dev: Разработан парсер TXT данных от куки

src/performance/performance.py

@@ -1,26 +1,119 @@
-from typing import Optional
+from typing import Optional, Tuple
-import os
 
 import numpy as np
 import pandas as pd
 
-from roboter import Performance
+   
+#TODO: Реализовать поиск времени простоя
+class DowntimeAnalyzer:
+    def __init__(self) -> None:
+        ...
 
-class PerformanceProcessor:
+    def generate_downtime_report(self) -> list:
+        ...
 
-    def calc_performance(self, path:str, TWC_raw:pd.DataFrame):
+    def _separate_conditions(self, TWC_raw:pd.DataFrame, robot_raw:pd.DataFrame) -> Tuple[dict, dict]:
-        factory = Performance()
+        robot_splitter = RobotConditionSplitter()
-        comm_df, rob_df, TWC_df = factory.job(path, TWC_raw)
+        TWC_splitter = TWC_ConditionSplitter()
-        
+        #comm_splitter = CommConditionSplitter()
+        rob_conditions = robot_splitter.split(robot_raw)
+        TWC_conditions = TWC_splitter.split(TWC_raw)
+        #comm_df = comm_splitter.split(rob_conditions["communication"], TWC_conditions["communication"])
+        return (rob_conditions, TWC_conditions)
 
 
+class ConditionSplitter:
+    def __init__(self):
+        self._signals = []
+
+    def _find_indexes(self,
+                       signal: str,  
+                       dataframe: pd.DataFrame) -> list[list[float], list[float]]:
+        stage_diff = np.diff(dataframe[signal])
+        start_idx = np.where(stage_diff == 1)
+        finish_idx = np.where(stage_diff == -1)
+        return start_idx[0], finish_idx[0]
+    
+    def _find_events(self, 
+                        dataframe: pd.DataFrame, 
+                        signals: list[str]) -> Optional[dict[dict[pd.Series]]]: 
+        intervals = {}
+        end_time = 0
+        for signal in signals:
+            start_idx, finish_idx = np.array(self._find_indexes(signal, dataframe))
+            start_series = dataframe.loc[start_idx, "time"].reset_index(drop=True)
+            end_series = dataframe.loc[finish_idx, "time"].reset_index(drop=True)
+            end_series.fillna(end_time)
+            intervals[signal] = {"rise": start_series,
+                                "fall": end_series}
+        return intervals
+    
+    def _form_intervals(self, 
+                        start: pd.Series, 
+                        end: pd.Series) -> dict:
+        if len(start) != len(end):
+            for i in range(1, len(end)):
+                if end[i-1] > start[i]:
+                   start = start.drop(i).reset_index(drop=True)
+        intervals = {'start':start.tolist, 'end':end.tolist}
+        return intervals
+    
+
+class RobotConditionSplitter(ConditionSplitter):
+    def __init__(self):
+        self._signals = [
+            "$OUT3012", 
+            "$IN3003", 
+            "$OUT3003", 
+            "$OUT3244"
+        ]
+
+    def split(self, dataframe: pd.DataFrame) -> dict:
+        events = self._find_events(dataframe, self._signals)
+        communication_sig = {'sent':events["$OUT3244"]["fall"], 'received':events[""][""]}
+        point_interval = self._form_intervals(start=events["$OUT3012"]["rise"], end=events["$OUT3012"]["fall"])
+        movement_interval = self._form_intervals(start=events["$OUT3244"]["rise"], end=events["$OUT3244"]["fall"])
+        conditions = {"communication":communication_sig, "waiting": point_interval, "moving": movement_interval}
+        return conditions
+
+    
+class TWC_ConditionSplitter(ConditionSplitter):
+    def __init__(self):
+        self._signals = [
+            "Closing",
+            "Squeeze",
+            "Welding",
+            "Relief", 
+            "Oncoming"
+        ]
+
+    def split(self, dataframe: pd.DataFrame) -> dict:
+        events = self._find_events(dataframe, self._signals)
+        communication_sig = {'sent':events[""][""], 'received':events[""][""]} #ситара что-то делает -конец сигнала
+        closing_interval = self._form_intervals(start=events["Closing"]["rise"], end=events["Closing"]["fall"])
+        squeeze_interval = self._form_intervals(start=events["Squeeze"]["rise"], end=events["Squeeze"]["fall"])
+        relief_interval = self._form_intervals(start=events["Relief"]["rise"], end=events["Relief"]["fall"])
+        oncoming_interval = self._form_intervals(start=events["Oncoming"]["rise"], end=events["Oncoming"]["fall"])
+        conditions = {
+            "communication":communication_sig, 
+            'closing':closing_interval,
+            'squeeze':squeeze_interval,
+            'relief':relief_interval,
+            'oncoming':oncoming_interval
+            }
+        return conditions
 
 
+class CommConditionSplitter(ConditionSplitter):
+    """
+    Определяет промежуток, в который происходит взаимодействие между нодами.
+    """
 
