dev: разработан новый алгоритм детекции состояний системы в клиентских трейсах
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Andrew
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90b6660a15
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9be6843307
@ -1,23 +1,29 @@
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{
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"robot_zero_velocity_trashold": [
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0.008
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"act_vel_min": [
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1800.0
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],
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"actuator_zero_velocity_trashold": [
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100.0
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"act_vel_close": [
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1700.0
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],
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"actuator_finishing_velocity": [
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2000.0
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"act_vel_thresh": [
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10.0
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],
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"actuator_finishing_velocity_trashold": [
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"act_vel_negative": [
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200.0
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],
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"actuator_current_trashold": [
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0.5
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"rob_vel_thresh": [
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4.0
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],
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"ROI_start": [
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8.0
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"act_force_close": [
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700.0
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],
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"ROI_finish": [
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43.0
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"act_force_weld": [
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1300.0
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],
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"force_increase": [
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100.0
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],
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"force_decrease": [
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100.0
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]
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}
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@ -241,13 +241,15 @@ class OperatorSettings(settingsWindow):
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class FilterSettings(settingsWindow):
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def __init__(self, path, name, upd_func):
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assosiated_names = {
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"robot_zero_velocity_trashold" : "Robot zero speed filter +-m/sec",
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"actuator_zero_velocity_trashold" : "Actuator zero speed filter +-m/sec",
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"actuator_finishing_velocity" : "Actuator finishing speed m/sec",
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"actuator_finishing_velocity_trashold" : "Actuator finishing speed filter m/sec",
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"actuator_current_trashold": "Actuator force filter N",
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"ROI_start" : "Start time, sec",
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"ROI_finish" : "End time, sec"
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"act_vel_min" : "Minimum for ME speed in Closing mm/sec",
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"act_vel_close" : "Maximum for ME speed in Squeeze mm/sec",
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"act_vel_thresh" : "ME zero speed threshold mm/sec",
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"act_vel_negative" : "ME Relief speed mm/sec",
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"rob_vel_thresh": "Robot zero speed threshold mm/sec",
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"act_force_close" : "Maximum ME force in Closing, N",
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"act_force_weld" : "Minimum ME force in Welding, N",
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"force_increase": "ME force rising speed in Squeeze",
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"force_decrease":"ME force falling speed in Relief"
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}
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super().__init__(path, name, upd_func, assosiated_names)
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self._num_points.setVisible(False)
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@ -173,63 +173,104 @@ class TraceStageDetector(BaseTraceStageDetector):
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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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timestamps = df['time'].to_list() # времена (в секундах) как список
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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, timestamps)
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return stages
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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 (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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@staticmethod
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def is_closing(rob_vel:float,
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act_vel:float,
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act_force:float,
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th:dict) -> bool:
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# act_vel > min, rob_vel ~ 0, act_force ниже порога
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return act_vel > th['act_vel_min'] and abs(rob_vel) < th['rob_vel_thresh'] and act_force < th['act_force_close']
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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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@staticmethod
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def is_squeeze(rob_vel:float,
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act_vel:float,
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act_force:float,
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force_rate:float,
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th:dict) -> bool:
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# rob_vel ~ 0, act_vel меньше, чем в closing, и резкий рост act_force
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return abs(rob_vel) < th['rob_vel_thresh'] and act_vel < th['act_vel_close'] and force_rate > th['force_increase']
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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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@staticmethod
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def is_welding(rob_vel:float,
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act_vel:float,
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act_force:float,
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th:dict) -> bool:
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# обе скорости ≈ 0, act_force выше порога сварки
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return abs(rob_vel) < th['rob_vel_thresh'] and abs(act_vel) < th['act_vel_thresh'] and act_force > th['act_force_weld']
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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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@staticmethod
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def is_relief(rob_vel:float,
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act_vel:float,
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act_force:float,
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force_rate:float,
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th:dict) -> bool:
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# резкое падение act_force, отрицательный act_vel, малые rob_vel
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return force_rate < -th['force_decrease'] and act_vel < -th['act_vel_negative'] and abs(rob_vel) < th['rob_vel_thresh']
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def detect_stages(self, df:pd.DataFrame):
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timestamps = df['time'].to_list()
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n = len(df)
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th = {key: item[0] for key, item in self._parent._settings.filter.items()}
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# Вычисляем разностную производную силы
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act_force = df["DriveMotorTorq_Act7"].values
