完成了电流->转矩的转变，基本完成

code/durable_docs/create_plot.py

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+import os.path
+import matplotlib.pyplot as plt
+import pandas
+from matplotlib.widgets import Slider
+from common import clibs
+
+
+def initialization():
+    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.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
+    plt.show()
+
+    # threads = [threading.Thread(target=data_plot, args=(path, curve)) for curve in curves]
+    # for t in threads:
+    #     t.daemon = True
+    #     t.start()
+    # for curve in curves:
+    #     t = threading.Thread(target=data_plot, args=(path, curve))
+    #     t.daemon = True
+    #     t.start()
+
+
+if __name__ == '__main__':
+    main()