.gitignore

@@ -6,5 +6,4 @@
 /venv
 *.txt
 *.svg
-/test.py
+/test.py
-/output

params/operator_params.json

@@ -81,19 +81,19 @@
     ],
     "distance_l_2": [
         0.0275,
-        0.0255,
+        0.03,
-        0.0242,
+        0.033,
-        0.0245,
+        0.033,
-        0.0228,
+        0.033,
-        0.0236,
+        0.033,
-        0.0229,
+        0.033,
-        0.0248,
+        0.033,
-        0.024,
+        0.033,
-        0.0235,
+        0.033,
-        0.025,
+        0.033,
-        0.0276,
+        0.033,
-        0.0234,
+        0.033,
-        0.0215
+        0.033
     ],
     "distance_h_end1": [
         0.003,

src/OptAlgorithm/OptTimeCalculator.py

@@ -3,76 +3,75 @@ from numpy import sqrt, arcsin, arccos, cos, sin
 from OptAlgorithm.AutoConfigClass import AutoConfigClass
 from OptAlgorithm.ConstantCalculator import ConstantCalculator
 
-
 class OptTimeCalculator(AutoConfigClass):
+    
     params_list = []
-
+    def __init__(self, operator_config : dict, system_config : dict):
-    def __init__(self, operator_config: dict, system_config: dict):
+        
-
         cCalculator = ConstantCalculator(operator_config, system_config)
         super().__init__(OptTimeCalculator.params_list, operator_config, system_config, cCalculator.calc())
         self.allTimes = {}
-        self.check_eps = 1e-7
+        
-
+    def tGrowNominal(self, F : float) -> float:
-    def tGrowNominal(self, F: float) -> float:
+        return arcsin(F/(self.Ftogrow)) * sqrt(self.mass_1/self.k_hardness_1)
-        return arcsin(F / (self.Ftogrow)) * sqrt(self.mass_1 / self.k_hardness_1)
 
     def Tclose(self, h1: float, h2: float) -> None:
         v0q = min(sqrt(2 * self.a_max_1 * h1), self.v_max_1)
-        v0 = min(v0q, sqrt(1 / (self.k_hardness_1 * self.mass_1)) * self.Ftogrow)
+        v0 = min(v0q, sqrt(1/(self.k_hardness_1*self.mass_1))* self.Ftogrow)
         t1 = v0 / self.a_max_1
-        t2t = max(0, (h1 - (self.a_max_1 * t1 * t1 / 2)) / v0)
+        t2t = max(0, (h1 - (self.a_max_1 * t1 * t1 /2)) / v0)
         T1 = t1 + t2t
-
+        
-        t21 = sqrt(h2 / (self.a_max_2))
+        t21 = sqrt(h2/self.a_max_2)
-        t21 = min(self.v_max_2 / self.a_max_2, t21)
+        t21 = min(self.v_max_2/self.a_max_2, t21)
         t22 = max(0, (h2 - (self.a_max_2 * t21 * t21)) / self.v_max_2)
         T2 = t22 + 2 * t21
-
+        
         Tclose = max(T1, T2)
-
+        
         tclose_1_acc, tclose_1_speed = self.calcFirstClose(Tclose, h1)
         tclose_2_acc, tclose_2_speed = self.calcSecondClose(Tclose, h2)
-
+            
         self.allTimes["tclose_1_acc"] = tclose_1_acc
         self.allTimes["tclose_1_speed"] = tclose_1_speed
-
+        
         self.allTimes["tclose_2_acc"] = tclose_2_acc
         self.allTimes["tclose_2_speed"] = tclose_2_speed
         self.allTimes["tclose"] = Tclose
-
+    
-    def Topen(self, s1: float, s2: float, l1: float, l2: float, Fs1: float, Fs2: float = 0) -> None:
+    def Topen(self, s1 : float, s2 : float, l1 : float, l2 : float, Fs1 : float, Fs2 : float = 0) -> None:
-        t11 = sqrt((l1 + Fs1) / self.a_max_1)
+        t11 = sqrt((l1 + Fs1)/self.a_max_1)
-        t11 = min(self.v_max_1 / self.a_max_1, t11)
+        t11 = min(self.v_max_1/self.a_max_1, t11)
-        t12 = max(0, ((l1 + Fs1) - (self.a_max_1 * t11 * t11)) / self.v_max_1)
+        t12 = max(0, ((l1+Fs1) - (self.a_max_1 * t11 * t11)) / self.v_max_1)
         T1 = t12 + 2 * t11
         offset = self.calcSecondOpenOffset(t11, t12, Fs1)
-
+        
-        t21 = sqrt(l2 / self.a_max_2)
+        t21 = sqrt(l2/self.a_max_2)
-        t21 = min(self.v_max_2 / self.a_max_2, t21)
+        t21 = min(self.v_max_2/self.a_max_2, t21)
         t22 = max(0, (l2 - (self.a_max_2 * t21 * t21)) / self.v_max_2)
         T2 = t22 + 2 * t21 + offset
-
+        
-        topen_1_acc, topen_1_speed = self.calcFirstOpen(T1, l1 + Fs1)
+        topen_1_acc, topen_1_speed = self.calcFirstOpen(T1, l1+Fs1)
         offset = self.calcSecondOpenOffset(topen_1_acc, topen_1_speed, Fs1)
+        
         topen_2_acc, topen_2_speed = self.calcSecondOpen(T2 - offset, l2)
-
+        
-        self.allTimes["topen_1_acc"] = topen_1_acc
+        self.allTimes["topen_1_acc"] = topen_1_acc    
-        self.allTimes["topen_2_offset"] = offset
+        self.allTimes["topen_2_offset"] = offset  
-
+        
         self.allTimes["topen_1_acc"] = topen_1_acc
         self.allTimes["topen_1_speed"] = topen_1_speed
-
+        
         self.allTimes["topen_2_acc"] = topen_2_acc
         self.allTimes["topen_2_speed"] = topen_2_speed
-
+        
         if s1 >= l1:
             raise Exception("""S1 >= L1 - недопустимый сценарий,
                             проверьте distance_s_1, distance_h_end1""")
         if s2 >= l2:
             raise Exception("""S2 >= L2 - недопустимый сценарий,
                             проверьте distance_s_2, distance_h_end2""")
-
+            
         s1 += Fs1
         topen_1_mark = sqrt(2 * s1 / self.a_max_1)
         if topen_1_mark > topen_1_acc:
@@ -80,173 +79,167 @@ class OptTimeCalculator(AutoConfigClass):
             v1 = topen_1_acc * self.a_max_1
             if s1 > topen_1_speed * v1:
                 s1 -= topen_1_speed * v1
-                topen_1_mark = 2 * topen_1_acc + topen_1_speed - sqrt(topen_1_acc ** 2 - 2 * s1 / self.a_max_1)
+                topen_1_mark = 2*topen_1_acc + topen_1_speed - sqrt(topen_1_acc**2 - 2*s1 / self.a_max_1)
             else:
                 topen_1_mark = topen_1_acc + s1 / v1
-
+                
         topen_2_mark = sqrt(2 * s2 / self.a_max_2)
         if topen_2_mark > topen_2_acc:
             s2 -= topen_2_acc ** 2 * self.a_max_2 / 2
             v2 = topen_2_acc * self.a_max_2
             if s2 > topen_2_speed * v2:
                 s2 -= topen_2_speed * v2
-                topen_2_mark = 2 * topen_2_acc + topen_2_speed - sqrt(topen_2_acc ** 2 - 2 * s2 / self.a_max_2)
+                topen_2_mark = 2*topen_2_acc + topen_2_speed - sqrt(topen_2_acc**2 - 2*s2 / self.a_max_2)
             else:
                 topen_2_mark = topen_2_acc + s2 / v2
 
