diff --git a/src/performance/roboter.py b/src/performance/roboter.py
index 2158213..d854cf0 100644
--- a/src/performance/roboter.py
+++ b/src/performance/roboter.py
@@ -1,6 +1,6 @@
 from __future__ import annotations
 import os
-from typing import Tuple
+from typing import Tuple, Union
 from dataclasses import dataclass, field
 
 import numpy as np
@@ -120,18 +120,19 @@ class KukaDataParser:
         return floats
 
 
-class TXT_Parser:
+class TextParser:
     def __init__(self):
         self._in_msg = False
         self._datapacks = []
 
-    def parse(self, path:str ):
+    def parse(self, path:str ) -> list[KukaTXT]:
         self._datapacks = []
         with open(path, 'r') as file:
             datapack = KukaTXT()
             for line in file:
                 line = line.strip()
                 datapack = self._check_msg_flow(line, datapack)
+        return self._datapacks
                 
 
     def _check_msg_flow(self, line:str, datapack:KukaTXT) -> KukaTXT:
@@ -189,6 +190,108 @@ class TXT_Parser:
                 pass
         return datapack
 
+
+class TraceStageDetector:
+    
+    def __init__(
+        self,
+        rob_vel_zero_th: float = 0.008,
+        act_vel_zero_th: float = 10,
+        act_vel_touching: float = 2050,
+        act_vel_touching_th: float = 200, 
+        act_curr_force_th: float = 0.5,
+        region_of_focus: list = [0, 100]
+    ):
+  
+        self.rob_vel_zero_th = rob_vel_zero_th
+        self.act_vel_zero_th = act_vel_zero_th
+        self.act_vel_touching = act_vel_touching
+        self.act_vel_touching_th = act_vel_touching_th
+        self.act_curr_force_th = act_curr_force_th
+        self.ROF = region_of_focus
+
+    def detect_stages(self, df: pd.DataFrame) -> list:
+        df = df.sort_index()
+        stage_markers = []
+        df_indices = df.index.to_list()  # времена (в секундах) как список
+
+        for i in df_indices:
+            mark = self._mark_timestamp(df, i)
+            if mark: stage_markers.append(mark)
+
+        # Объединяем подряд идущие одинаковые метки в единые этапы.
+        stages = self._merge_marks_to_stages(stage_markers, df_indices)
+        return stages
+
+    def _mark_timestamp(self, df:pd.DataFrame, index:float) -> Union[str, None]:
+        # Не интересные значения помечаем как "unknown"
+        if index < self.ROF[0] or index > self.ROF[1]:
+            return "unknown"
+
+        rob_vel = df.loc[index, "CartVel_Act"]
+        act_vel = df.loc[index, "DriveMotorVel_Act7"]
+        act_curr = df.loc[index, "DriveMotorCurr_Act7"]
+
+        # 1) Перемещение (moving): если скорость |CartVel_Act| > vel_threshold
+        if abs(rob_vel) > self.rob_vel_zero_th:
+            return "moving"
+
+        # 2) Создание усилия (force): если |DriveMotorVel_Act7| < act_vel_zero_th и |DriveMotorCurr_Act7| > act_curr_force_th
+        if abs(act_vel) < self.act_vel_zero_th and abs(act_curr) > self.act_curr_force_th:
+            return "force"
+
+        # 3) Смыкание (closing): если скорость |DriveMotorVel_Act7| = act_vel_touching
+        if self.act_vel_touching_th > abs(abs(act_vel) - self.act_vel_touching):
+            return "closing"
+        
+        return None
+        
+
+    def _merge_marks_to_stages(self, stage_markers:list, df_indices:list) -> list:
+        stages = []
+        current_stage = stage_markers[0]
+        start_time = df_indices[0]
+
+        for i in range(1, len(stage_markers)):
+            if stage_markers[i] != current_stage:
+                end_time = df_indices[i - 1]
+                stages.append({
+                    "stage": current_stage,
+                    "start_time": start_time,
+                    "end_time": end_time
+                })
+                current_stage = stage_markers[i]
+                start_time = df_indices[i]
+
+        stages.append({
+            "stage": current_stage,
+            "start_time": start_time,
+            "end_time": df_indices[-1]
+        })
+        return stages
+
+
+class TextStageDetector:
+
+    def __init__(self,
+                 region_of_focus: list = [0, 100]
+                 ):
+        self.ROF = region_of_focus
+    
+    def detect_welding(self, data:list[KukaTXT]):
+        stages = []
+        for i in range(len(data)):
+            if data[i].func == " SPOT" and data[i].signal == " END":
+                stages.append({
+                    "stage": "welding",
+                    "start_time": data[i].time,
+                    "end_time": data[i+1].time
+                })
+        return stages
+
+
+
+
 "Перемещение"
 #FUNCTION/PROCEDURE: SW_RSP030TL01_SN - какое-то перемещение
 #
@@ -225,16 +328,41 @@ class TXT_Parser:
 #SIGNAL: BLENDING 
 
