Welding/WeldingSpotPerformance
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dev: добавлены эквидистанты

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Андрей Скирченко 2024-11-08 10:50:18 +03:00
parent 11be1685a7
commit 1ece32a57c
12 changed files with 777 additions and 711 deletions
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2
params/operator_params.json
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@ -7,7 +7,7 @@
"dist_open_end_2" : 0.050,
"dist_close_end_1" : 0.005,
"dist_close_end_2" : 0.005,
"time_wielding" : 2,
"time_wielding" : 1,
"time_command" : 0.060,
"time_robot_movement" : 0.2,
"object_thickness" : 4.5e-3,

3
params/system_params.json
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@ -14,5 +14,6 @@
"position_start_1" : 0.080,
"position_start_2" : 0.080,
"k_prop" : 0.05,
"time_capture" : 100000
"time_capture" : 100000,
"UML_time_scaler": 1000
}

77
src/gui/plot_window.py
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@ -7,6 +7,8 @@ from src.OptAlgorithm import OptAlgorithm
class PlotWindow:
def __init__(self,
system_config : dict,
operator_config: dict,
opt: OptAlgorithm,
bool_dict: dict,
float_dict: dict):
@ -14,11 +16,12 @@ class PlotWindow:
self.opt = opt
self.bool_dict = bool_dict
self.float_dict = float_dict
self.scaler = int(system_config['UML_time_scaler'])
self.WeldTime = operator_config['time_wielding'] #[sec]
self.scaler = 1000
self._getIdealTimings()
self._init_app()
self.WeldTime = 1.0 #[sec] # TODO: to external config
self.alpha = 100 #[0-255 прозрачность фона]
def _init_app(self):
@ -70,6 +73,12 @@ class PlotWindow:
self.idealPhase1 = (self.idealTime[0]+ self.idealTime[1])*self.scaler #Сжатие
self.idealPhase2 = (self.idealTime[0]+ self.idealTime[1] + self.WeldTime)*self.scaler #Сварка
self.idealPhase3 = (self.idealTime[0]+ self.idealTime[1] + self.idealTime[2] + self.WeldTime)*self.scaler #Разъезд
self.idealPhase4 = (self.idealTime[0]+ self.idealTime[1] + self.idealTime[2] + self.WeldTime + 0.25)*self.scaler #Последнее смыкание #TODO добавить идеальное время вместо 0.25
self.x_splitter = np.array([[0, self.idealPhase0],
[self.idealPhase0, self.idealPhase1],
[self.idealPhase1, self.idealPhase2],
[self.idealPhase2, self.idealPhase3],
[self.idealPhase3, self.idealPhase4]])
data = []
for time in times:
if time <= self.idealPhase0:
@ -124,16 +133,13 @@ class PlotWindow:
self.p13.addItem(v_me)
self.l13.addItem(v_me, 'ME VEL')
self._addBackgroundSplitter()
self._addEquidistances(times, data)
def _addBackgroundSplitter(self):
alpha = self.alpha
x = [[0, self.idealPhase0],
[self.idealPhase0, self.idealPhase1],
[self.idealPhase1, self.idealPhase2],
[self.idealPhase2, self.idealPhase3]]
y01 = [10000, 10000]
y0_1 = [-10000, -10000]
for i, _ in enumerate(x):
y01 = np.array([10000, 10000])
y0_1 = np.array([-10000, -10000])
for i, _ in enumerate(self.x_splitter):
a01 = pg.PlotDataItem(_, y01, pen=pg.mkPen(color=qts.colors[8], width=2), name=' ')
a0_1 = pg.PlotDataItem(_, y0_1, pen=pg.mkPen(color=qts.colors[8], width=2), name=' ')
bg1 = pg.FillBetweenItem(a01, a0_1, qts.RGBA[i]+(alpha,))
@ -146,3 +152,56 @@ class PlotWindow:
self.p11.setYRange(-1000, 5000)
self.p12.setYRange(-50, 250)
self.p13.setYRange(-400, 400)
def _addEquidistances(self, times, data):
a1, b1, c1 = self._calculate_equidistant('fill', max(data[4]), 2.5, self.x_splitter[1], 3)
self.p11.addItem(a1)
self.p11.addItem(b1)
self.p11.addItem(c1)
a1, b1, c1 = self._calculate_equidistant(times, data[4], 0.75, self.x_splitter[2], 3)
self.p11.addItem(a1)
self.p11.addItem(b1)
self.p11.addItem(c1)
def _makeFiller(self, x1, y1, x2, y2, color):
alpha = self.alpha
eq1 = pg.PlotDataItem(x1, y1, pen=pg.mkPen(color='#000000', width=2))
eq2 = pg.PlotDataItem(x2, y2, pen=pg.mkPen(color='#000000', width=2))
bg = pg.FillBetweenItem(eq1, eq2, qts.RGBA[color]+(alpha,))
return eq1, eq2, bg
def _calculate_equidistant(self, x, y, percent, splitter, color):
if str(x) == 'fill':
x = [splitter[0]+0.001, splitter[0]+0.002, splitter[1]-0.002, splitter[1]-0.001]
y = [y, y, y, y]
if len(x) != len(y):
raise ValueError("x и y должны быть одного размера")
distance = max(y)/100*percent
x_eq1 = []
y_eq1 = []
x_eq2 = []
y_eq2 = []
for i in range(0, len(x) - 1):
if splitter[0]<= x[i] and x[i] <= splitter[1]:
dx = x[i + 1] - x[i]
dy = y[i + 1] - y[i]
length = np.sqrt(dx ** 2 + dy ** 2)
sinA = dy/length
sinB = dx/length
nx = -sinA*distance
ny = sinB*distance
x_eq1.append(x[i] + nx)
y_eq1.append(y[i] + ny)
x_eq2.append(x[i] - nx)
y_eq2.append(y[i] - ny)
return self._makeFiller(np.array(x_eq1), np.array(y_eq1), np.array(x_eq2), np.array(y_eq2), color)

