dev: создан новый метод PassportFormer для обработки клиентских трейсов
This commit is contained in:
Andrew
parent
21fd64d7f7
commit
7b759a86d2
@ -1,7 +1,7 @@
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from __future__ import annotations
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import os
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from typing import Optional, Union
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from dataclasses import dataclass
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from dataclasses import dataclass, field
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from cachetools import LRUCache
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import pandas as pd
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@ -36,44 +36,46 @@ class KukaTXT:
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@dataclass
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class KukaDataHead:
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rob_ID: int
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filename: str
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channels: dict
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rob_ID: int = 0
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filename: str = ""
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channels: dict = field(default_factory= lambda: {})
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@dataclass
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class PlotItems:
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regions: dict
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curves: dict
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qt_items: dict
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regions: dict = field(default_factory= lambda: {})
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curves: dict = field(default_factory= lambda: {})
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qt_items: dict = field(default_factory= lambda: {})
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@dataclass
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class PointPassport:
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timeframe: list
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events: dict
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ideal_data: dict
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useful_data: dict
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timeframe: list = field(default_factory= lambda: [])
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events: dict = field(default_factory= lambda: {})
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ideal_data: dict = field(default_factory= lambda: {})
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useful_data: dict = field(default_factory= lambda: {})
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@dataclass
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class UsefulGraphData:
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client_time: float
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range_ME: float
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k_hardness: float
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client_time: float = 0
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range_ME: float = 0
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k_hardness: float = 0
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@dataclass
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class GraphicPassport:
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dataframe: pd.DataFrame
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points_pocket: list[PointPassport]
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useful_data: UsefulGraphData
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dataframe: pd.DataFrame = pd.DataFrame({})
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points_pocket: list[PointPassport] = field(default_factory= lambda: [])
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useful_data: UsefulGraphData = UsefulGraphData()
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@dataclass
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class Settings:
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operator: dict
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system: dict
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operator: dict = field(default_factory= lambda: {})
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system: dict = field(default_factory= lambda: {})
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filter: dict = field(default_factory= lambda: {})
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class BaseMediator:
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@ -522,7 +524,10 @@ class BasePointPassportFormer:
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"k_prop",
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"time_capture"]
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def form_passports(self) -> list[GraphicPassport]:
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def form_passports(self, data: list[pd.DataFrame]) -> None:
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...
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def form_customer_passport(self, data: list[pd.DataFrame, dict]) -> None:
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...
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def update_settings(self, params: list) -> None:
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@ -550,16 +555,24 @@ class BaseRawTraceProcessor:
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def __init__(self,
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dataparser:BaseKukaDataParser,
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textparser:BaseKukaTextParser,
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data_detector:BaseTraceStageDetector,
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text_detector:BaseTextStageDetector,
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mediator:Optional[BaseMediator] = None):
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self._mediator = mediator
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self._dataparser = dataparser
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self._textparser = textparser
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self._data_detector = data_detector
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self._text_detector = text_detector
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self._trace_df = None
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self._text_data = None
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def prerender(self, data:list[str]) -> None:
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...
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def update_settings(self, data:Settings) -> None:
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...
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@property
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def mediator(self) -> BaseMediator:
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return self._mediator
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@ -586,3 +599,22 @@ class BaseKukaTextParser:
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def parse(self, path:str ) -> list[KukaTXT]:
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...
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class BaseTraceStageDetector:
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def __init__(self, parent:BaseRawTraceProcessor = None):
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self._parent = parent
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def detect_stages(self, df: pd.DataFrame) -> list:
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...
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class BaseTextStageDetector:
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def __init__(self, parent:BaseRawTraceProcessor = None):
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self._parent = parent
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def detect_welding(self, data:list[KukaTXT]) -> list:
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...