-        
+    def split(self, node1: dict, node2: dict) -> pd.DataFrame:
-
+        n1_to_n2 = self._form_intervals(start=node1['sent'], end=node2['received'])
-
+        n2_to_n1 = self._form_intervals(start=node2['sent'], end=node1['received'])
-
+        return pd.concat([pd.DataFrame(n1_to_n2), pd.DataFrame(n2_to_n1)])
+    
 
 if __name__ == "__main__":
     path = "D:\downloads\Test2\TeslaTIME29_71_KRCIO.dat"

src/performance/roboter.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 import os
-from typing import Optional, Tuple
+from typing import Tuple
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 
 import numpy as np
 import pandas as pd
@@ -14,6 +14,29 @@ class KukaDataHead:
     channels: dict
 
 
+@dataclass
+class KukaTXT:
+    time: float = 0
+    endtime: float = 0
+    #module: str
+    func: str = ""
+    type_: str = ""
+    signal: str = ""
+    #line: int = 0
+    #point_name: str = ""
+    #point_coord: dict = field(default_factory=lambda: {})
+    #blending: str = ""
+    #blending_param: float = 0
+    #velocities: dict = field(default_factory=lambda: {})
+    #accelerarions: dict = field(default_factory=lambda: {})
+    #base: dict = field(default_factory=lambda: {})
+    #tool: dict = field(default_factory=lambda: {})
+    #ipo_mode: str = ""
+    #motion_mode: str = ""
+    #load: dict = field(default_factory=lambda: {})
+    #load_a3: dict = field(default_factory=lambda: {})
+
+
 class KukaDataParser:
     
     def parse(self, head_path: str) -> pd.DataFrame:
@@ -95,127 +118,125 @@ class KukaDataParser:
             data = file.read()
             floats = np.frombuffer(data, dtype='<d')
         return floats
- 
-    
-#TODO: Реализовать поиск времени простоя
-class DowntimeAnalyzer:
-    def __init__(self) -> None:
-        ...
-
-    def generate_downtime_report(self) -> list:
-        ...
-
-    def _separate_conditions(self, TWC_raw:pd.DataFrame, robot_raw:pd.DataFrame) -> Tuple[dict, dict]:
-        robot_splitter = RobotConditionSplitter()
-        TWC_splitter = TWC_ConditionSplitter()
-        #comm_splitter = CommConditionSplitter()
-        rob_conditions = robot_splitter.split(robot_raw)
-        TWC_conditions = TWC_splitter.split(TWC_raw)
-        #comm_df = comm_splitter.split(rob_conditions["communication"], TWC_conditions["communication"])
-        return (rob_conditions, TWC_conditions)
 
 
-class ConditionSplitter:
+class TXT_Parser:
     def __init__(self):
-        self._signals = []
+        self._in_msg = False
+        self._datapacks = []
 
-    def _find_indexes(self,
+    def parse(self, path:str ):
-                       signal: str,  
+        self._datapacks = []
-                       dataframe: pd.DataFrame) -> list[list[float], list[float]]:
+        with open(path, 'r') as file:
-        stage_diff = np.diff(dataframe[signal])
+            datapack = KukaTXT()
-        start_idx = np.where(stage_diff == 1)
+            for line in file:
-        finish_idx = np.where(stage_diff == -1)
+                line = line.strip()
-        return start_idx[0], finish_idx[0]
+                datapack = self._check_msg_flow(line, datapack)
-    
+                
-    def _find_events(self, 
-                        dataframe: pd.DataFrame, 
-                        signals: list[str]) -> Optional[dict[dict[pd.Series]]]: 
-        intervals = {}
-        end_time = 0
-        for signal in signals:
-            start_idx, finish_idx = np.array(self._find_indexes(signal, dataframe))
-            start_series = dataframe.loc[start_idx, "time"].reset_index(drop=True)
-            end_series = dataframe.loc[finish_idx, "time"].reset_index(drop=True)
-            end_series.fillna(end_time)
-            intervals[signal] = {"rise": start_series,
-                                "fall": end_series}
-        return intervals
-    
-    def _form_intervals(self, 
-                        start: pd.Series, 
-                        end: pd.Series) -> dict:
-        if len(start) != len(end):
-            for i in range(1, len(end)):
-                if end[i-1] > start[i]:
-                   start = start.drop(i).reset_index(drop=True)
-        intervals = {'start':start.tolist, 'end':end.tolist}
-        return intervals
-    
 
-class RobotConditionSplitter(ConditionSplitter):
+    def _check_msg_flow(self, line:str, datapack:KukaTXT) -> KukaTXT:
-    def __init__(self):
+        if line == "#BEGINMOTIONINFO":
-        self._signals = [
+            self._in_msg = True
-            "$OUT3012", 
+            datapack = KukaTXT()
-            "$IN3003", 
+        elif line == "#ENDMOTIONINFO":
-            "$OUT3003", 
+            self._in_msg = False
-            "$OUT3244"
+            self._datapacks.append(datapack)
-        ]
+            datapack = KukaTXT()
+        elif self._in_msg:
+            datapack = self._process_line(line, datapack)
+        return datapack
 