         self.allTimes["topen_1_mark"] = topen_1_mark
         self.allTimes["topen_2_mark"] = topen_2_mark
-
+    
     def Tgrow(self) -> None:
-
+        
-        v0 = self.allTimes["tclose_1_acc"] * self.a_max_1
+        v0 = self.allTimes["tclose_1_acc"] * self.a_max_1 
         vF0 = v0 * self.k_hardness_1
+        
+        vFmax = min(self.v_max_1 * self.k_hardness_1, sqrt(self.k_hardness_1/(self.mass_1))* self.Ftogrow)
 
-        vFmax = min(self.v_max_1 * self.k_hardness_1, sqrt(self.k_hardness_1 / (self.mass_1)) * self.Ftogrow)
+        L = sqrt(self.k_hardness_1 / self.mass_1 * self.eff_control ** 2 + vF0*vF0)
-
+        tspeed = sqrt(self.mass_1/self.k_hardness_1) * (arcsin(vFmax / L) - arccos(sqrt(self.k_hardness_1 / self.mass_1) * self.eff_control / L))
-        L = sqrt(self.k_hardness_1 / self.mass_1 * self.eff_control ** 2 + vF0 * vF0)
+        Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1/self.freq * vF0 * sin(self.freq * tspeed)
-        tspeed = sqrt(self.mass_1 / self.k_hardness_1) * (
-                    arcsin(vFmax / L) - arccos(sqrt(self.k_hardness_1 / self.mass_1) * self.eff_control / L))
-        Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1 / self.freq * vF0 * sin(
-            self.freq * tspeed)
         eps = 1e1
-        if self.freq ** 2 * self.Ftogrow ** 2 - vFmax ** 2 < -eps:
+        if self.freq**2 * self.Ftogrow**2 - vFmax**2 < -eps:
             raise Exception("""Номинальная траектория набора усилия не может быть достигнута, максимальная скорость превысила скорость траектории
                             , проверьте параметры k_hardness_1, mass_1, k_prop""")
-        Fmeet = 1 / self.freq * sqrt(self.freq ** 2 * self.Ftogrow ** 2 - vFmax ** 2 + eps)
+        Fmeet =  1/self.freq * sqrt(self.freq**2 * self.Ftogrow**2 - vFmax**2 + eps)
         Fstart_prop = self.Fstart_prop
         if Fmeet > Fstart_prop:
             raise Exception("""Номинальная траектория набора усилия была достигнута на фазе подпора
                             , проверьте параметры v_max_1, k_prop""")
-        tmeet = (Fmeet - Fspeed) / vFmax
+        tmeet = (Fmeet - Fspeed)/vFmax
         tend = self.tGrowNominal(Fstart_prop) - self.tGrowNominal(Fmeet)
-        vp = 1 / sqrt(self.k_hardness_1 * self.mass_1) * sqrt(self.Ftogrow ** 2 - self.Fstart_prop ** 2)
+        vp = 1/sqrt(self.k_hardness_1 * self.mass_1) * sqrt(self.Ftogrow**2 - self.Fstart_prop**2)
         ap = Fstart_prop / self.mass_1
-        tprop = 2 * vp / ap
+        tprop = 2*vp / ap
-
+        
         self.allTimes["tspeed"] = tspeed
         self.allTimes["tmeet"] = tmeet
         self.allTimes["tend"] = tend
         self.allTimes["tprop"] = tprop
         self.allTimes["tgrow"] = tspeed + tmeet + tend + tprop
-
+    
-    def T(self, h1: float, h2: float, s1: float, s2: float, l1: float, l2: float) -> dict:
+    def T(self, h1 : float, h2 : float, s1 : float, s2 : float, l1 : float, l2 : float) -> dict:
         self.Tclose(h1, h2)
         self.Tgrow()
         self.Topen(s1, s2, l1, l2, self.force_target / self.k_hardness_1, 0)
         return self.allTimes
-
+    
-    def Tmovement(self, closeAlgo, tmark) -> tuple[list, list]:
+    def Tmovement(self, closeAlgo, tmark) -> None:
         contact = [self.contact_distance_1, self.contact_distance_2]
         v0s = []
         pos0s = []
-        for i in range(1, 3):
+        for i in range(1,3): 
             if tmark < 0:
                 raise Exception("""Отрицательное время этапа раскрытия, 
                                 проверьте distance_s_{1,2}, time_command""")
-            v0 = closeAlgo("V" + str(i), "Open", tmark)
+            v0 = closeAlgo("V"+str(i), "Open", tmark)
             v0s.append(v0)
-            x0 = closeAlgo("X" + str(i), "Open", tmark)
+            x0 = closeAlgo("X"+str(i), "Open", tmark)
-            x1 = contact[i - 1] - self.__dict__["distance_h_end" + str(i)]
+            x1 = contact[i-1] - self.__dict__["distance_h_end"+str(i)]
             x = x1 - x0
