable_data_velocity = {
|
||||
durable_data_current_max = {
|
||||
'time': list(range(1, 26)),
|
||||
'axis1': [0 for _ in range(25)],
|
||||
'axis2': [0 for _ in range(25)],
|
||||
@ -64,7 +64,7 @@ widgits_at = {
|
||||
}
|
||||
widgits_da = {
|
||||
'path': {'label': '', 'entry': '', 'row': 1, 'col': 2, 'text': '数据文件夹路径'},
|
||||
'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '曲线选择'},
|
||||
'curvesel': {'label': '', 'optionmenu': '', 'row': 1, 'col': 1, 'text': '指标选择'},
|
||||
}
|
||||
|
||||
|
||||
@ -185,7 +185,7 @@ class App(customtkinter.CTk):
|
||||
widgits_da[widgit]['entry'] = customtkinter.CTkEntry(self.tabview.tab('Durable Action'), width=670, placeholder_text=widgits_da[widgit]['text'], font=self.my_font)
|
||||
widgits_da[widgit]['entry'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col']+1, columnspan=11, padx=(5, 10), pady=10, sticky='we')
|
||||
elif widgit in ['curvesel']:
|
||||
widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=["device_servo_trq_feedback", "hw_joint_vel_feedback"], font=self.my_font)
|
||||
widgits_da[widgit]['optionmenu'] = customtkinter.CTkOptionMenu(self.tabview.tab('Durable Action'), dynamic_resizing=False, button_color='#708090', fg_color='#778899', values=['device_servo_trq_feedback', '[max] device_servo_trq_feedback'], font=self.my_font)
|
||||
widgits_da[widgit]['optionmenu'].grid(row=widgits_da[widgit]['row'], column=widgits_da[widgit]['col'], padx=5, pady=10, sticky='we')
|
||||
widgits_da[widgit]['optionmenu'].set(widgits_da[widgit]['text'])
|
||||
# For durable_action tab END =====================================================================
|
||||
@ -224,14 +224,14 @@ class App(customtkinter.CTk):
|
||||
if not self.hr.durable_lock:
|
||||
self.hr.durable_lock = 1
|
||||
if curvesel == 'device_servo_trq_feedback':
|
||||
df = pd.read_excel(durable_data_current_xlsx)
|
||||
df = read_excel(durable_data_current_xlsx)
|
||||
_title = 'device_servo_trq_feedback'
|
||||
elif curvesel == 'hw_joint_vel_feedback':
|
||||
_title = 'hw_joint_vel_feedback'
|
||||
df = pd.read_excel(durable_data_velocity_xlsx)
|
||||
elif curvesel == '[max] device_servo_trq_feedback':
|
||||
_title = '[max] device_servo_trq_feedback'
|
||||
df = read_excel(durable_data_current_max_xlsx)
|
||||
else:
|
||||
_title = 'device_servo_trq_feedback'
|
||||
df = pd.read_excel(durable_data_current_xlsx)
|
||||
df = read_excel(durable_data_current_xlsx)
|
||||
self.hr.durable_lock = 0
|
||||
break
|
||||
else:
|
||||
@ -281,10 +281,10 @@ class App(customtkinter.CTk):
|
||||
# self.tabview.configure(state='normal')
|
||||
|
||||
def detect_network(self):
|
||||
df = pd.DataFrame(durable_data_current)
|
||||
df = DataFrame(durable_data_current)
|
||||
df.to_excel(durable_data_current_xlsx, index=False)
|
||||
df = pd.DataFrame(durable_data_velocity)
|
||||
df.to_excel(durable_data_velocity_xlsx, index=False)
|
||||
df = DataFrame(durable_data_current_max)
|
||||
df.to_excel(durable_data_current_max_xlsx, index=False)
|
||||
|
||||
with open(heartbeat, "w", encoding='utf-8') as f_hb:
|
||||
f_hb.write('0')
|
||||
@ -578,7 +578,7 @@ class App(customtkinter.CTk):
|
||||
path = widgits_da['path']['entry'].get().strip()
|
||||
curvesel = widgits_da['curvesel']['optionmenu'].get()
|
||||
c1 = exists(path)
|
||||
c2 = curvesel in ['device_servo_trq_feedback', 'hw_joint_vel_feedback']
|
||||
c2 = curvesel in ['device_servo_trq_feedback', '[max] device_servo_trq_feedback']
|
||||
if c1 and c2:
|
||||
return 7, path, curvesel
|
||||
else:
|
||||
|
||||
@ -4,21 +4,21 @@ from os import scandir
|
||||
from paramiko import SSHClient, AutoAddPolicy
|
||||
from json import loads
|
||||
from time import sleep, time, strftime, localtime
|
||||
import pandas as pd
|
||||
from pandas import DataFrame
|
||||
from openpyxl import load_workbook
|
||||
from math import sqrt
|
||||
|
||||
tab_name = 'Durable Action'
|
||||
count = 0
|
||||
durable_data_current_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current.xlsx'
|
||||
durable_data_velocity_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_velocity.xlsx'
|
||||
