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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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397
params/plot_structure_params.json
View File

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

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

2
src/controller/controller.py
View File

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

4
src/controller/mediator.py
View File

@ -49,5 +49,9 @@ class Mediator(BaseMediator):
def prerender(self, data:list[str]) -> None: def prerender(self, data:list[str]) -> None:
self._trace_processor.prerender(data) 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: try:
dataframe, events = data 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) data_passport = self._form_graphic_passport(dataframe, events, point_quantity)
return_data = [data_passport] return_data = [data_passport]
except Exception as e: except Exception as e:

19
src/gui/plotter.py
View File

@ -39,7 +39,8 @@ class PlotWidget(BasePlotWidget):
def __init__(self, controller:BaseController): def __init__(self, controller:BaseController):
super().__init__(controller=controller) 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: def build(self, data: list[GraphicPassport]) -> None:
""" """
@ -73,6 +74,18 @@ class PlotWidget(BasePlotWidget):
self._mediator.notify(self, [container_widget]) 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, def _build_raw_plotitem(self,
dataframe:pd.DataFrame, dataframe:pd.DataFrame,
pyqt_container:PlotItems) -> pg.GraphicsLayoutWidget: 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): def _update_status(self, widgsteps:int, pointsteps:int, cur_widg:int, cur_point:int):
if self._datalen: if self._datalen:
sycle_start = self._datastep/self._datalen*100 + 1 sycle_start = self._datastep/self._datalen*100 + 1
period1 = 100/self._datalen period1 = 99/self._datalen
else: else:
sycle_start = 1 sycle_start = 1
period1 = 100 period1 = 100
@ -157,7 +170,7 @@ class PlotWidget(BasePlotWidget):
period2 = period1/widgsteps if widgsteps != 0 else period1 period2 = period1/widgsteps if widgsteps != 0 else period1
period3 = period2/pointsteps if pointsteps != 0 else period2 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) self._controller.update_progress(progress)

57
src/performance/roboter.py
View File

@ -5,6 +5,7 @@ from dataclasses import dataclass, field
import numpy as np import numpy as np
import pandas as pd import pandas as pd
from loguru import logger
from base.base import (BaseKukaDataParser, BaseKukaTextParser, from base.base import (BaseKukaDataParser, BaseKukaTextParser,
BaseTraceStageDetector, BaseTextStageDetector, BaseTraceStageDetector, BaseTextStageDetector,
@ -273,9 +274,9 @@ class TraceProcessor(BaseRawTraceProcessor):
trace_df = self._unpack_trace(dat_filepath) trace_df = self._unpack_trace(dat_filepath)
text_data = self._unpack_text(txt_filepath) text_data = self._unpack_text(txt_filepath)
events = self._detect_stages(trace_df, text_data) 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: def update_settings(self, data:Settings) -> None:
self._settings = data self._settings = data
@ -299,6 +300,17 @@ class TraceProcessor(BaseRawTraceProcessor):
return None return None
@staticmethod @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]: def _form_events(trace_stages:list, welding_stages:list) -> dict[list]:
idx = 0 idx = 0
events = { events = {
@ -327,8 +339,47 @@ class TraceProcessor(BaseRawTraceProcessor):
else: else:
events[trace_stages[i]['stage']][0].append(trace_stages[i]['start_time']) events[trace_stages[i]['stage']][0].append(trace_stages[i]['start_time'])
events[trace_stages[i]['stage']][1].append(trace_stages[i]['end_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" "Перемещение"
#FUNCTION/PROCEDURE: SW_RSP030TL01_SN - какое-то перемещение #FUNCTION/PROCEDURE: SW_RSP030TL01_SN - какое-то перемещение