83 lines
2.6 KiB
Python
83 lines
2.6 KiB
Python
import os.path
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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 common import clibs
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def initialization():
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path, curves = None, None
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try:
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path = clibs.data_dd["path"]
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curves = clibs.data_dd["curves"]
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except Exception:
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clibs.w2t("程序未开始运行，暂无数据可以展示......\n", "red")
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return None, None
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for curve in curves:
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if not os.path.exists(f"{path}/{curve}.csv"):
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clibs.w2t(f"{curve}曲线数据暂未生成，稍后再试......\n", "orange")
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return None, None
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return path, curves
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def data_plot(path, curve):
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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"}
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ylabels = {"hw_joint_vel_feedback": "速度(rad/s)", "device_servo_trq_feedback": "转矩(Nm)"}
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fig, axes = plt.subplots(figsize=(10, 4.5), dpi=100)
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cols = [f"{curve}_{i}" for i in range(6)]
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cols.insert(0, "time")
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df = pandas.read_csv(f"{path}/{curve}.csv")
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plt.plot(df[cols[1]], label="一轴")
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plt.plot(df[cols[2]], label="二轴")
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plt.plot(df[cols[3]], label="三轴")
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plt.plot(df[cols[4]], label="四轴")
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plt.plot(df[cols[5]], label="五轴")
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plt.plot(df[cols[6]], label="六轴")
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axes.set_title(titles[curve])
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axes.set_ylabel(ylabels[curve])
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axes.legend(loc="upper right")
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slider_position = plt.axes((0.1, 0.01, 0.8, 0.05), facecolor="blue") # (left, bottom, width, height)
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scrollbar = Slider(slider_position, 'Time', 1, int(len(df)), valstep=1)
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def update(val):
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pos = scrollbar.val
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axes.set_xlim([pos, pos + 10])
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fig.canvas.draw_idle()
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scrollbar.on_changed(update)
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fig.tight_layout(rect=(0, 0.02, 0.96, 1)) # tuple (left, bottom, right, top)
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def main():
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path, curves = initialization()
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if not path or not curves:
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return
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for curve in curves:
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data_plot(path, curve)
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plt.rcParams['font.sans-serif'] = ['SimHei']
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plt.rcParams['axes.unicode_minus'] = False
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plt.rcParams['figure.dpi'] = 100
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plt.rcParams['font.size'] = 14
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plt.rcParams['lines.marker'] = 'o'
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plt.rcParams["figure.autolayout"] = True
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plt.show()
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# threads = [threading.Thread(target=data_plot, args=(path, curve)) for curve in curves]
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# for t in threads:
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# t.daemon = True
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# t.start()
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# for curve in curves:
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# t = threading.Thread(target=data_plot, args=(path, curve))
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# t.daemon = True
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# t.start()
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if __name__ == '__main__':
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main()
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