-            pos0s.append(closeAlgo("X" + str(i), "Open", tmark))
+            pos0s.append(closeAlgo("X"+str(i), "Open", tmark))
             Tfull = self.time_robot_movement
-
+            
-            L = self.__dict__["distance_l_" + str(i)]
+            
-            maxL = contact[i - 1] - L - x0
+            L = self.__dict__["distance_l_"+str(i)]
+            maxL = contact[i-1] - L - x0
             self.Tmovementi(i, x, Tfull, v0, maxL)
         return pos0s, v0s
-
+            
     def Tmovementi(self, i, Sfull, Tfull, v0, maxL) -> None:
         v0 = abs(v0)
-        vmax = self.__dict__["v_max_" + str(i)]
+        vmax = self.__dict__["v_max_"+str(i)]
-        a = self.__dict__["a_max_" + str(i)]
+        a = self.__dict__["a_max_"+str(i)]
-        t3 = (Tfull + v0 / a) / 2
+        t3 = (Tfull + v0 / a) / 2 
-
+        
-        sqrtval = a ** 2 * (
+        sqrtval = a**2 * (a**2 * (Tfull+2*t3)**2 - 8 * a * Sfull + 2 * a* v0 * (Tfull+2*t3) - 3 *v0**2)
-                    a ** 2 * (Tfull + 2 * t3) ** 2 - 8 * a * Sfull + 2 * a * v0 * (Tfull + 2 * t3) - 3 * v0 ** 2)
         if sqrtval < 0:
             raise Exception("""Невозможно с S_{i} добраться но H*_{i} за указанное время, 
                             проверьте distance_s_{i}, distance_h_end{i}, time_command, time_robot_movement""")
-        t1max = ((Tfull + 2 * t3) + v0 / a) / (2) - sqrt(sqrtval) * sqrt(2) / (4 * a ** 2)
+        t1max = ((Tfull+2*t3) + v0/a)/(2) - sqrt(sqrtval) * sqrt(2)/(4*a**2)
-        t1 = min(t1max, (vmax - abs(v0)) / a)
+        t1 = min(t1max, (vmax- abs(v0))/a)
-        t1 = max(0, min(t1, -v0 / a + sqrt(v0 ** 2 / (a ** 2) + (abs(maxL) - v0 * v0 / a) / a)))
+        t1 = max(0, min(t1, -v0/a + sqrt(v0**2 / (a**2) + (abs(maxL)-v0*v0/a)/a)))
-
+        
-        t31 = v0 / a + t1
+        t31 = v0/a + t1
-        t5max = (Tfull - v0 / a) / 2 - t1
+        t5max = (Tfull - v0/a)/2 - t1
         v1 = v0 + a * t1
-        S1 = v0 * t1 + a * t1 * t1 / 2 + v1 * t31 - a * t31 * t31 / 2
+        S1 = v0*t1 + a*t1*t1/2 + v1*t31 - a*t31*t31/2
         S2max = Sfull + S1
-        t5 = min(t5max, (vmax) / a, sqrt(S2max / a))
+        t5 = min(t5max, (vmax)/a, sqrt(S2max / a))
-        t3 = abs(v0) / a + t1 + t5
+        t3 = abs(v0)/a + t1 + t5
         t32 = t5
-
+        
-        v1 = abs(v0 + t1 * a)
+        v1 = abs(v0+t1*a)
-        v3 = abs(v0 + t1 * a - t3 * a)
+        v3 = abs(v0 + t1*a - t3*a)
         timeleft = Tfull - t1 - t5 - t3
-        sq = -v0 * t1 - a * t1 ** 2 / 2 - v1 * t3 + a * t3 ** 2 / 2 + v3 * t5 - a * t5 ** 2 / 2
+        sq = -v0*t1 - a*t1**2/2 - v1 * t3 + a*t3**2/2 + v3*t5 - a*t5**2/2
         Sleft = Sfull - sq
-
+        
-        t2max = (timeleft - Sleft / v3) / (1 + v1 / v3)
+        t2max = (timeleft - Sleft/v3) / (1 + v1/v3)
-        Smovement = -v0 * t1 - a / 2 * t1 ** 2 - v1 * t31 + a / 2 * t31 ** 2
+        Smovement = -v0 * t1 - a/2 * t1**2 -  v1 * t31 + a/2*t31**2
-        t2 = max(0, min(t2max, (abs(maxL) - abs(Smovement)) / v1))
+        t2 = max(0, min(t2max, (abs(maxL) - abs(Smovement))/v1))
-        t4 = max(0, Sleft / v3 + v1 / v3 * t2)
+        t4 = max(0, Sleft/v3 + v1/v3 * t2)        
-
+        
-        tstay = max(0, Tfull - t1 - t2 - t3 - t4 - t5)
+        tstay = max(0, Tfull - t1 - t2 - t3 - t4 - t5)      
-
+        
-        self.allTimes["tmovement_" + str(i) + "_acc"] = t1
+        self.allTimes["tmovement_"+str(i)+"_acc"] = t1
-        self.allTimes["tmovement_" + str(i) + "_speed"] = t2
+        self.allTimes["tmovement_"+str(i)+"_speed"] = t2
-        self.allTimes["tmovement_" + str(i) + "_slow"] = t31
+        self.allTimes["tmovement_"+str(i)+"_slow"] = t31
-        self.allTimes["tmovement_" + str(i) + "_stay"] = tstay
+        self.allTimes["tmovement_"+str(i)+"_stay"] = tstay
-        self.allTimes["tmovement_" + str(i)] = t1 + t2 + t31 + tstay
+        self.allTimes["tmovement_"+str(i)] = t1 + t2 + t31 + tstay
-        self.allTimes["tpreclose_" + str(i) + "_slow"] = t32
+        self.allTimes["tpreclose_"+str(i)+"_slow"] = t32