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@ -41,9 +41,10 @@ class Mediator(BaseMediator):
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if issubclass(source.__class__, BaseController):
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self._file_manager.update_monitor_settings(data)
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self._passport_former.update_settings(data)
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self._trace_processor.update_settings(data)
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if issubclass(source.__class__, BaseRawTraceProcessor):
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self._plot.build_raw_trace(data)
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self._passport_former.form_customer_passport(data)
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def prerender(self, data:list[str]) -> None:
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self._trace_processor.prerender(data)
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@ -11,9 +11,9 @@ from base.base import BasePointPassportFormer, BaseIdealDataBuilder, PointPasspo
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class PassportFormer(BasePointPassportFormer):
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def form_passports(self, data: list[pd.DataFrame]) -> list[GraphicPassport]:
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def form_passports(self, data: list[pd.DataFrame]) -> None:
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try:
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return_data = [self._build_graphic_passport(dataframe) for dataframe in data]
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return_data = [self._build_from_df_only(dataframe) for dataframe in data]
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except:
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# TODO: обработка исключений!!!
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tb = sys.exc_info()[2]
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@ -28,6 +28,24 @@ class PassportFormer(BasePointPassportFormer):
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def update_settings(self, settings: Settings):
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self._settings = settings
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def form_customer_passport(self, data: list[pd.DataFrame, dict]) -> None:
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try:
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dataframe, events = data
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point_quantity = len(events["Welding"][0])
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data = self._form_graphic_passport(dataframe, events, point_quantity)
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return_data = [data]
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except:
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#TODO: Добавить обработку исключений
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tb = sys.exc_info()[2]
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tbinfo = traceback.format_tb(tb)[0]
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pymsg = "Traceback info:\n" + tbinfo + "\nError Info:\n" + str(sys.exc_info()[1])
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logger.error(pymsg)
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return_data = []
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finally:
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self._mediator.notify(self, return_data)
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@staticmethod
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def _find_indexes(signal: str,
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dataframe: pd.DataFrame) -> tuple[np.ndarray, np.ndarray]:
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@ -36,11 +54,11 @@ class PassportFormer(BasePointPassportFormer):
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finish_idx = np.where(stage_diff == -1)
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return start_idx[0], finish_idx[0]
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def _find_events(self,
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signal: str,
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@staticmethod
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def _find_events(signal: str,
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times:pd.Series,
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dataframe: pd.DataFrame) -> tuple[list[float], list[float]]:
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start_idx, finish_idx = self._find_indexes(signal, dataframe)
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start_idx, finish_idx = PassportFormer._find_indexes(signal, dataframe)
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if len(start_idx) > 0 and len(finish_idx) > 0 and start_idx[0] > finish_idx[0]:
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start_idx = np.insert(start_idx, 0, 0)
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@ -51,7 +69,7 @@ class PassportFormer(BasePointPassportFormer):
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return start_list, end_list
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def _filter_events(self,
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def _generate_events(self,
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times: pd.Series,
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dataframe: pd.DataFrame) -> tuple[dict[str, list[list[float]]], int]:
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events = {}
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@ -104,10 +122,13 @@ class PassportFormer(BasePointPassportFormer):
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if str(key) in self._OptAlgorithm_system_params)
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return (operator_tuple, system_tuple)
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def _build_graphic_passport(self, dataframe: pd.DataFrame) -> GraphicPassport:
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def _build_from_df_only(self, dataframe: pd.DataFrame) -> GraphicPassport:
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if dataframe is not None:
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events, point_quantity = self._filter_events(dataframe["time"], dataframe)
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if (dataframe is not None and
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set(self._stages).issubset(set(dataframe.columns.tolist()))):
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events, point_quantity = self._generate_events(dataframe["time"], dataframe)
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point_quantity = len(events["Welding"])
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pass
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if point_quantity == 0:
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return []
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else:
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@ -115,6 +136,14 @@ class PassportFormer(BasePointPassportFormer):
