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Copy pathTest_GUI_Online_Normal.py
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260 lines (201 loc) · 9.41 KB
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# ==============================================================================
# File Name: Test_GUI_Online_Normal.py
# Description: Online S-Curve Test (Triggered Planning Mode)
# Replaces continuous replanning with "Plan once, Execute"
# ==============================================================================
import tkinter as tk
from tkinter import ttk
import matplotlib.pyplot as plt
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
import collections
import time
from S7RTT import S7RTT, MotionState
class OnlineTestGUI:
def __init__(self, root):
self.root = root
self.root.title("S7RTT Normal Mode (Triggered Planning)")
self.root.geometry("1200x900")
self.SIM_DT = 0.001
self.PLOT_WINDOW = 5.0
self.is_running = False
self.last_plot_time = 0.0
self.plot_interval = 0.05
self.planner = S7RTT()
self.current_state = MotionState(0, 0, 0, 0, 0)
self.current_traj = None
self.traj_local_time = 0.0
self.max_points = int(self.PLOT_WINDOW / self.SIM_DT)
self.history_t = collections.deque(maxlen=self.max_points)
self.history_p = collections.deque(maxlen=self.max_points)
self.history_v = collections.deque(maxlen=self.max_points)
self.history_a = collections.deque(maxlen=self.max_points)
self.history_j = collections.deque(maxlen=self.max_points)
self.global_time = 0.0
self._init_ui()
self._init_plot()
def _init_ui(self):
control_panel = ttk.Frame(self.root, width=250)
control_panel.pack(side=tk.LEFT, fill=tk.Y, padx=10, pady=10)
btn_frame = ttk.LabelFrame(control_panel, text="Simulation Control")
btn_frame.pack(fill=tk.X, pady=5)
self.btn_start = ttk.Button(btn_frame, text="START Loop", command=self._start_simulation)
self.btn_start.pack(fill=tk.X, padx=5, pady=5)
self.btn_stop = ttk.Button(btn_frame, text="STOP", command=self._stop_simulation, state=tk.DISABLED)
self.btn_stop.pack(fill=tk.X, padx=5, pady=5)
ttk.Button(btn_frame, text="Reset State", command=self._reset_state).pack(fill=tk.X, padx=5, pady=5)
target_frame = ttk.LabelFrame(control_panel, text="Target Settings")
target_frame.pack(fill=tk.X, pady=10)
self.var_target_p = self._create_input(target_frame, "Target Pos:", 100.0)
self.var_target_v = self._create_input(target_frame, "Target Vel:", 0.0)
self.btn_apply = ttk.Button(target_frame, text="Apply New Target", command=self._on_apply_target)
self.btn_apply.pack(fill=tk.X, padx=5, pady=10)
const_frame = ttk.LabelFrame(control_panel, text="Constraints")
const_frame.pack(fill=tk.X, pady=10)
self.v_max = self._create_input(const_frame, "Max Vel:", 1000.0)
self.a_max = self._create_input(const_frame, "Max Acc:", 5000.0)
self.j_max = self._create_input(const_frame, "Max Jerk:", 20000.0)
stats_frame = ttk.LabelFrame(control_panel, text="Current State")
stats_frame.pack(fill=tk.X, pady=10)
self.lbl_cur_p = ttk.Label(stats_frame, text="P: 0.00")
self.lbl_cur_p.pack(anchor="w", padx=5)
self.lbl_cur_v = ttk.Label(stats_frame, text="V: 0.00")
self.lbl_cur_v.pack(anchor="w", padx=5)
self.lbl_cur_a = ttk.Label(stats_frame, text="A: 0.00")
self.lbl_cur_a.pack(anchor="w", padx=5)
self.lbl_status = ttk.Label(stats_frame, text="Status: Idle", foreground="gray")
self.lbl_status.pack(anchor="w", padx=5, pady=5)
def _create_input(self, parent, label, default_val):
frame = ttk.Frame(parent)
frame.pack(fill=tk.X, padx=5, pady=2)
ttk.Label(frame, text=label, width=10).pack(side=tk.LEFT)
var = tk.DoubleVar(value=default_val)
ttk.Entry(frame, textvariable=var, width=10).pack(side=tk.RIGHT)
return var
def _init_plot(self):
self.fig, self.axs = plt.subplots(4, 1, figsize=(8, 8), sharex=True)
self.fig.subplots_adjust(left=0.15, right=0.95, top=0.95, bottom=0.05, hspace=0.2)