-        self.allTimes["tpreclose_" + str(i) + "_speed"] = t4
+        self.allTimes["tpreclose_"+str(i)+"_speed"] = t4
-        self.allTimes["tpreclose_" + str(i) + "_acc"] = t5
+        self.allTimes["tpreclose_"+str(i)+"_acc"] = t5
-        self.allTimes["tpreclose_" + str(i)] = t32 + t4 + t5
+        self.allTimes["tpreclose_"+str(i)] = t32 + t4 + t5
         T = Tfull
         self.allTimes["tmovement"] = T
-
+        
-    def calcFirstClose(self, T: float, s: float) -> tuple[float, float]:
+    def calcFirstClose(self, T : float, s : float) -> tuple[float, float]:
         v0q = min(sqrt(2 * self.a_max_1 * s), self.v_max_1)
-        v0 = min(v0q, sqrt(1 / (self.k_hardness_1 * self.mass_1)) * self.Ftogrow)
+        v0 = min(v0q, sqrt(1/(self.k_hardness_1*self.mass_1))* self.Ftogrow)
-        t1 = T - sqrt(max(0, T ** 2 - 2 * s / self.a_max_1))
+        t1 = T - sqrt(max(0, T**2 - 2 * s / self.a_max_1))
-        if t1 > v0/ self.a_max_1 + self.check_eps:
+        t1 = min(t1, v0 / self.a_max_1)
-            raise Exception("""Мы вышли за границы разгона - смыкание FE, вообще не знаю как так получилось""")
+        t2 = max(0, (s - self.a_max_1*t1**2/2) / (self.a_max_1*t1))
-        t2 = max(0, (s - self.a_max_1 * t1 ** 2 / 2) / (self.a_max_1 * t1))
         return t1, t2
-
+    
-    def calcFirstOpen(self, T: float, s: float) -> tuple[float, float]:
+    def calcFirstOpen(self, T : float, s : float) -> tuple[float, float]:
-        t1 = T / 2 - sqrt(max(0, T ** 2 - 4 * s / self.a_max_1)) / 2
+        t1 = T / 2 - sqrt(max(0, T**2 - 4 * s / self.a_max_1)) / 2
-        if t1 > self.v_max_1 / self.a_max_1 + self.check_eps:
+        t1 = min(t1, self.v_max_1 / self.a_max_1)
-            raise Exception("""Мы вышли за границы разгона - раскрытие FE, вообще не знаю как так получилось""")
+        t2 = max(0, (s - self.a_max_1*t1**2/2) / (self.a_max_1*t1))
-        t2 = max(0, (s - self.a_max_1 * t1 ** 2 / 2) / (self.a_max_1 * t1))
         return t1, t2
-
+        
-    def calcSecondOpen(self, T: float, s: float) -> tuple[float, float]:
+    def calcSecondOpen(self, T : float, s : float) -> tuple[float, float]:
-        t1 = T / 2 - sqrt(max(0, T ** 2 - 4 * s / self.a_max_2)) / 2
+        t1 = T / 2 - sqrt(max(0, T**2 - 4 * s / self.a_max_2)) / 2
-        if t1 > self.v_max_2 / self.a_max_2 + self.check_eps:
+        t1 = min(t1, self.v_max_2 / self.a_max_2)
-            raise Exception("""Мы вышли за границы разгона - раскрытие ME, вообще не знаю как так получилось""")
+        t2 = max(0, (s - self.a_max_2*t1**2/2) / (self.a_max_2*t1))
-        t2 = max(0, (s - self.a_max_2 * t1 ** 2) / (self.a_max_2 * t1))
         return t1, t2
-
+    
-    def calcSecondClose(self, T: float, s: float) -> tuple[float, float]:
+    def calcSecondClose(self, T : float, s : float) -> tuple[float, float]:
-        t1 = T / 2 - sqrt(max(0, T ** 2 - 4 * s / self.a_max_2)) / 2
+        t1 = T / 2 - sqrt(max(0, T**2 - 4 * s / self.a_max_2)) / 2
-        if t1 > self.v_max_2 / self.a_max_2 + self.check_eps:
+        t1 = min(t1, self.v_max_2 / self.a_max_2)
-            raise Exception("""Мы вышли за границы разгона - смыкание ME, вообще не знаю как так получилось""")
+        t2 = max(0, (s - self.a_max_2*t1**2/2) / (self.a_max_2*t1))
-        t2 = max(0, (s - self.a_max_2 * t1 ** 2) / (self.a_max_2 * t1))
         return t1, t2
-
+    
-    def calcSecondOpenOffset(self, t1: float, t2: float, sq: float) -> float:
+    def calcSecondOpenOffset(self, t1 : float, t2 : float, sq : float) -> float:
         s = sq * 1
         offset = sqrt(2 * s / self.a_max_1)
-
+        
         if offset > t1:
             s -= t1 ** 2 * self.a_max_1 / 2
             v1 = t1 * self.a_max_1
             if s > t2 * v1:
                 s -= t2 * v1
-
+                
-                offset = 2 * t1 + t2 - sqrt(t1 ** 2 - 2 * s / self.a_max_1)
+                offset = 2*t1 + t2 - sqrt(t1**2 - 2*s / self.a_max_1)
             else:
                 offset = t1 + s / v1
         return offset