 if __name__ == '__main__':
+
     roboreader = KukaDataParser()
+    txt_reader = TextParser()
+    detector_traces = TraceStageDetector(region_of_focus=[7.7, 42])
+    detector_weldings = TextStageDetector()
+
+    path1 = os.path.abspath("trace_samples/teslaSP_VelTCP_KRCIpo.dat")
+    path2 = os.path.abspath("trace_samples/teslaSP_VelTCP_PROG.TXT")
+
+    data1 = roboreader.parse(path1)
+    data2 = txt_reader.parse(path2)
+
+    stages = detector_traces.detect_stages(data1)
+    weldings = detector_weldings.detect_welding(data2)
+
+    counter = 0
+    for st in stages:
+        print(st)
+        if st["stage"] == "force":
+            counter+=1
+            print(counter)
+    print("=========================================")
+    for we in weldings:
+        print (we)
+
+
+
     """
-    path = os.path.abspath("trace_samples/teslaSP_VelTCP_KRCIpo.dat")
-    data = roboreader.parse(os.path.abspath(path))
     save = os.path.dirname(path) + "/sample.csv"
-    data.to_csv(save)"""
+    data.to_csv(save)
     path = os.path.abspath("trace_samples/teslaSP_VelTCP_PROG.TXT")
     txt_parser = TXT_Parser()
     txt_parser.parse(path)
     print(len(txt_parser._datapacks))
+    """
     
 
             