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key = list(self._settings.operator.keys())[0]
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point_quantity = len(self._settings.operator[key])
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passport = self._form_graphic_passport(dataframe, events, point_quantity)
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return passport
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def _form_graphic_passport(self,
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dataframe:pd.DataFrame,
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events:dict,
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point_quantity:int) -> GraphicPassport:
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system_settings = {key: value[0] for key, value in self._settings.system.items()}
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graphic_passport = GraphicPassport(dataframe, [], self._form_graphic_useful_data(system_settings))
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@ -158,7 +187,7 @@ class PassportFormer(BasePointPassportFormer):
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}
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return operator_settings
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def _form_point_events(self, events:dict, idx) -> list:
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def _form_point_events(self, events:dict, idx:int) -> list[list, dict]:
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timeframe, point_events = None, None
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if events is not None:
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idx_shift = idx+1 if events[self._stages[-1]][0][0] == 0 else idx
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@ -330,3 +330,4 @@ class ClientAnalyzerWidget(QWidget):
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main_layout.addWidget(self._tabWidget)
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main_layout.addWidget(button_widget)
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self.setLayout(main_layout)
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@ -6,7 +6,10 @@ from dataclasses import dataclass, field
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import numpy as np
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import pandas as pd
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from base.base import BaseKukaDataParser, BaseKukaTextParser, BaseRawTraceProcessor, KukaDataHead, KukaTXT
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from base.base import (BaseKukaDataParser, BaseKukaTextParser,
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BaseTraceStageDetector, BaseTextStageDetector,
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BaseRawTraceProcessor, KukaDataHead,
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KukaTXT, Settings)
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class KukaDataParser(BaseKukaDataParser):
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@ -64,7 +67,8 @@ class KukaDataParser(BaseKukaDataParser):
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except ValueError as e:
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raise ValueError(f"Ошибка при изменении формы data_array: {e}")
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return pd.DataFrame(axes*mul, columns=axes_names, index=time_axis)
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dataframe = pd.concat([time_axis, pd.DataFrame(axes*mul, columns=axes_names)], axis=1)
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return dataframe
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@staticmethod
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def _extract_channels_data(head: KukaDataHead) -> Tuple[np.ndarray, list]:
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@ -107,7 +111,6 @@ class KukaTextParser(BaseKukaTextParser):
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datapack = self._check_msg_flow(line, datapack)
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return self._datapacks
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def _check_msg_flow(self, line:str, datapack:KukaTXT) -> KukaTXT:
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if line == "#BEGINMOTIONINFO":
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self._in_msg = True
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@ -164,94 +167,76 @@ class KukaTextParser(BaseKukaTextParser):
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return datapack
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class TraceStageDetector:
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class TraceStageDetector(BaseTraceStageDetector):
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def __init__(
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self,
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rob_vel_zero_th: float = 0.008,
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act_vel_zero_th: float = 10,
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act_vel_touching: float = 2050,
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act_vel_touching_th: float = 200,
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act_curr_force_th: float = 0.5,
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region_of_focus: list = [0, 100]
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):
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self.rob_vel_zero_th = rob_vel_zero_th
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self.act_vel_zero_th = act_vel_zero_th
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self.act_vel_touching = act_vel_touching
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self.act_vel_touching_th = act_vel_touching_th
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self.act_curr_force_th = act_curr_force_th
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self.ROF = region_of_focus
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def __init__(self, parent:TraceProcessor = None):
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super().__init__(parent)
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def detect_stages(self, df: pd.DataFrame) -> list:
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df = df.sort_index()
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stage_markers = []
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df_indices = df.index.to_list() # времена (в секундах) как список
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timestamps = df['time'].to_list() # времена (в секундах) как список
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for i in df_indices:
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mark = self._mark_timestamp(df, i)
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for i, time in enumerate(timestamps):
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mark = self._mark_timestamp(df, i, time)
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if mark: stage_markers.append(mark)
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# Объединяем подряд идущие одинаковые метки в единые этапы.
