dev: roboter, gui и plotter соединены воедино

params/plot_structure_params.json

@@ -1,5 +1,7 @@
 {
-"Electrode Force, N & Welding Current, kA": {
+    "Online Path Scanner": {
+        
+            "Electrode Force, N & Welding Current, kA": {
                 "Settings": {
                     "zoom": false,
                     "stages": true, 
@@ -99,4 +101,225 @@
                     }
                 ]
             }
+    },
+    "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}
+                }
+            ]
+        },
+
+
+        "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
+                }
+            ]
+        }
+    },
+    "Client Trace Watcher":{
+
+        "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": []
+        },
+
+        "TCW Trace": {
+            "Settings": {
+                "stages": true, 
+                "ideals": true, 
+                "mirror ME": true,
+                "workpiece": true, 
+                "force compensation FE": true
+            },
+            "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
+            },
+            "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
+                }
+            ]
+        
+        }
+
+    }
 }

src/base/base.py

@@ -107,6 +107,9 @@ class BaseMediator:
     def prerender(self, data:list[str]) -> None:
         ...
     
+    def set_mode(self, mode: int) -> None:
+        ...
+
 class BaseDirectoryMonitor:
 
     update_timer = QTimer()
@@ -219,6 +222,9 @@ class BasePlotWidget:
     def build_raw_trace(self, data:pd.DataFrame) -> None:
         ...
     
+    def set_mode(self, mode:int) -> None:
+        ...
+
 class BaseController(QObject):
 
     def __init__(self,

src/controller/controller.py

@@ -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()

src/controller/mediator.py

@@ -49,5 +49,9 @@ 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)
+
 
 

src/controller/passport_former.py

@@ -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:

src/gui/plotter.py

@@ -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:
         """
@@ -73,6 +74,18 @@ class PlotWidget(BasePlotWidget):
         
         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, 
                             pyqt_container:PlotItems) -> pg.GraphicsLayoutWidget:
@@ -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)
 
 

src/performance/roboter.py

@@ -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
@@ -299,6 +300,17 @@ class TraceProcessor(BaseRawTraceProcessor):
         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
         events = {
@@ -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