diff --git a/trace_samples/teslaSP_VelTCP_PROG.TXT b/trace_samples/teslaSP_VelTCP_PROG.TXT
new file mode 100644
index 0000000..f243757
--- /dev/null
+++ b/trace_samples/teslaSP_VelTCP_PROG.TXT
@@ -0,0 +1,2159 @@
+#BEGINHEADER
+TIME: 11:48:43
+DATE: 27-10-2022
+ROBOT TYPE: #KR210R2700_2 C4 FLR
+TRACEHELPER NAME: KRCIpo
+TRIGGER ID: -1
+
+#ENDHEADER
+
+#BEGINMOTIONINFO
+TIME: 28.092000
+ENDTIME: 28.157885
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SW_RSP030TL01_SN
+TYPE: PTP_PTP
+SIGNAL: BLENDING
+LINE: 297
+POINT NAME: XP95
+POINT COORDINATES: { x 2698.188232, y 757.718262, z 629.070251, a -179.689407, b 53.321346, c 90.266602, s 6, t 50, e1 -26.421288 }
+BLENDING: C_DIS
+BLENDING PARAMETER: 1000.000000
+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+ACCELERATIONS: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+BASE: { x 3181.348389, y -2988.969971, z 365.299988, a 90.419304, b 0.077104, c -0.198165 }
+TOOL: { x -149.279999, y 0.020000, z 1124.000000, a 180.000000, b 0.000000, c 180.000000 }
+IPO MODE: BASE
+MOTION MODE: STANDARD
+LOAD: { m 141.465729, cm { x 9.948341, y 11.489226, z 389.729004, a -89.995796, b -0.436472, c 90.553619 }, j { x 5.250000, y 5.250000, z 6.140128 } }
+LOAD A3: { m 25.000000, cm { x -400.000000, y 0.000000, z -1340.000000, a 0.000000, b 0.000000, c 0.000000 }, j { x 10.000000, y 10.000000, z 10.000000 } }
+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.164000
+ENDTIME: 28.188565
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SW_RSP030TL01_SN
+TYPE: PTP
+SIGNAL: BLENDING
+LINE: 297
+POINT NAME: XP95
+POINT COORDINATES: { x 2698.188232, y 757.718262, z 629.070251, a -179.689407, b 53.321346, c 90.266602, s 6, t 50, e1 -26.421288 }
+BLENDING: C_DIS
+BLENDING PARAMETER: 1000.000000
+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+ACCELERATIONS: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+BASE: { x 3181.348389, y -2988.969971, z 365.299988, a 90.419304, b 0.077104, c -0.198165 }
+TOOL: { x -149.279999, y 0.020000, z 1124.000000, a 180.000000, b 0.000000, c 180.000000 }
+IPO MODE: BASE
+MOTION MODE: STANDARD
+LOAD: { m 141.465729, cm { x 9.948341, y 11.489226, z 389.729004, a -89.995796, b -0.436472, c 90.553619 }, j { x 5.250000, y 5.250000, z 6.140128 } }
+LOAD A3: { m 25.000000, cm { x -400.000000, y 0.000000, z -1340.000000, a 0.000000, b 0.000000, c 0.000000 }, j { x 10.000000, y 10.000000, z 10.000000 } }
+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.224000
+ENDTIME: 28.272410
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SGL_MoveToPos
+TYPE: PTP_PTP
+SIGNAL: BLENDING
+LINE: 16
+POINT NAME: TargetPos
+POINT COORDINATES: { x 2680.412109, y 765.258118, z 671.431763, a -179.999771, b 43.746880, c 89.999474, s 6, t 50, e1 -21.072720 }
+BLENDING: C_DIS
+BLENDING PARAMETER: 500.000000
+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+ACCELERATIONS: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+BASE: { x 3181.348389, y -2988.969971, z 365.299988, a 90.419304, b 0.077104, c -0.198165 }
+TOOL: { x -149.279999, y 0.020000, z 1124.000000, a 180.000000, b 0.000000, c 180.000000 }
+IPO MODE: BASE
+MOTION MODE: STANDARD
+LOAD: { m 141.465729, cm { x 9.948341, y 11.489226, z 389.729004, a -89.995796, b -0.436472, c 90.553619 }, j { x 5.250000, y 5.250000, z 6.140128 } }
+LOAD A3: { m 25.000000, cm { x -400.000000, y 0.000000, z -1340.000000, a 0.000000, b 0.000000, c 0.000000 }, j { x 10.000000, y 10.000000, z 10.000000 } }
+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.272000
+ENDTIME: 28.272581
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SGL_MoveToPos
+TYPE: PTP
+SIGNAL: BLENDING
+LINE: 16
+POINT NAME: TargetPos
+POINT COORDINATES: { x 2680.412109, y 765.258118, z 671.431763, a -179.999771, b 43.746880, c 89.999474, s 6, t 50, e1 -21.072720 }
+BLENDING: C_DIS
+BLENDING PARAMETER: 500.000000
+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+ACCELERATIONS: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+BASE: { x 3181.348389, y -2988.969971, z 365.299988, a 90.419304, b 0.077104, c -0.198165 }
+TOOL: { x -149.279999, y 0.020000, z 1124.000000, a 180.000000, b 0.000000, c 180.000000 }
+IPO MODE: BASE
+MOTION MODE: STANDARD
+LOAD: { m 141.465729, cm { x 9.948341, y 11.489226, z 389.729004, a -89.995796, b -0.436472, c 90.553619 }, j { x 5.250000, y 5.250000, z 6.140128 } }
+LOAD A3: { m 25.000000, cm { x -400.000000, y 0.000000, z -1340.000000, a 0.000000, b 0.000000, c 0.000000 }, j { x 10.000000, y 10.000000, z 10.000000 } }
+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.308000
+ENDTIME: 28.364923
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE
+TYPE: PTP_PTP
+SIGNAL: BLENDING
+LINE: 82
+POINT NAME: P_Approx
+POINT COORDINATES: { x 2680.412109, y 768.258118, z 671.431763, a -179.999771, b 43.746880, c 89.999474, s 6, t 50, e1 -5.365798 }