src/controller/controller.py

@@ -8,21 +8,13 @@ class Controller(BaseController):
 
     signal_widgets = pyqtSignal(list)
     signal_settings = pyqtSignal(list)
-    signal_raport_mode = pyqtSignal(str)
+    signal_monitor = pyqtSignal(str)
-    signal_seeking_mode = pyqtSignal()
 
     def send_widgets(self, widgets: list[QWidget]) -> None:
         self.signal_widgets.emit(widgets)
     
-    def update_settings(self, settings: list[dict]) -> None:
+    def push_settings(self, settings: list[dict]) -> None:
         self.signal_settings.emit(settings)
 
-    def raport_mode(self, filepath: str) -> None:
+    def open_custom_file (self, filepath: str) -> None:
-        self.signal_raport_mode.emit(filepath)
+        self.signal_monitor.emit(filepath)
-    
-    def seeking_mode(self) -> None:
-        self.signal_seeking_mode.emit()
-
-
-    
-    

src/controller/converter.py

@@ -1,9 +1,6 @@
 import pandas as pd
-import traceback
-import sys
-from loguru import logger
 
-# FIXME: костыль для выключения предупреждения "replace deprecated"
+#FIXME: костыль для выключения предупреждения "replace deprecated". Потом надо поправить.
 pd.set_option('future.no_silent_downcasting', True)
 
 from utils.base.base import BaseDataConverter
@@ -13,23 +10,11 @@ class DataConverter(BaseDataConverter):
 
     @staticmethod
     def _replace_bool(dataframe: pd.DataFrame) -> pd.DataFrame:
-        try:
+        bool_columns = dataframe.columns[dataframe.isin([True, False]).any()]
-            bool_columns = dataframe.columns[dataframe.isin([True, False]).any()]
+        dataframe[bool_columns] = dataframe[bool_columns].replace({True: 1, False: 0})
-            dataframe[bool_columns] = dataframe[bool_columns].replace({True: 1, False: 0})
+        return dataframe
-            return dataframe
-        except:
-            return None
 
     def convert_data(self, files: list[str]) -> None:
-        try:
+        dataframes = [pd.read_csv(file) for file in files]
-            dataframes = [pd.read_csv(file) if file != '' else None for file in files]
+        converted_dataframes = list(map(self._replace_bool, dataframes))
-            converted_dataframes = list(map(self._replace_bool, dataframes))
+        self._mediator.notify(self, converted_dataframes)
-        except:
-            # Get the traceback object
-            tb = sys.exc_info()[2]
-            tbinfo = traceback.format_tb(tb)[0]
-            pymsg = "Traceback info:\n" + tbinfo + "\nError Info:\n" + str(sys.exc_info()[1])
-            logger.error(pymsg)
-            converted_dataframes = [None]
-        finally:
-            self._mediator.notify(self, converted_dataframes)

src/controller/mediator.py

@@ -3,9 +3,7 @@ import pandas as pd
 from typing import Union
 from PyQt5.QtWidgets import QWidget
 
-from utils.base.base import (BaseMediator, BaseDirectoryMonitor, 
+from utils.base.base import BaseMediator, BaseDirectoryMonitor, BaseDataConverter, BasePlotWidget, BasePointPassportFormer
-                             BaseDataConverter, BasePlotWidget, 
-                             BasePointPassportFormer)
 
 
 class Mediator(BaseMediator):
@@ -26,9 +24,9 @@ class Mediator(BaseMediator):
         if issubclass(source.__class__, BasePlotWidget):
             self._controller.send_widgets(data)
         
-    def update_settings(self, settings: list[dict]):
+    def push_settings(self, settings: list[dict]):
         self._monitor.update_settings(settings)
         self._passportFormer.update_settings(settings)
-        self._monitor.update_plots()
+        self._monitor.force_all_dir()
 
 

src/controller/monitor.py

@@ -1,4 +1,6 @@
+from time import sleep
 import os
+
 from loguru import logger
 
 from utils.base.base import BaseDirectoryMonitor
@@ -7,62 +9,47 @@ from utils.base.base import BaseDirectoryMonitor
 class DirectoryMonitor(BaseDirectoryMonitor):
 
     def _init_state(self):
-        
+        files = os.listdir(self._directory_path)
-        self._files = [
+        self._files = files
-            os.path.join(self._directory_path, file) 
-            for file in os.listdir(self._directory_path)
-            if file.lower().endswith('.csv')
-            ]
 
         self.update_timer.timeout.connect(self._monitor)
         logger.info("Monitor initiated!")
 
     def _monitor(self):
-        current_files = [
+        files = os.listdir(self._directory_path)
-            os.path.join(self._directory_path, file)
+        new_files = sorted(list(map(lambda x: os.path.join(self._directory_path, x),
-            for file in os.listdir(self._directory_path)
+                                    filter(lambda x: x not in self._files, files))))
-            if file.lower().endswith('.csv')
-            ]
-        new_files = sorted(list(filter(lambda x: x not in self._files, current_files)))
         if new_files:
             logger.info(f"New files detected: {new_files}")
             self._mediator.notify(self, new_files)
-            self._files = current_files
+            self._files = files
-        if not current_files:
+        if not files:
             self._files = []
 
     def update_settings(self, data: list[dict]) -> None:
-        if self.isActive:
-            self.stop()
-            _, system_params = data
-            self._directory_path = system_params['trace_storage_path'][0]
-            self._update_time = system_params['monitor_update_period'][0]
-
-            if not os.path.exists(self._directory_path):
-                logger.error(f"Путь {self._directory_path} не существует.")
-                raise FileNotFoundError(f"Путь {self._directory_path} не существует.")
-            else:
-                self._init_state()
-                self.start()
-        else:
-            _, system_params = data
-            self._directory_path = system_params['trace_storage_path'][0]
-            self._update_time = system_params['monitor_update_period'][0]
-    
-    def update_plots(self):
-        if self._files is not None:
-            self._mediator.notify(self, self._files)
-
-    def custom_csv_extract_only(self, path: str):
         self.stop()
-        self._files.append(path) 
+        operator_params, system_params = data
-        if path is not None:
+        self._directory_path = system_params['trace_storage_path'][0]
-            self._mediator.notify(self, [path])
+        self._update_time = system_params['monitor_update_period'][0]
-        else:
-            self._mediator.notify(self, [None])
-            
-    
-    def start_seeking(self) -> None:
         self._init_state()
         self.start()
 
+    def force_all_dir(self):
+        files = os.listdir(self._directory_path)
+        self._files = files
+        all_files = []
+        for x in self._files:
+            path = os.path.join(self._directory_path, x)
+            all_files.append(path)
+        if all_files:
+            logger.info(f"Plotting all files: {all_files}")
+            self._mediator.notify(self, all_files)
+        else:
+            logger.info(f"Failed pushing {str(all_files)}")
+
+    def custom_dir_extract(self, dict_path:str ):
+        files = os.listdir(dict_path)
+        if files is not None:
+            all_files = [os.path.join(dict_path, file) for file in files]
+            self._mediator.notify(self, all_files)
+

src/controller/passportFormer.py

@@ -1,6 +1,6 @@
+from utils.base.base import BasePointPassportFormer, BaseIdealDataBuilder
 import pandas as pd
 
