feat: Обновление до нового значения

params/operator_params.json

@@ -34,7 +34,7 @@
     "distance_s_1": [
         0.001,
         0.001,
-        0.003,
+        0.001,
         0.001,
         0.001,
         0.001,
@@ -64,7 +64,7 @@
         0.001
     ],
     "distance_l_1": [
-        0.0105,
+        0.005,
         0.005,
         0.005,
         0.005,
@@ -129,7 +129,7 @@
     ],
     "object_position": [
         0.02743,
-        0.016,
+        0.0249,
         0.024,
         0.02425,
         0.0225,
@@ -176,27 +176,27 @@
         0.0
     ],
     "time_robot_movement": [
-        0.5,
+        0.283,
-        0.331,
+        0.362,
-        0.356,
+        0.335,
-        0.428,
+        0.444,
-        0.418,
+        0.303,
-        0.454,
+        0.37,
-        0.458,
+        0.375,
-        0.44,
+        0.447,
-        0.49,
+        0.362,
-        0.47,
+        0.433,
-        0.44,
+        0.37,
-        0.425,
+        0.457,
-        0.464,
+        0.487,
-        0.2
+        0.5
     ],
     "object_thickness": [
         0.0045,
         0.0045,
         0.0045,
         0.0045,
-        0.0085,
+        0.0045,
         0.0045,
         0.0045,
         0.0045,
@@ -213,9 +213,9 @@
         5000.0,
         5000.0,
         5000.0,
-        7000.0,
         5000.0,
-        2000.0,
+        5000.0,
+        5000.0,
         5000.0,
         5000.0,
         5000.0,

params/system_params.json

@@ -6,16 +6,16 @@
         1000.0
     ],
     "a_max_1": [
-        0.7
+        7.96
     ],
     "v_max_1": [
-        10.0
+        0.499
     ],
     "a_max_2": [
-        100.0
+        35.81
     ],
     "v_max_2": [
-        0.2
+        0.75
     ],
     "mass_1": [
         270.0
@@ -48,7 +48,7 @@
         0.0
     ],
     "k_prop": [
-        0.0075
+        0.005
     ],
     "time_capture": [
         1000.0

src/controller/passportFormer.py

@@ -45,12 +45,16 @@ class PassportFormer(BasePointPassportFormer):
             return_data = []
         finally:
             self._mediator.notify(self, return_data)
-            
+
+
+    def _get_time_value(self, dataframe: pd.DataFrame):
+        return dataframe['time'] if 'time' in dataframe else dataframe['Time']
+
 
     def _build_passports_pocket(self, dataframe: pd.DataFrame) -> list[pd.DataFrame, dict, int]:
 
         if dataframe is not None:
-            events, point_quantity = self._filter_events(dataframe["time"], dataframe)
+            events, point_quantity = self._filter_events(self._get_time_value(dataframe), dataframe)
             if point_quantity == 0:
                 return []
             idx_shift = True if events[self._stages[-1]][0][0] == 0 else False

src/gui/plotter.py

@@ -31,7 +31,7 @@ class PlotWidget(BasePlotWidget):
         """
         if start_timestamp is not None and finish_timestamp is not None:
             return pg.PlotDataItem(
-                x=start_timestamp + ideal_data["time"],
+                x=start_timestamp + self._get_time_value(ideal_data),
                 y=ideal_data[signal["name"]],
                 pen=signal["pen"]
             )
@@ -142,7 +142,7 @@ class PlotWidget(BasePlotWidget):
         dataframe_headers = dataframe.columns.tolist()
         for signal in real_signals:
             if signal["name"] in dataframe_headers:
-                plot = plot_item.plot(dataframe["time"], dataframe[signal["name"]], pen=signal["pen"], fast=True)
+                plot = plot_item.plot(self._get_time_value(dataframe), dataframe[signal["name"]], pen=signal["pen"], fast=True)
                 plot.setZValue(0)
                 legend.addItem(plot, signal["name"])
                 curve_items["real"].setdefault(signal["name"], {})
@@ -186,6 +186,10 @@ class PlotWidget(BasePlotWidget):
         qt_items["real to ideal performance"] = kdip_label
 
 
+    def _get_time_value(self, dataframe: pd.DataFrame):
+        return dataframe['time'] if 'time' in dataframe else dataframe['Time']
+
+
     def _build_widget(self, data: list[Any]) -> QWidget:
         """
         Собирает графический виджет для одного набора данных.
@@ -250,7 +254,7 @@ class PlotWidget(BasePlotWidget):
                 if False and settings["force compensation FE"] and not dat_is_none:
                     force = useful_p_data["force"]
                     F_comp = - force/k_hardness
-                    point_idxs = dataframe[(dataframe["time"] >= point_timeframe[0]) & (dataframe["time"] <= point_timeframe[1])].index
+                    point_idxs = dataframe[(self._get_time_value(dataframe) >= point_timeframe[0]) & (self._get_time_value(dataframe) <= point_timeframe[1])].index
 
                     dataframe.loc[point_idxs] = self._shift_data("FE", description["Real_signals"], dataframe.loc[point_idxs], F_comp)