+BLENDING: C_DIS
+BLENDING PARAMETER: 500.000000
+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+ACCELERATIONS: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
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+TOOL: { x -149.279999, y 0.020000, z 1124.000000, a 180.000000, b 0.000000, c 180.000000 }
+IPO MODE: BASE
+MOTION MODE: STANDARD
+LOAD: { m 141.465729, cm { x 9.948341, y 11.489226, z 389.729004, a -89.995796, b -0.436472, c 90.553619 }, j { x 5.250000, y 5.250000, z 6.140128 } }
+LOAD A3: { m 25.000000, cm { x -400.000000, y 0.000000, z -1340.000000, a 0.000000, b 0.000000, c 0.000000 }, j { x 10.000000, y 10.000000, z 10.000000 } }
+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.368000
+ENDTIME: 28.368591
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE
+TYPE: PTP
+SIGNAL: BLENDING
+LINE: 82
+POINT NAME: P_Approx
+POINT COORDINATES: { x 2680.412109, y 768.258118, z 671.431763, a -179.999771, b 43.746880, c 89.999474, s 6, t 50, e1 -5.365798 }
+BLENDING: C_DIS
+BLENDING PARAMETER: 500.000000
+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+ACCELERATIONS: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 100.000000 }
+BASE: { x 3181.348389, y -2988.969971, z 365.299988, a 90.419304, b 0.077104, c -0.198165 }
+TOOL: { x -149.279999, y 0.020000, z 1124.000000, a 180.000000, b 0.000000, c 180.000000 }
+IPO MODE: BASE
+MOTION MODE: STANDARD
+LOAD: { m 141.465729, cm { x 9.948341, y 11.489226, z 389.729004, a -89.995796, b -0.436472, c 90.553619 }, j { x 5.250000, y 5.250000, z 6.140128 } }
+LOAD A3: { m 25.000000, cm { x -400.000000, y 0.000000, z -1340.000000, a 0.000000, b 0.000000, c 0.000000 }, j { x 10.000000, y 10.000000, z 10.000000 } }
+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.380000
+ENDTIME: 28.451348
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE
+TYPE: PTP_PTP
+SIGNAL: BLENDING
+LINE: 107
+POINT NAME: P_Part
+POINT COORDINATES: { x 2680.412109, y 768.258118, z 671.431763, a -179.999771, b 43.746880, c 89.999474, s 6, t 50, e1 2.827281 }
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+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 10.136757 }
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+IPO MODE: BASE
+MOTION MODE: STANDARD
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+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.452000
+ENDTIME: 28.574336
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE
+TYPE: PTP
+SIGNAL: BLENDING
+LINE: 107
+POINT NAME: P_Part
+POINT COORDINATES: { x 2680.412109, y 768.258118, z 671.431763, a -179.999771, b 43.746880, c 89.999474, s 6, t 50, e1 2.827281 }
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+BLENDING PARAMETER: 1.000000
+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 10.136757 }
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+IPO MODE: BASE
+MOTION MODE: STANDARD
+LOAD: { m 141.465729, cm { x 9.948341, y 11.489226, z 389.729004, a -89.995796, b -0.436472, c 90.553619 }, j { x 5.250000, y 5.250000, z 6.140128 } }
+LOAD A3: { m 25.000000, cm { x -400.000000, y 0.000000, z -1340.000000, a 0.000000, b 0.000000, c 0.000000 }, j { x 10.000000, y 10.000000, z 10.000000 } }
+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.572000
+ENDTIME: 28.598468
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE
+TYPE: PTP_PTP
+SIGNAL: BLENDING
+LINE: 108
+POINT NAME: P_Weld
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+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 10.136757 }
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+MOTION MODE: STANDARD
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+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.608000
+ENDTIME: 28.621375
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE
+TYPE: PTP
+SIGNAL: BLENDING
+LINE: 108
+POINT NAME: P_Weld
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+VELOCITIES: { a1 100.000000, a2 100.000000, a3 100.000000, a4 100.000000, a5 100.000000, a6 100.000000, e1 10.136757 }
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+TOOL: { x -149.279999, y 0.020000, z 1124.000000, a 180.000000, b 0.000000, c 180.000000 }
+IPO MODE: BASE
+MOTION MODE: STANDARD
+LOAD: { m 141.465729, cm { x 9.948341, y 11.489226, z 389.729004, a -89.995796, b -0.436472, c 90.553619 }, j { x 5.250000, y 5.250000, z 6.140128 } }
+LOAD A3: { m 25.000000, cm { x -400.000000, y 0.000000, z -1340.000000, a 0.000000, b 0.000000, c 0.000000 }, j { x 10.000000, y 10.000000, z 10.000000 } }
+#ENDMOTIONINFO
+
+#BEGINMOTIONINFO
+TIME: 28.800000
+MODULE: SW_RSP030TL01_SN
+FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE
+TYPE: PTP
+SIGNAL: END
+LINE: 108
+POINT NAME: P_Weld
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