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force_diff = np.diff(act_force, prepend=act_force[0])
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return None
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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 = 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 = 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 = 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": timestamps[-1]
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})
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return stages
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states = []
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current_state = "Oncomming"
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state_start = timestamps[0]
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# Проходим по всем записям
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for i in range(n):
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rob_vel = df.loc[i, "CartVel_Act"]
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act_vel = df.loc[i, "DriveMotorVel_Act7"]
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act_force_val = df.loc[i, "DriveMotorTorq_Act7"]
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force_rate = force_diff[i]
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if current_state == "Oncomming":
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if self.is_closing(rob_vel, act_vel, act_force_val, th):
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state_end = timestamps[i]
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states.append(("Oncomming", state_start, state_end))
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current_state = "Closing"
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state_start = timestamps[i]
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elif current_state == "Closing":
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if self.is_squeeze(rob_vel, act_vel, act_force_val, force_rate, th):
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state_end = timestamps[i]
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states.append(("Closing", state_start, state_end))
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current_state = "Squeeze"
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state_start = timestamps[i]
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elif current_state == "Squeeze":
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if self.is_welding(rob_vel, act_vel, act_force_val, th):
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state_end = timestamps[i]
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states.append(("Squeeze", state_start, state_end))
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current_state = "Welding"
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state_start = timestamps[i]
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elif current_state == "Welding":
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if self.is_relief(rob_vel, act_vel, act_force_val, force_rate, th):
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state_end = timestamps[i]
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states.append(("Welding", state_start, state_end))
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current_state = "Relief"
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state_start = timestamps[i]
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elif current_state == "Relief":
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# Когда признаки relief отпадают, считаем, что цикл завершён и возвращаемся в Oncomming
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if not self.is_relief(rob_vel, act_vel, act_force_val, force_rate, th):
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state_end = timestamps[i]
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states.append(("Relief", state_start, state_end))
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current_state = "Oncomming"
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state_start = timestamps[i]
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# Фиксируем последний сегмент
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states.append((current_state, state_start, timestamps[-1]))
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return states
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class TextStageDetector(BaseTextStageDetector):
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@ -305,8 +346,9 @@ class TraceProcessor(BaseRawTraceProcessor):
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def _detect_stages(self, trace_df:pd.DataFrame, text_data:list) -> dict[list]:
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if trace_df is not None and text_data is not None:
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trace_stages = self._data_detector.detect_stages(trace_df)
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welding_stages = self._text_detector.detect_welding(text_data)
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events = self._form_events(trace_stages, welding_stages)
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#welding_stages = self._text_detector.detect_welding(text_data)
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#events = self._form_events(trace_stages, welding_stages)
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events = self.__form_events_2(trace_stages)
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return events
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return None
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@ -354,6 +396,21 @@ class TraceProcessor(BaseRawTraceProcessor):
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events[trace_stages[i]['stage']][1].append(trace_stages[i]['end_time'])
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normalized_events = TraceProcessor._normalize_events(events)
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return normalized_events
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@staticmethod
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def __form_events_2(trace_stages:list):
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events = {
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"Closing":[[],[]],
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"Squeeze":[[],[]],
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"Welding":[[],[]],
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"Relief":[[],[]],
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"Oncomming":[[],[]]
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}
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for stage in trace_stages:
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name, start_t, end_t = stage
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events[name][0].append(start_t)
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events[name][1].append(end_t)
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return events
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@staticmethod
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def _rename_df_columns(dataframe: pd.DataFrame) -> pd.DataFrame:
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@ -86,7 +86,7 @@ DIAEXTENDED
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#BEGINCHANNELHEADER
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200,DriveMotorPos_Act7
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201,AxisValAtMMInterface
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202,°
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202,<EFBFBD>
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210,EXPLIZIT
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211,teslaSP_VelTCP_KRCIpo.r64
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213,BLOCK
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@ -101,7 +101,7 @@ DIAEXTENDED
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#BEGINCHANNELHEADER
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200,DriveMotorVel_Act7
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201,AxisValAtMMInterface
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202,°/s
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202,<EFBFBD>/s
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210,EXPLIZIT
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211,teslaSP_VelTCP_KRCIpo.r64
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213,BLOCK
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@ -124,7 +124,7 @@ DIAEXTENDED
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220,3806
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221,7
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240,0
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241,1.000000e+00
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241,1.000000e+03
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#ENDCHANNELHEADER
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@ -169,7 +169,7 @@ DIAEXTENDED
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220,3806
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221,10
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240,0
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241,1.000000e-03
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241,1.000000e+00
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#ENDCHANNELHEADER
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