-    def split(self, dataframe: pd.DataFrame) -> dict:
+    def _process_line(self, line:str, datapack:KukaTXT) -> KukaTXT:
-        events = self._find_events(dataframe, self._signals)
+        tag, data = line.split(":")
-        communication_sig = {'sent':events["$OUT3244"]["fall"], 'received':events[""][""]}
+        match tag:
-        point_interval = self._form_intervals(start=events["$OUT3012"]["rise"], end=events["$OUT3012"]["fall"])
+            case "TIME":
-        movement_interval = self._form_intervals(start=events["$OUT3244"]["rise"], end=events["$OUT3244"]["fall"])
+                datapack.time = float(data)
-        conditions = {"communication":communication_sig, "waiting": point_interval, "moving": movement_interval}
+            case "ENDTIME":
-        return conditions
+                datapack.endtime = float(data)
+            case "MODULE":
+                pass
+            case "FUNCTION/PROCEDURE":
+                datapack.func = data
+            case "TYPE":
+                datapack.type_ = data
+            case "SIGNAL":
+                datapack.signal = data
+            case "LINE":
+                pass
+            case "POINT NAME":
+                pass
+            case "POINT COORDINATES":
+                pass
+            case "BLENDING":
+                pass
+            case "BLENDING PARAMETER":
+                pass
+            case "VELOCITIES":
+                pass
+            case "ACCELERATIONS":
+                pass
+            case "BASE":
+                pass
+            case "TOOL":
+                pass
+            case "IPO MODE":
+                pass
+            case "MOTION MODE":
+                pass
+            case "LOAD":
+                pass
+            case "LOAD A3":
+                pass
+        return datapack
 
-    
+"Перемещение"
-class TWC_ConditionSplitter(ConditionSplitter):
+#FUNCTION/PROCEDURE: SW_RSP030TL01_SN - какое-то перемещение
-    def __init__(self):
+#
-        self._signals = [
+# ИЛИ
-            "Closing",
+#
-            "Squeeze",
+#FUNCTION/PROCEDURE: SGL_MoveToPos - перемещение между точками
-            "Welding",
+#SIGNAL: BLENDING 
-            "Relief", 
-            "Oncoming"
-        ]
 
-    def split(self, dataframe: pd.DataFrame) -> dict:
+"Смыкание и набор усилия"
-        events = self._find_events(dataframe, self._signals)
+#FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE - перемещение электрода  движения робота
-        communication_sig = {'sent':events[""][""], 'received':events[""][""]} #ситара что-то делает -конец сигнала
+# ... ... 
-        closing_interval = self._form_intervals(start=events["Closing"]["rise"], end=events["Closing"]["fall"])
+#FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE - перемещение 0.5 мм роботом с движением электрода
-        squeeze_interval = self._form_intervals(start=events["Squeeze"]["rise"], end=events["Squeeze"]["fall"])
+#... ... 
-        relief_interval = self._form_intervals(start=events["Relief"]["rise"], end=events["Relief"]["fall"])
+#FUNCTION/PROCEDURE: SGM_MOVE_TO_FORCE - остановка в позиции (может быть набор усилия?)
-        oncoming_interval = self._form_intervals(start=events["Oncoming"]["rise"], end=events["Oncoming"]["fall"])
-        conditions = {
-            "communication":communication_sig, 
-            'closing':closing_interval,
-            'squeeze':squeeze_interval,
-            'relief':relief_interval,
-            'oncoming':oncoming_interval
-            }
-        return conditions
 
+"Сварка"
+#FUNCTION/PROCEDURE: SPOT - Начало сварочного процесса
+#SIGNAL: START
+#
+#FUNCTION/PROCEDURE: SPOT - Конец сварочного процесса
+#SIGNAL: END
 
-class CommConditionSplitter(ConditionSplitter):
+"Снятие усилия и разъезд"
-    """
+#FUNCTION/PROCEDURE: SGL_MoveToPos - Выход из контакта с точкой движением робота и электрода
-    Определяет промежуток, в который происходит взаимодействие между нодами.
+#SIGNAL: START
-    """
+#
-
-    def split(self, node1: dict, node2: dict) -> pd.DataFrame:
-        n1_to_n2 = self._form_intervals(start=node1['sent'], end=node2['received'])
-        n2_to_n1 = self._form_intervals(start=node2['sent'], end=node1['received'])
-        return pd.concat([pd.DataFrame(n1_to_n2), pd.DataFrame(n2_to_n1)])
-        
 
+"Перемещение"
+#FUNCTION/PROCEDURE: SW_RSP030TL01_SN - какое-то перемещение
+#
+# ИЛИ
+#
+#FUNCTION/PROCEDURE: SGL_MoveToPos - перемещение между точками
+#SIGNAL: BLENDING 
 
 if __name__ == '__main__':
     roboreader = KukaDataParser()
-    
+    """
     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))
+    
+