-from utils.base.base import BasePointPassportFormer, BaseIdealDataBuilder
 
 
 class idealDataBuilder(BaseIdealDataBuilder):
@@ -18,15 +18,14 @@ class idealDataBuilder(BaseIdealDataBuilder):
 
     def get_weldingDF(self) -> pd.DataFrame:
         data = []
-        X1, X2, V1, V2, F = self.calcPhaseGrow(self.Ts['tgrow']-0.0001)
+        X1, X2, V1, V2, F = self.calcPhaseGrow(self.Ts['tgrow'])
-        X1, X2, V1, V2 = X1*1000, X2*1000, V1*1000, V2*1000
         data.append({"time":0, "Position FE":X1,"Position ME":X2, "Rotor Speed FE":V1, "Rotor Speed ME":V2, "Force":F})
         data.append({"time":self.welding_time, "Position FE":X1,"Position ME":X2, "Rotor Speed FE":V1, "Rotor Speed ME":V2, "Force":F})
         return pd.DataFrame(data)
     
     def get_ideal_timings(self) -> list[float]:
         data = self.Ts
-        ideal_timings = [data['tclose'], data['tgrow'], self.welding_time, self.getMarkOpen(), data['tmovement']]
+        ideal_timings = [data['tclose'], data['tgrow'], self.welding_time, self.getMarkOpen(), data['tmovement']] # TODO: add data['tmovement'], Oncoming не учитывается в производительности
         return ideal_timings
     
 class PassportFormer(BasePointPassportFormer):
@@ -37,50 +36,49 @@ class PassportFormer(BasePointPassportFormer):
             
 
     def _build_passports_pocket(self, dataframe: pd.DataFrame) -> list[pd.DataFrame, dict, int]:
-
+        events, point_quantity = self._filter_events(dataframe["time"], dataframe)
-        if dataframe is not None:
+        if point_quantity == 0:
-            events, point_quantity = self._filter_events(dataframe["time"], dataframe)
+            return []
-            if point_quantity == 0:
+        
-                return []
-            idx_shift = True if events[self._stages[-1]][0][0] == 0 else False
-        else:
-            events = None
-            point_quantity = 1
-           
-        points_pocket = []
         system_settings = {key: value[0] for key, value in self._params[1].items()}
+
         tesla_time = sum(self._params[0].get("Tesla summary time", []))
         useful_data = {"tesla_time": tesla_time,
                         "range_ME": system_settings["Range ME, mm"],
                         "k_hardness": system_settings["k_hardness_1"]
                         }
 
-        for i in range(point_quantity):
+        points_pocket = []
-            operator_settings = {
+
-                key: (value[i] if i < len(value) else value[0])
+        time_is_valid = not dataframe["time"].isna().all()
-                for key, value in self._params[0].items()
+        
-            }
+        if time_is_valid: 
-            params_list = [operator_settings, system_settings]
+
-            cache_key = self._generate_cache_key(params_list)
+            idx_shift = True if events[self._stages[-1]][0][0] == 0 else False
-            if cache_key in self._ideal_data_cashe :
+            
-                ideal_data = self._ideal_data_cashe[cache_key]
+            for i in range(point_quantity):
-                print(f"Cache hit")
+                operator_settings = {
-            else:
+                    key: (value[i] if i < len(value) else value[0])
-                ideal_data = self._build_ideal_data(idealDataBuilder=idealDataBuilder, params=params_list)
+                    for key, value in self._params[0].items()
-                self._ideal_data_cashe[cache_key] = ideal_data
+                }
-                print(f"Cache miss. Computed and cached.")
+                params_list = [operator_settings, system_settings]
-            if events is not None:
+                cache_key = self._generate_cache_key(params_list)
+                if cache_key in self._ideal_data_cashe :
+                    ideal_data = self._ideal_data_cashe[cache_key]
+                    print(f"Cache hit")
+                else:
+                    ideal_data = self._build_ideal_data(idealDataBuilder=idealDataBuilder, params=params_list)
+                    self._ideal_data_cashe[cache_key] = ideal_data
+                    print(f"Cache miss. Computed and cached.")
                 idx = i+1 if idx_shift else i
                 point_timeframe = [events[self._stages[0]][0][i], events[self._stages[-1]][1][idx]]
                 point_events = {key: [value[0][i], value[1][i]] for key, value in events.items()}
-            else:
+                useful_p_data = {"thickness": operator_settings["object_thickness"],
-                point_timeframe, point_events = None, None
+                                    "L2": operator_settings["distance_l_2"],
-            useful_p_data = {"thickness": operator_settings["object_thickness"],
+                                    "force": operator_settings["force_target"]}
-                                "L2": operator_settings["distance_l_2"],
-                                "force": operator_settings["force_target"]}
 
-            points_pocket.append([point_timeframe, ideal_data, point_events, useful_p_data])
+                points_pocket.append([point_timeframe, ideal_data, point_events, useful_p_data])
-        return dataframe, points_pocket, useful_data
+            return dataframe, points_pocket, useful_data
             
     def update_settings(self, params: list[dict, dict]):
         self._params = params

src/gui/mainGui.py

@@ -1,148 +1,47 @@
 from datetime import datetime as dt
 from typing import Optional
+
 from PyQt5 import QtWidgets
 from PyQt5.QtCore import Qt
-from PyQt5.QtGui import QPixmap
-
 from utils.base.base import BaseMainWindow, BaseController
-from gui.settings_window import SystemSettings, OperatorSettings
+from gui.settings_window import settingsWindow
-from gui.reportGui import ReportSettings
 
 class MainWindow(BaseMainWindow):
     def __init__(self, 
-                 controller: Optional[BaseController] = None) -> None:
+                 controller: Optional[BaseController] = None):
         super().__init__()
         self._controller = controller
-        self._init_startUI()
+        self.initUI()
-        
+        self.set_style(self)
+        self.settings_button.clicked.connect(self._show_settings)
+        self.select_dir_button.clicked.connect(self._select_dir)
+        self.operSettings = settingsWindow("params/operator_params.json", 'Operator', self._updater_trigger)
+        self.sysSettings = settingsWindow("params/system_params.json", 'System', self._updater_trigger)
 