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stages = self._merge_marks_to_stages(stage_markers, df_indices)
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stages = self._merge_marks_to_stages(stage_markers, timestamps)
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return stages
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def _mark_timestamp(self, df:pd.DataFrame, index:float) -> Union[str, None]:
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def _mark_timestamp(self, df:pd.DataFrame, index:int, time:float) -> Union[str, None]:
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# Не интересные значения помечаем как "unknown"
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if index < self.ROF[0] or index > self.ROF[1]:
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if (time < self._parent._settings.filter["ROI_start"][0] or
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time > self._parent._settings.filter["ROI_finish"][0]):
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return "unknown"
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rob_vel = df.loc[index, "CartVel_Act"]
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act_vel = df.loc[index, "DriveMotorVel_Act7"]
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act_curr = df.loc[index, "DriveMotorCurr_Act7"]
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# 1) Перемещение (moving): если скорость |CartVel_Act| > vel_threshold
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if abs(rob_vel) > self.rob_vel_zero_th:
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return "moving"
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if abs(rob_vel) > self._parent._settings.filter["robot_zero_velocity_trashold"][0]:
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return "Oncomming"
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# 2) Создание усилия (force): если |DriveMotorVel_Act7| < act_vel_zero_th и |DriveMotorCurr_Act7| > act_curr_force_th
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if abs(act_vel) < self.act_vel_zero_th and abs(act_curr) > self.act_curr_force_th:
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return "force"
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if (abs(act_vel) < self._parent._settings.filter["actuator_zero_velocity_trashold"][0] and
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abs(act_curr) > self._parent._settings.filter["actuator_current_trashold"][0]):
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return "Squeeze&Welding&Relief"
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# 3) Смыкание (closing): если скорость |DriveMotorVel_Act7| = act_vel_touching
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if self.act_vel_touching_th > abs(abs(act_vel) - self.act_vel_touching):
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return "closing"
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if self._parent._settings.filter["actuator_finishing_velocity_trashold"][0] > abs(abs(act_vel) - self._parent._settings.filter["actuator_finishing_velocity"][0]):
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return "Closing"
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return None
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def _merge_marks_to_stages(self, stage_markers:list, df_indices:list) -> list:
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def _merge_marks_to_stages(self, stage_markers:list, timestamps:list) -> list:
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stages = []
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current_stage = stage_markers[0]
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start_time = df_indices[0]
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start_time = timestamps[0]
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for i in range(1, len(stage_markers)):
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if stage_markers[i] != current_stage:
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end_time = df_indices[i - 1]
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end_time = timestamps[i - 1]
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stages.append({
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"stage": current_stage,
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"start_time": start_time,
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"end_time": end_time
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})
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current_stage = stage_markers[i]
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start_time = df_indices[i]
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start_time = timestamps[i]
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stages.append({
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"stage": current_stage,
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"start_time": start_time,
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"end_time": df_indices[-1]
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"end_time": timestamps[-1]
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})
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return stages
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class TextStageDetector:
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class TextStageDetector(BaseTextStageDetector):
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def __init__(self,
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region_of_focus: list = [0, 100]
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):
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self.ROF = region_of_focus
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def __init__(self, parent :TraceProcessor = None):
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super().__init__(parent)
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def detect_welding(self, data:list[KukaTXT]):
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def detect_welding(self, data:list[KukaTXT]) -> list:
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stages = []
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for i in range(len(data)):