durable_data_current_max_xlsx = f'{dirname(__file__)}/../../assets/templates/durable/durable_data_current_max.xlsx'
|
||||
display_pdo_params = [
|
||||
{"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 2},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 3},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 4},
|
||||
{"name": "hw_joint_vel_feedback", "channel": 5},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 0},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 1},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 2},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 3},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 4},
|
||||
# {"name": "hw_joint_vel_feedback", "channel": 5},
|
||||
{"name": "device_servo_trq_feedback", "channel": 0},
|
||||
{"name": "device_servo_trq_feedback", "channel": 1},
|
||||
{"name": "device_servo_trq_feedback", "channel": 2},
|
||||
@ -35,7 +35,7 @@ durable_data_current = {
|
||||
'axis5': [0 for _ in range(25)],
|
||||
'axis6': [0 for _ in range(25)],
|
||||
}
|
||||
durable_data_velocity = {
|
||||
durable_data_current_max = {
|
||||
'time': list(range(1, 26)),
|
||||
'axis1': [0 for _ in range(25)],
|
||||
'axis2': [0 for _ in range(25)],
|
||||
@ -44,7 +44,7 @@ durable_data_velocity = {
|
||||
'axis5': [0 for _ in range(25)],
|
||||
'axis6': [0 for _ in range(25)],
|
||||
}
|
||||
data_all = [durable_data_current, durable_data_velocity]
|
||||
data_all = [durable_data_current, durable_data_current_max]
|
||||
|
||||
|
||||
def traversal_files(path, w2t):
|
||||
@ -214,44 +214,33 @@ def get_durable_data(path, data, scenario_time, wait_time, rcs, hr, w2t):
|
||||
# for _ in _data_list:
|
||||
# f_obj.write(f"{_}\n")
|
||||
|
||||
_d2d_trq = {
|
||||
'device_servo_trq_feedback_0': [], 'device_servo_trq_feedback_1': [], 'device_servo_trq_feedback_2': [],
|
||||
'device_servo_trq_feedback_3': [], 'device_servo_trq_feedback_4': [], 'device_servo_trq_feedback_5': [],
|
||||
}
|
||||
_d2d_vel = {
|
||||
'hw_joint_vel_feedback_0': [], 'hw_joint_vel_feedback_1': [], 'hw_joint_vel_feedback_2': [],
|
||||
'hw_joint_vel_feedback_3': [], 'hw_joint_vel_feedback_4': [], 'hw_joint_vel_feedback_5': [],
|
||||
}
|
||||
_d2d_trq = {0: [], 1: [], 2: [], 3: [], 4: [], 5: []}
|
||||
_d2d_trq_max = {0: [], 1: [], 2: [], 3: [], 4: [], 5: []}
|
||||
|
||||
for line in _data_list:
|
||||
for item in line['data']:
|
||||
for i in range(6):
|
||||
item['value'].reverse()
|
||||
if item.get('channel', None) == i and item.get('name', None) == 'device_servo_trq_feedback':
|
||||
_d2d_trq[f'device_servo_trq_feedback_{i}'].extend(item['value'])
|
||||
elif item.get('channel', None) == i and item.get('name', None) == 'hw_joint_vel_feedback':
|
||||
_d2d_vel[f'hw_joint_vel_feedback_{i}'].extend(item['value'])
|
||||
_d2d_trq[i].extend(item['value'])
|
||||
|
||||
if len(_d2d_trq['device_servo_trq_feedback_0']) / 1000 > scenario_time + 1:
|
||||
# ========= for trq =========
|
||||
_df_1 = pd.DataFrame(_d2d_trq)
|
||||
if len(_d2d_trq[0]) / 1000 > scenario_time + 1:
|
||||
_df = DataFrame(_d2d_trq)
|
||||
for i in range(6):
|
||||
_ = sqrt(100*_df_1[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}']))
|
||||
_ = sqrt(100*_df[i].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[i]))
|
||||
del data[0][f"axis{i + 1}"][0]
|
||||
data[0][f"axis{i + 1}"].append(_)
|
||||
_df_1 = pd.DataFrame(data[0])
|
||||
# ========= for vel =========
|
||||
_df_2 = pd.DataFrame(_d2d_vel)
|
||||
for i in range(6):
|
||||
_ = sqrt(100*_df_2[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}']))
|
||||
_ = rcs[i] * _df[i].abs().max() / 1000
|
||||
del data[1][f"axis{i + 1}"][0]
|
||||
data[1][f"axis{i + 1}"].append(_)
|
||||
_df_2 = pd.DataFrame(data[1])
|
||||
_df_1 = DataFrame(data[0])
|
||||
_df_2 = DataFrame(data[1])
|
||||
|
||||
while True:
|
||||
if not hr.durable_lock:
|
||||
hr.durable_lock = 1
|
||||
_df_1.to_excel(durable_data_current_xlsx, index=False)
|
||||
_df_2.to_excel(durable_data_velocity_xlsx, index=False)
|
||||
_df_2.to_excel(durable_data_current_max_xlsx, index=False)
|
||||
hr.durable_lock = 0
|
||||
break
|
||||
else:
|
||||
|
||||
Reference in New Issue
Block a user