-    def _init_startUI(self) -> None:
+    def initUI(self) -> None:
-        self.operSettings = OperatorSettings("params/operator_params.json", 'Operator', self._transfer_settings)
-        self.sysSettings = SystemSettings("params/system_params.json", 'System', self._transfer_settings)
-        self.repSettings = ReportSettings()
-        self.tabWidget = QtWidgets.QTabWidget()
-
-        self._clear()
-        seeking_mode_btn = QtWidgets.QPushButton("Real time folder scanning")
-        seeking_mode_btn.setFixedWidth(300)
-        seeking_mode_btn.clicked.connect(self._init_seekingUI)
-        raport_mode_btn = QtWidgets.QPushButton("Raport editor")
-        raport_mode_btn.setFixedWidth(300)
-        raport_mode_btn.clicked.connect(self._init_raportUI)
-
-        button_layout = QtWidgets.QHBoxLayout()
-        button_layout.setSpacing(2)
-        button_layout.addWidget(seeking_mode_btn)
-        button_layout.addWidget(raport_mode_btn)
-        button_widget = QtWidgets.QWidget()
-        button_widget.setLayout(button_layout)
-
-        mainLayout = self.layout()
-        label = QtWidgets.QLabel("Select work mode")
-        label.setStyleSheet(
-            """QLabel{
-            color: #ffffff;
-            font-size: 40px;
-            font-weight: bold;
-            font-family: "Segoe UI", sans-serif;
-            }"""
-            )
-        mainLayout.addWidget(label, alignment=Qt.AlignCenter)
-        mainLayout.addWidget(button_widget)
-
-    def _clear(self) -> None:
-        main = self.layout()
-        if self.layout() is not None:
-            while main.count():
-                child = main.takeAt(0)
-                if child.widget() is not None:
-                    child.widget().deleteLater()
-        else: self.setLayout(QtWidgets.QVBoxLayout())
-
-    def _init_seekingUI(self) -> None:
-        self._clear()
-        self._transfer_settings()
         self.tabWidget = QtWidgets.QTabWidget()
         self.tabWidget.setTabsClosable(True)
         self.tabWidget.tabCloseRequested.connect(self._close_tab)
+        layout = QtWidgets.QVBoxLayout()
+        layout.addWidget(self.tabWidget)
 
-        sys_settings_btn = QtWidgets.QPushButton("System settings")
+        self.settings_button = QtWidgets.QPushButton("Show settings")
-        sys_settings_btn.setFixedWidth(200)
+        self.settings_button.setFixedWidth(160)
-        sys_settings_btn.clicked.connect(lambda: self.sysSettings.show())
+        self.select_dir_button = QtWidgets.QPushButton("Open directory")
-        oper_settings_btn = QtWidgets.QPushButton("Operator settings")
+        self.select_dir_button.setFixedWidth(175)
-        oper_settings_btn.setFixedWidth(200)
-        oper_settings_btn.clicked.connect(lambda: self.operSettings.show())
-
         button_layout = QtWidgets.QHBoxLayout()
         button_layout.setSpacing(2)
-        button_layout.addWidget(sys_settings_btn)
+        button_layout.addWidget(self.settings_button)
-        button_layout.addWidget(oper_settings_btn)
+        button_layout.addWidget(self.select_dir_button)
-        button_widget = QtWidgets.QWidget()
-        button_widget.setLayout(button_layout)
-
-        title = QtWidgets.QLabel("online mode")
-        mainLayout = self.layout()
-        mainLayout.addWidget(self.tabWidget)
-        mainLayout.addWidget(button_widget)
-        mainLayout.addWidget(title, alignment=Qt.AlignRight)
-        self.resize(800,800)
-        self._controller.seeking_mode()
-        # TODO:push seeking to mediator
-
-    def _init_raportUI(self) -> None:
-        self._clear()
-        self._transfer_settings()
-        
-        self.tabWidget = QtWidgets.QTabWidget()
-        self.tabWidget.setTabsClosable(True)
-        self.tabWidget.tabCloseRequested.connect(self._close_tab)
-        sys_settings_btn = QtWidgets.QPushButton("System settings")
-        sys_settings_btn.setFixedWidth(185)
-        sys_settings_btn.clicked.connect(lambda: self.sysSettings.show())
-        oper_settings_btn = QtWidgets.QPushButton("Operator settings")
-        oper_settings_btn.setFixedWidth(185)
-        oper_settings_btn.clicked.connect(lambda: self.operSettings.show())
-        view_settings_btn = QtWidgets.QPushButton("Customize view")
-        view_settings_btn.setFixedWidth(185)
-        view_settings_btn.clicked.connect(self._customization_window)
-        save_screen_btn = QtWidgets.QPushButton("Save state")
-        save_screen_btn.setFixedWidth(185)
-        save_screen_btn.clicked.connect(self._save_plots)
-        open_file_btn = QtWidgets.QPushButton("Open file")
-        open_file_btn.setFixedWidth(185)
-        open_file_btn.clicked.connect(self._open_file)
-
-        button_layout = QtWidgets.QHBoxLayout()
-        button_layout.setSpacing(2)
-        button_layout.addWidget(sys_settings_btn)
-        button_layout.addWidget(oper_settings_btn)
-        button_layout.addWidget(view_settings_btn)
-        button_layout.addWidget(save_screen_btn)
-        button_layout.addWidget(open_file_btn)
-        button_widget = QtWidgets.QWidget()
-        button_widget.setLayout(button_layout)
-
-        title = QtWidgets.QLabel("raport mode")
-        mainLayout = self.layout()
-        mainLayout.addWidget(self.tabWidget)
-        mainLayout.addWidget(button_widget)
-        mainLayout.addWidget(title, alignment=Qt.AlignRight)
-        self.resize(800,800)
-        self._controller.raport_mode(None)
-        
-        #self._controller.raport_mode(path)
-        # TODO: push only one dir to monitor
 