titles = ['Position', 'Velocity', 'Acceleration', 'Jerk']
colors = ['#1f77b4', '#ff7f0e', '#2ca02c', '#d62728']
self.lines = []
for i, ax in enumerate(self.axs):
ax.set_ylabel(titles[i])
ax.grid(True, linestyle=':', alpha=0.6)
line, = ax.plot([], [], color=colors[i], lw=2)
self.lines.append(line)
plot_frame = ttk.Frame(self.root)
plot_frame.pack(side=tk.RIGHT, fill=tk.BOTH, expand=True)
self.canvas = FigureCanvasTkAgg(self.fig, master=plot_frame)
self.canvas.draw()
self.canvas.get_tk_widget().pack(fill=tk.BOTH, expand=True)
def _start_simulation(self):
if self.is_running: return
self.is_running = True
self.btn_start.config(state=tk.DISABLED)
self.btn_stop.config(state=tk.NORMAL)
self._run_cycle()
def _stop_simulation(self):
self.is_running = False
self.btn_start.config(state=tk.NORMAL)
self.btn_stop.config(state=tk.DISABLED)
def _reset_state(self):
self.current_state = MotionState(0, 0, 0, 0, 0)
self.current_traj = None
self.traj_local_time = 0.0
self.history_t.clear()
self.history_p.clear()
self.history_v.clear()
self.history_a.clear()
self.history_j.clear()
self.global_time = 0.0
self._update_plot()
self._update_labels()
def _on_apply_target(self):
try:
tgt_p = self.var_target_p.get()
tgt_v = self.var_target_v.get()
v_max = self.v_max.get()
a_max = self.a_max.get()
j_max = self.j_max.get()
print(f"Planning: Current P={self.current_state.p:.2f} -> Target P={tgt_p:.2f}")
new_traj = self.planner.plan(
self.current_state,
tgt_p,
tgt_v,
v_max, a_max, j_max
)
if new_traj:
self.current_traj = new_traj
self.traj_local_time = 0.0
self.lbl_status.config(text="Status: Moving", foreground="green")
else:
print("Planner returned None")
except Exception as e:
print(f"Error planning trajectory: {e}")
def _run_cycle(self):
if not self.is_running:
return
loop_start_time = time.time()
try:
if self.current_traj:
self.traj_local_time += self.SIM_DT
next_state = self.planner.at_time(self.current_traj, self.traj_local_time)
self.current_state = next_state
if abs(self.current_state.v) < 1e-6 and \
abs(self.current_state.a) < 1e-6 and \
self.traj_local_time > 0.1:
self.lbl_status.config(text="Status: Done", foreground="blue")
else:
pass
self.global_time += self.SIM_DT
self.history_t.append(self.global_time)
self.history_p.append(self.current_state.p)
self.history_v.append(self.current_state.v)
self.history_a.append(self.current_state.a)
self.history_j.append(self.current_state.j)
except Exception as e:
print(f"Error in cycle: {e}")
self._stop_simulation()
finally:
current_real_time = time.time()
if current_real_time - self.last_plot_time > self.plot_interval:
if len(self.history_t) > 0:
self._update_plot()
self._update_labels()
self.last_plot_time = current_real_time
elapsed = current_real_time - loop_start_time
wait_ms = int((self.SIM_DT - elapsed) * 1000)
if wait_ms < 1: wait_ms = 1
if self.is_running:
self.root.after(wait_ms, self._run_cycle)
def _update_labels(self):
s = self.current_state
self.lbl_cur_p.config(text=f"P: {s.p:.3f}")
self.lbl_cur_v.config(text=f"V: {s.v:.3f}")
self.lbl_cur_a.config(text=f"A: {s.a:.3f}")
def _update_plot(self):
if not self.history_t: return
t_data = list(self.history_t)
step = 1
if len(t_data) > 1000:
step = int(len(t_data) / 500)
t_plot = t_data[::step]
p_plot = list(self.history_p)[::step]
v_plot = list(self.history_v)[::step]
a_plot = list(self.history_a)[::step]
j_plot = list(self.history_j)[::step]
data_sources = [p_plot, v_plot, a_plot, j_plot]
min_t, max_t = t_plot[0], t_plot[-1]
for i, line in enumerate(self.lines):
line.set_data(t_plot, data_sources[i])
self.axs[i].set_xlim(min_t, max_t + 0.05)
y_data = data_sources[i]
if y_data:
mn, mx = min(y_data), max(y_data)
span = mx - mn
if span < 0.1: span = 0.1
self.axs[i].set_ylim(mn - span*0.1, mx + span*0.1)
self.canvas.draw()
if __name__ == "__main__":
root = tk.Tk()
app = OnlineTestGUI(root)
root.mainloop()