3
src/gui/qt_settings.py
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@ -251,5 +251,6 @@ colors = [
RGBA = [(255, 255, 0),
(32, 178, 70),
(255, 69, 0),
(123, 104, 238)
(123, 104, 238),
(99, 42, 15)
]

15
src/main.py
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@ -1,9 +1,9 @@
import pyqtgraph as pg
from utils import read_json, DiagramParser
from uml import Request, UMLCreator
from OptAlgorithm import OptAlgorithm
from gui import PlotWindow
from src.utils import read_json, DiagramParser
from src.uml import Request, UMLCreator
from src.OptAlgorithm import OptAlgorithm
from src.gui import PlotWindow
def get_ideal_timings(opt: OptAlgorithm) -> list[float]:
@ -24,13 +24,16 @@ def main():
float_dict = parser.getFloatDict()
request_generator = Request(server_url='http://www.plantuml.com/plantuml/svg/')
uml_creator = UMLCreator(request_generator=request_generator,
uml_creator = UMLCreator(system_config=system_params,
request_generator=request_generator,
ideal_time=ideal_times,
bool_dict=bool_dict,
float_dict=float_dict)
uml_creator.update_uml()
app = PlotWindow(opt=opt_algorithm,
app = PlotWindow(operator_config=operator_params,
system_config=system_params,
opt=opt_algorithm,
bool_dict=bool_dict,
float_dict=float_dict)

36
src/uml/creator.py
View File

@ -3,6 +3,7 @@ from src.uml.request_generator import Request
class UMLCreator:
def __init__(self,
system_config : dict,
request_generator: Request,
ideal_time: list[float],
bool_dict: dict,
@ -11,9 +12,10 @@ class UMLCreator:
self._ideal_time = ideal_time
self.bool_dict = bool_dict
self.float_dict = float_dict
self.scaler = int(system_config['UML_time_scaler'])
def _build_data(self):
scaler = 1000 # TODO: external config?
sig = [
'Electrode Closing Algorithm Execute', # Начало закрытия
'Electrode Closing Algorithm Done',
@ -39,25 +41,25 @@ class UMLCreator:
]
client_data = [
[0.0 * scaler, 'closure'],
[0.165 * scaler, '{-}'],
[0.166 * scaler, 'compression'],
[0.176 * scaler, '{-}'],
# [0.180*scaler, 'welding'],
# [0.200*scaler, '{-}'],
[0.210 * scaler, 'opening'],
[0.300 * scaler, '{-}'],
[0.0 * self.scaler, 'closure'],
[0.165 * self.scaler, '{-}'],
[0.166 * self.scaler, 'compression'],
[0.176 * self.scaler, '{-}'],
# [0.180*self.scaler, 'welding'],
# [0.200*self.scaler, '{-}'],
[0.210 * self.scaler, 'opening'],
[0.300 * self.scaler, '{-}'],
]
ideal_data = [
[0.0 * scaler, 'closure #yellow'],
[self._ideal_time[0] * scaler, '{-}'],
[(self._ideal_time[0] + 0.0001) * scaler, 'compression #yellow'],
[(self._ideal_time[0] + self._ideal_time[1]) * scaler, '{-}'],
# [0.*scaler, 'welding #yellow'],
# [0.*scaler, '{-}'],
[(self._ideal_time[0] + self._ideal_time[1] + 0.0001) * scaler, 'opening #yellow'],
[(self._ideal_time[0] + self._ideal_time[1] + self._ideal_time[2]) * scaler, '{-}'],
[0.0 * self.scaler, 'closure #yellow'],
[self._ideal_time[0] * self.scaler, '{-}'],
[(self._ideal_time[0] + 0.0001) * self.scaler, 'compression #yellow'],
[(self._ideal_time[0] + self._ideal_time[1]) * self.scaler, '{-}'],
# [0.*self.scaler, 'welding #yellow'],
# [0.*self.scaler, '{-}'],
[(self._ideal_time[0] + self._ideal_time[1] + 0.0001) * self.scaler, 'opening #yellow'],
[(self._ideal_time[0] + self._ideal_time[1] + self._ideal_time[2]) * self.scaler, '{-}'],
]
return real_data, client_data, ideal_data, self.bool_dict