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dev: roboter, gui и plotter соединены воедино

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Andrew 2025-02-06 13:57:51 +03:00
parent 731824918a
commit ef58b7e2f5
7 changed files with 400 additions and 103 deletions
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399
params/plot_structure_params.json
View File

@ -1,102 +1,325 @@
{
"Electrode Force, N & Welding Current, kA": {
"Settings": {
"zoom": false,
"stages": true,
"performance": true,
"ideals": true,
"mirror ME": false,
"workpiece": false,
"force compensation FE": false,
"force accuracy":true
},
"Real_signals": [
{
"name": "Electrode Force, N ME",
"pen": "r"
"Online Path Scanner": {
"Electrode Force, N & Welding Current, kA": {
"Settings": {
"zoom": false,
"stages": true,
"performance": true,
"ideals": true,
"mirror ME": false,
"workpiece": false,
"force compensation FE": false,
"force accuracy":true
},
"Real_signals": [
{
"name": "Electrode Force, N ME",
"pen": "r"
},
{
"name": "Electrode Force, N FE",
"pen": "w"
}
],
"Ideal_signals": [
{
"name": "Force",
"pen": {"color": "g", "width":3}
}
]
},
{
"name": "Electrode Force, N FE",
"pen": "w"
"Electrode Position, mm": {
"Settings": {
"zoom": false,
"stages": true,
"performance": false,
"ideals": true,
"mirror ME": true,
"workpiece": true,
"force compensation FE": true,
"force accuracy":false
},
"Real_signals": [
{
"name": "Rotor Position, mm ME",
"pen": {"color": "r", "width":2}
},
{
"name": "Rotor Position, mm FE",
"pen": {"color": "w", "width":2}
}
],
"Ideal_signals": [
{
"name": "Position ME",
"pen": {"color": "g", "width":4}
},
{
"name": "Position FE",
"pen": {"color": "b", "width":4}
}
]
},
"Electrode Speed, mm/s": {
"Settings": {
"zoom": false,
"stages": true,
"performance": false,
"ideals": true,
"mirror ME": false,
"workpiece": false,
"force compensation FE": false,
"force accuracy":false
},
"Real_signals": [
{
"name": "Rotor Speed, mm/s ME",
"pen": "r",
"zoom": false
},
{
"name": "Rotor Speed, mm/s FE",
"pen": "w",
"zoom": false
}
],
"Ideal_signals": [
{
"name": "Rotor Speed ME",
"pen": {"color": "g", "width":3},
"zoom": false
},
{
"name": "Rotor Speed FE",
"pen": {"color": "b", "width":3},
"zoom": false
}
]
}
],
"Ideal_signals": [
{
"name": "Force",
"pen": {"color": "g", "width":3}
}
]
},
"Electrode Position, mm": {
"Settings": {
"zoom": false,
"stages": true,
"performance": false,
"ideals": true,
"mirror ME": true,
"workpiece": true,
"force compensation FE": true,
"force accuracy":false
"Report Editor": {
"Electrode Force, N & Welding Current, kA": {
"Settings": {
"zoom": false,
"stages": true,
"performance": true,
"ideals": true,
"mirror ME": false,
"workpiece": false,
"force compensation FE": false,
"force accuracy":true
},
"Real_signals": [
{
"name": "Electrode Force, N ME",
"pen": "r"
},
{
"name": "Electrode Force, N FE",
"pen": "w"
}
],
"Ideal_signals": [
{
"name": "Force",
"pen": {"color": "g", "width":3}
}
]
},
"Real_signals": [
{
"name": "Rotor Position, mm ME",
"pen": {"color": "r", "width":2}
"Electrode Position, mm": {
"Settings": {
"zoom": false,
"stages": true,
"performance": false,
"ideals": true,
"mirror ME": true,
"workpiece": true,
"force compensation FE": true,
"force accuracy":false
},
{
"name": "Rotor Position, mm FE",
"pen": {"color": "w", "width":2}
}
],
"Ideal_signals": [
{
"name": "Position ME",
"pen": {"color": "g", "width":4}
"Real_signals": [
{
"name": "Rotor Position, mm ME",
"pen": {"color": "r", "width":2}
},
{
"name": "Rotor Position, mm FE",
"pen": {"color": "w", "width":2}
}
],
"Ideal_signals": [
{
"name": "Position ME",
"pen": {"color": "g", "width":4}
},
{
"name": "Position FE",
"pen": {"color": "b", "width":4}
}
]
},
"Electrode Speed, mm/s": {
"Settings": {
"zoom": false,
"stages": true,
"performance": false,
"ideals": true,
"mirror ME": false,
"workpiece": false,
"force compensation FE": false,
"force accuracy":false
},
{
"name": "Position FE",
"pen": {"color": "b", "width":4}
}
]
"Real_signals": [
{
"name": "Rotor Speed, mm/s ME",
"pen": "r",
"zoom": false
},
{
"name": "Rotor Speed, mm/s FE",
"pen": "w",
"zoom": false
}
],
"Ideal_signals": [
{
"name": "Rotor Speed ME",
"pen": {"color": "g", "width":3},
"zoom": false
},
{
"name": "Rotor Speed FE",
"pen": {"color": "b", "width":3},
"zoom": false
}
]
}
},
"Client Trace Watcher":{
"Electrode Speed, mm/s": {
"Settings": {
"zoom": false,
"stages": true,
"performance": false,
"ideals": true,
"mirror ME": false,
"workpiece": false,
"force compensation FE": false,
"force accuracy":false
"Client Trace": {
"Settings": {
"zoom": false,
"stages": true
},
"Real_signals": [
{
"name": "Electrode Force, N ME",
"pen": "r"
},
{
"name": "Electrode Position, mm ME",
"pen": "g"
},
{
"name": "Electrode Speed, mm ME",
"pen": "b"
},
{
"name": "Cartesian Tool Speed, mm/s ME",
"pen": "w"
}
],
"Ideal_signals": []
},
"Real_signals": [
{
"name": "Rotor Speed, mm/s ME",
"pen": "r",
"zoom": false
"TCW Trace": {
"Settings": {
"stages": true,
"ideals": true,
"mirror ME": true,
"workpiece": true,
"force compensation FE": true
},
{
"name": "Rotor Speed, mm/s FE",
"pen": "w",
"zoom": false
}
],
"Ideal_signals": [
{
"name": "Rotor Speed ME",
"pen": {"color": "g", "width":3},
"zoom": false
"Real_signals": [],
"Ideal_signals": [
{
"name": "Force",
"pen": {"color": "r", "width":4}
},
{
"name": "Position ME",
"pen": {"color": "g", "width":4}
},
{
"name": "Position FE",
"pen": {"color": "b", "width":4}
},
{
"name": "Rotor Speed ME",
"pen": {"color": "w", "width":3},
"zoom": false
},
{
"name": "Rotor Speed FE",
"pen": {"color": "w", "width":3},
"zoom": false
}
]
},
"Combined Trace": {
"Settings": {
"stages": true,
"performance": false,
"ideals": true,
"workpiece": false
},
{
"name": "Rotor Speed FE",
"pen": {"color": "b", "width":3},
"zoom": false
}
]
"Real_signals": [
{
"name": "Electrode Force, N ME",
"pen": "r"
},
{
"name": "Electrode Position, mm ME",
"pen": "g"
},
{
"name": "Electrode Speed, mm ME",
"pen": "b"
},
{
"name": "Cartesian Tool Speed, mm/s ME",
"pen": "w"
}
],
"Ideal_signals": [
{
"name": "Force",
"pen": {"color": "r", "width":4}
},
{
"name": "Position ME",
"pen": {"color": "g", "width":4}
},
{
"name": "Position FE",
"pen": {"color": "b", "width":4}
},
{
"name": "Rotor Speed ME",
"pen": {"color": "w", "width":3},
"zoom": false
},
{
"name": "Rotor Speed FE",
"pen": {"color": "w", "width":3},
"zoom": false
}
]
}
}
}