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if data[i].func == " SPOT" and data[i].signal == " END":
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@ -266,26 +251,34 @@ class TextStageDetector:
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class TraceProcessor(BaseRawTraceProcessor):
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def __init__(self):
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self._settings = Settings()
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dataparser = KukaDataParser()
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textparser = KukaTextParser()
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super().__init__(dataparser, textparser)
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data_detector = TraceStageDetector(self)
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text_detector = TextStageDetector(self)
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super().__init__(dataparser, textparser, data_detector, text_detector)
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def prerender(self, data:list[str]) -> None:
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if data:
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dat_filepath = data[0]
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txt_filepath = None
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elif len(data) == 2:
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if data and len(data) == 2:
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dat_filepath = data[0]
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txt_filepath = data[1]
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elif data:
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dat_filepath = data[0]
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txt_filepath = None
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else:
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dat_filepath = None
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txt_filepath = None
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self._trace_df = self._unpack_trace(dat_filepath)
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self._text_data = self._unpack_text(txt_filepath)
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trace_df = self._unpack_trace(dat_filepath)
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text_data = self._unpack_text(txt_filepath)
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events = self._detect_stages(trace_df, text_data)
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print (events)
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self._mediator.notify(self, self._trace_df)
|
||||
self._mediator.notify(self, [trace_df, events])
|
||||
|
||||
def update_settings(self, data:Settings) -> None:
|
||||
self._settings = data
|
||||
|
||||
def _unpack_trace(self, dat_filepath:str = None) -> Optional[pd.DataFrame]:
|
||||
if dat_filepath:
|
||||
@ -297,7 +290,44 @@ class TraceProcessor(BaseRawTraceProcessor):
|
||||
return self._textparser.parse(txt_filepath)
|
||||
return None
|
||||
|
||||
def _detect_stages(self, trace_df:pd.DataFrame, text_data:list) -> dict[list]:
|
||||
if trace_df is not None and text_data is not None:
|
||||
trace_stages = self._data_detector.detect_stages(trace_df)
|
||||
welding_stages = self._text_detector.detect_welding(text_data)
|
||||
events = self._form_events(trace_stages, welding_stages)
|
||||
return events
|
||||
return None
|
||||
|
||||
@staticmethod
|
||||
def _form_events(trace_stages:list, welding_stages:list) -> dict[list]:
|
||||
idx = 0
|
||||
events = {
|
||||
"Closing":[[],[]],
|
||||
"Squeeze":[[],[]],
|
||||
"Welding":[[],[]],
|
||||
"Relief":[[],[]],
|
||||
"Oncomming":[[],[]]
|
||||
}
|
||||
for i in range(len(trace_stages)-1):
|
||||
if trace_stages[i]['stage'] == 'Squeeze&Welding&Relief':
|
||||
if trace_stages[i]['end_time'] > welding_stages[idx]['start_time']:
|
||||
|
||||
events["Squeeze"][0].append(trace_stages[i]['start_time'])
|
||||
events["Squeeze"][1].append(welding_stages[idx]['start_time'])
|
||||
|
||||
events["Welding"][0].append(welding_stages[idx]['start_time'])
|
||||
events["Welding"][1].append(welding_stages[idx]['end_time'])
|
||||
|
||||
events["Relief"][0].append(welding_stages[idx]['end_time'])
|
||||
events["Relief"][1].append(trace_stages[i+1]['start_time'])
|
||||
idx += 1
|
||||
else:
|
||||
events["Squeeze"][0].append(trace_stages[i]['start_time'])
|
||||
events["Squeeze"][1].append(trace_stages[i]['end_time'])
|
||||
else:
|
||||
events[trace_stages[i]['stage']][0].append(trace_stages[i]['start_time'])
|
||||
events[trace_stages[i]['stage']][1].append(trace_stages[i]['end_time'])
|
||||
return events
|
||||
|
||||
|
||||
"Перемещение"
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
TIme,Closing,"Electrode Force, N FE","Electrode Force, N ME",Force Control FE,Force Control ME,Hold Position ME,Oncomming,Position Control FE,Position Control ME,Relief,"Rotor Position, mm FE","Rotor Position, mm ME","Rotor Speed, mm/s FE","Rotor Speed, mm/s ME",Squeeze,Welding,Welding Current ME,Welding Voltage ME
|
||||
time,Closing,"Electrode Force, N FE","Electrode Force, N ME",Force Control FE,Force Control ME,Hold Position ME,Oncomming,Position Control FE,Position Control ME,Relief,"Rotor Position, mm FE","Rotor Position, mm ME","Rotor Speed, mm/s FE","Rotor Speed, mm/s ME",Squeeze,Welding,Welding Current ME,Welding Voltage ME
|
||||
0.0,False,-382.92999267578125,-253.056396484375,False,False,False,True,False,False,False,10.000015258789062,39.999847412109375,0.01803657039999962,0.012878786772489548,False,False,859.0,0.10200000554323196
|
||||
0.004000000189989805,False,-367.17999267578125,-264.21148681640625,False,False,False,True,False,False,False,9.999992370605469,39.999847412109375,-0.0009994201827794313,-0.020553337410092354,False,False,857.0,0.10300000756978989
|
||||
0.00800000037997961,False,-372.42999267578125,-302.747314453125,False,False,False,True,False,False,False,9.999984741210938,39.9998779296875,-0.040557608008384705,0.004086061846464872,False,False,857.0,0.10400000214576721
|
||||
|
||||
|
Can't render this file because it is too large.
|
Loading…
Reference in New Issue
Block a user