dev: добавлена отрисовка этапа "перемещение"

params/operator_params.json

@@ -8,7 +8,7 @@
     "dist_close_end_1": 0.005,
     "dist_close_end_2": 0.005,
     "time_wielding": 1,
-    "time_command": 0.06,
+    "time_command": 0.0,
     "time_robot_movement": 0.2,
     "object_thickness": 0.0045,
     "force_target": 5000,

src/gui/plotter.py

@@ -19,7 +19,7 @@ class idealDataBuilder(BaseIdealDataBuilder):
     def get_openingDF(self) -> pd.DataFrame:
         return self._get_data(self.getMarkOpen(), self.calcPhaseOpen)
     
-    def get_tmovementDF(self) -> pd.DataFrame:
+    def get_oncomingDF(self) -> pd.DataFrame:
         return self._get_data(self.Ts['tmovement'], self.calcPhaseMovement)
 
     def get_weldingDF(self) -> pd.DataFrame:
@@ -31,7 +31,7 @@ class idealDataBuilder(BaseIdealDataBuilder):
     
     def get_ideal_timings(self) -> list[float, float, float, float]:
         data = self.Ts
-        ideal_timings = [data['tclose'], data['tgrow'], self.welding_time, self.getMarkOpen()]
+        ideal_timings = [data['tclose'], data['tgrow'], self.welding_time, self.getMarkOpen()] # TODO: add data['tmovement'], Oncoming не учитывается в производительности
         return ideal_timings
 
 
@@ -127,7 +127,17 @@ class PlotWidget(BasePlotWidget):
                         ideal_plot = self._create_curve_ideal(stage, signal, start_timestamp, finish_timestamp)
                         if ideal_plot:
                             plot_widget.addItem(ideal_plot)
-                    
+
+                end_timestamp = time_axis[len(time_axis) - 1]
+                region = self._create_stage_region("Oncoming", finish_timestamp, end_timestamp)
+                if region:
+                        plot_widget.addItem(region)
+
+                for signal in description["Ideal_signals"]:
+                    ideal_plot = self._create_curve_ideal("Oncoming", signal, finish_timestamp, end_timestamp)
+                    if ideal_plot:
+                            plot_widget.addItem(ideal_plot)
+
             if settings["performance"] and all([stage in dataframe_headers for stage in self._stages]):
                 delta_timestamp = 0
                 for stage in self._stages:

src/utils/base/base.py

@@ -104,17 +104,18 @@ class BasePlotWidget:
         self._mediator = mediator
 
         self._stages = [
-            "Relief",
             "Closing",
             "Squeeze",
-            "Welding"
+            "Welding",
+            "Relief"
         ]
 
         self._stage_colors = {
             "Closing": [208, 28, 31, 100],
             "Squeeze": [45, 51, 89, 150],
             "Welding": [247, 183, 24, 100],
-            "Relief": [0, 134, 88, 100]
+            "Relief": [0, 134, 88, 100],
+            "Oncoming": [222, 184, 135, 100]
         }
         self._plt_channels = {
             "Electrode Force, N & Welding Current, kA": {
@@ -208,7 +209,8 @@ class BasePlotWidget:
             "Closing": self._opt.get_closingDF(),
             "Squeeze": self._opt.get_compressionDF(),
             "Welding": self._opt.get_weldingDF(),
-            "Relief": self._opt.get_openingDF()
+            "Relief": self._opt.get_openingDF(), 
+            "Oncoming": self._opt.get_oncomingDF()
         }
     @property
     def mediator(self) -> BaseMediator:
@@ -271,6 +273,9 @@ class BaseIdealDataBuilder(OptAlgorithm):
 
     def get_weldingDF(self) -> pd.DataFrame:
         ...
+
+    def get_oncomingDF(self) -> pd.DataFrame:
+        ...
     
     def get_ideal_timings(self) -> list[float, float, float, float]:
         ...