6
src/base/base.py
View File

@ -106,6 +106,9 @@ class BaseMediator:
def prerender(self, data:list[str]) -> None:
...
def set_mode(self, mode: int) -> None:
...
class BaseDirectoryMonitor:
@ -218,6 +221,9 @@ class BasePlotWidget:
def build_raw_trace(self, data:pd.DataFrame) -> None:
...
def set_mode(self, mode:int) -> None:
...
class BaseController(QObject):

2
src/controller/controller.py
View File

@ -12,7 +12,7 @@ class Controller(BaseController):
signal_status_text = pyqtSignal(str)
def set_working_mode(self, mode:int) -> None:
self._file_manager.set_mode(mode)
self._mediator.set_mode(mode)
def update_plots(self) -> None:
self._file_manager.replot_all()

4
src/controller/mediator.py
View File

@ -48,6 +48,10 @@ class Mediator(BaseMediator):
def prerender(self, data:list[str]) -> None:
self._trace_processor.prerender(data)
def set_mode(self, mode: int) -> None:
self._plot.set_mode(mode)
self._file_manager.set_mode(mode)

2
src/controller/passport_former.py
View File

@ -31,7 +31,7 @@ class PassportFormer(BasePointPassportFormer):
"""
try:
dataframe, events = data
point_quantity = len(events["Welding"][0])
point_quantity = len(events["Squeeze"][0])
data_passport = self._form_graphic_passport(dataframe, events, point_quantity)
return_data = [data_passport]
except Exception as e:

19
src/gui/plotter.py
View File

@ -39,7 +39,8 @@ class PlotWidget(BasePlotWidget):
def __init__(self, controller:BaseController):
super().__init__(controller=controller)
self._plt_channels = read_json("params/plot_structure_params.json")
self._plt_structures = read_json("params/plot_structure_params.json")
self._plt_channels = None
def build(self, data: list[GraphicPassport]) -> None:
"""
@ -72,6 +73,18 @@ class PlotWidget(BasePlotWidget):
container_widget.setProperty("pyqt_container", pyqt_container)
self._mediator.notify(self, [container_widget])
def set_mode(self, mode:int) -> None:
match mode:
case 1:
self._plt_channels = self._plt_structures["Online Path Scanner"]
print (1)
case 2:
self._plt_channels = self._plt_structures["Report Editor"]
print (2)
case 3:
self._plt_channels = self._plt_structures["Client Trace Watcher"]
print(3)
def _build_raw_plotitem(self,
dataframe:pd.DataFrame,
@ -149,7 +162,7 @@ class PlotWidget(BasePlotWidget):
def _update_status(self, widgsteps:int, pointsteps:int, cur_widg:int, cur_point:int):
if self._datalen:
sycle_start = self._datastep/self._datalen*100 + 1
period1 = 100/self._datalen
period1 = 99/self._datalen
else:
sycle_start = 1
period1 = 100
@ -157,7 +170,7 @@ class PlotWidget(BasePlotWidget):
period2 = period1/widgsteps if widgsteps != 0 else period1
period3 = period2/pointsteps if pointsteps != 0 else period2
progress = sycle_start + period2*cur_widg + period3*cur_point
progress = int(sycle_start + period2*cur_widg + period3*cur_point)
self._controller.update_progress(progress)

71
src/performance/roboter.py
View File

@ -5,6 +5,7 @@ from dataclasses import dataclass, field
import numpy as np
import pandas as pd
from loguru import logger
from base.base import (BaseKukaDataParser, BaseKukaTextParser,
BaseTraceStageDetector, BaseTextStageDetector,
@ -273,9 +274,9 @@ class TraceProcessor(BaseRawTraceProcessor):
trace_df = self._unpack_trace(dat_filepath)
text_data = self._unpack_text(txt_filepath)
events = self._detect_stages(trace_df, text_data)
print (events)
dataframe = self._rename_df_columns(trace_df)
self._mediator.notify(self, [trace_df, events])
self._mediator.notify(self, [dataframe, events])
def update_settings(self, data:Settings) -> None:
self._settings = data
@ -297,7 +298,18 @@ class TraceProcessor(BaseRawTraceProcessor):
events = self._form_events(trace_stages, welding_stages)
return events
return None
@staticmethod
def _normalize_events(events:dict[list]) -> dict[list]:
max_len = max([len(item_list[0]) if key != "Oncomming" else len(item_list[0])-1 for key, item_list in events.items() ])
for key, item_list in events.items():
list_len = len(item_list[0])
if list_len < max_len:
logger.warning(f"_normalize_events - Ошибка детекции событий {key}: ожидалось {max_len} событий, получено {list_len}")
for i in range (max_len - list_len):
events[key][0].append(0)
events[key][1].append(1)
return events
@staticmethod
def _form_events(trace_stages:list, welding_stages:list) -> dict[list]:
idx = 0
@ -327,8 +339,47 @@ class TraceProcessor(BaseRawTraceProcessor):
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
normalized_events = TraceProcessor._normalize_events(events)
return normalized_events
@staticmethod
def _rename_df_columns(dataframe: pd.DataFrame) -> pd.DataFrame:
correct_mapping = {
"time": ["Time", "Timestamp"],
"Tool Coordinate, mm X": ["X_Act"],
"Tool Coordinate, mm Y": ["Y_Act"],
"Tool Coordinate, mm Z": ["Z_Act"],
"Electrode Force, N ME": ["DriveMotorTorq_Act7"],
"Electrode Position, mm ME": ["AxisPos_Act7"],
"Electrode Speed, mm ME": ["AxisVel_Act7"],
"Rotor Position, mm FE": ["DriveMotorPos_Act7"],
"Rotor Speed, mm/s ME": ["DriveMotorVel_Act7"],
"Rotor Current, A ME": ["DriveMotorCurr_Act7"],
"Cartesian Tool Speed, mm/s ME": ["CartVel_Act"],
}
working_mapping = {key: [item.lower() for item in items] for key, items in correct_mapping.items()}
try:
new_columns = {}
for col in dataframe.columns:
col_lower = col.lower()
for key, values in working_mapping.items():
if col_lower in values:
new_columns[col] = key
break
else:
new_columns[col] = col
dataframe.rename(columns=new_columns, inplace=True)
dataframe = dataframe.loc[:, ~dataframe.columns.duplicated()]
return dataframe
except AttributeError as e:
logger.error(f"_rename_df_columns - AttributeError: Проверьте, что переданный объект является DataFrame. {e}")
return None
except Exception as e:
logger.error(f"_rename_df_columns - Непредвиденная ошибка: {e}")
return None
"Перемещение"
#FUNCTION/PROCEDURE: SW_RSP030TL01_SN - какое-то перемещение
@ -401,11 +452,11 @@ if __name__ == '__main__':
txt_parser.parse(path)
print(len(txt_parser._datapacks))
"""