+        layout.addLayout(button_layout)
+        self.setLayout(layout)
 
     def show_plot_tabs(self, plot_widgets: list[QtWidgets.QWidget]) -> None:
         for plot_widget in plot_widgets:
-            widget, reg_items, curve_items = plot_widget
-            
             tab = QtWidgets.QWidget()
-            tab.setProperty("reg_items", reg_items) 
-            tab.setProperty("curve_items", curve_items) 
             grid = QtWidgets.QGridLayout()
-            grid.addWidget(widget)
+            grid.addWidget(plot_widget)
             tab.setLayout(grid)
             self.tabWidget.addTab(tab, "SF_trace_" + dt.now().strftime('%Y_%m_%d-%H_%M_%S'))
             self.tabWidget.setCurrentWidget(tab)
@@ -152,61 +51,31 @@ class MainWindow(BaseMainWindow):
             for i in range(0, tab_count-2):
                 self._close_tab(i)
 
-    def keyPressEvent(self, a0) -> None:
-        if a0.key() == Qt.Key_F5:
-            tab_count = self.tabWidget.count()
-            for i in range(0, tab_count):
-                self._close_tab(i)
-    
-    def closeEvent(self, a0):
-        self.operSettings.close()
-        self.sysSettings.close()
-        self.repSettings.close()
-        super().closeEvent(a0)
 
-    def _show_settings(self) -> None:
+    def keyPressEvent(self, a0):
+        if a0.key() == Qt.Key_F5:
+            pass
+
+    def _show_settings(self):
         self.operSettings.show()
         self.sysSettings.show()
+    
+    def push_settings(self) -> None:
+        self._updater_trigger()
 
-    def _transfer_settings(self) -> None:
+    def _updater_trigger(self) -> None:
         self.tabWidget.clear()
         operator_params = self.operSettings.getParams()
         system_params = self.sysSettings.getParams()
-        self._controller.update_settings([operator_params, system_params])
+        self._controller.push_settings([operator_params, system_params])
         
     def _close_tab(self, index:int) -> None:
         self.tabWidget.removeTab(index)
-
-    def _open_file(self) -> None:
-        path = self._select_csv()
-        self._controller.raport_mode(path)
     
-    def _select_csv(self) -> Optional[str]:
+    def _select_dir(self):
-        CSV_path, _ = QtWidgets.QFileDialog.getOpenFileName(self,"Select csv file", "", "CSV Files (*.csv)")
+        folder_path = QtWidgets.QFileDialog.getExistingDirectory(self, 'Select directory', "")
-        if CSV_path:
+        if folder_path:
-            print(CSV_path)
+            self._controller.open_custom_file(folder_path)
-            return CSV_path
-        return None
-
-    def _customization_window(self) -> None:
-        tab = self.tabWidget.currentWidget()
-        reg_items = tab.property("reg_items")
-        curve_items = tab.property("curve_items")
-        self.repSettings.build(reg_items, curve_items)
-
-    def _save_plots(self) -> None:
-        filepath, _ = QtWidgets.QFileDialog.getSaveFileName(self, "Save file", "", "Image Files (*.png *.jpeg)")
-        tab = self.tabWidget.currentWidget()
-        pixmap = QPixmap(tab.size())
-        tab.render(pixmap)
-        pixmap.save(filepath)
-
-        
-        
-
-
-
-
 
 
 

src/gui/plotter.py

@@ -1,7 +1,9 @@
+import pandas as pd
 from PyQt5.QtWidgets import QWidget, QVBoxLayout, QLabel, QGraphicsRectItem
 import copy
+
+
 import pyqtgraph as pg
-import pandas as pd
 from typing import Optional, Any
 
 from utils.base.base import BasePlotWidget
@@ -12,6 +14,56 @@ class ProcessStage():
     finish_index:int
 
 class PlotWidget(BasePlotWidget):
+
+    def _create_navigator(self, 
+                        time_region:tuple[float, float],
+                        main_plot: pg.PlotWidget,
+                        dataframe: pd.DataFrame,
+                        real_signals: list[dict[str, Any]]) -> list[pg.PlotWidget, pg.LinearRegionItem]:
+        """
+        Создаёт график-навигатор, отображающий все данные в уменьшенном масштабе.
+        """
+        navigator = pg.PlotWidget(title="Navigator")
+        navigator.setFixedHeight(100) 
+
+        for signal in real_signals:
+            if signal["name"] in dataframe.columns:
+                x = dataframe["time"]
+                y = dataframe[signal["name"]]
+                
+                x_downsampled, y_downsampled = self._downsample_data(x, y, max_points=1000)
+                navigator.plot(x_downsampled, y_downsampled, pen=signal["pen"], name=signal["name"])
+
+        ROI_region = pg.LinearRegionItem(values=time_region, movable=True, brush=pg.mkBrush(0, 0, 255, 100))
+        navigator.addItem(ROI_region)
+
+        # Связываем изменение региона навигатора с обновлением области просмотра основного графика
+        ROI_region.sigRegionChanged.connect(lambda: self._sync_main_plot_with_navigator(main_plot, ROI_region))
+
+        return navigator, ROI_region
+
+    def _downsample_data(self, x, y, max_points=5000):
+        """
+        Понижает разрешение данных до заданного количества точек для улучшения производительности навигатора.
+        """
+        if len(x) > max_points:
+            factor = len(x) // max_points
+            x_downsampled = x[::factor]
+            y_downsampled = y[::factor]
+            return x_downsampled, y_downsampled
+        return x, y
+
+    def _sync_main_plot_with_navigator(self, 
+                                    main_plot: pg.PlotWidget,
+                                    region: pg.LinearRegionItem):
+        """
+        Синхронизирует область просмотра основного графика с регионом навигатора.
+        """
+        x_min, x_max = region.getRegion()
+        if main_plot:
+            main_plot.blockSignals(True)
+            main_plot.setXRange(x_min, x_max, padding=0)
+            main_plot.blockSignals(False)
         
     def _create_curve_ideal(self,
                             signal: dict[str, Any],
@@ -45,20 +97,20 @@ class PlotWidget(BasePlotWidget):
         return None
 
     @staticmethod
-    def _init_plot_item(title: str) -> tuple[pg.PlotItem, pg.LegendItem]:
+    def _init_plot_widget(title: str) -> tuple[pg.PlotWidget, pg.LegendItem]:
-        plot_item = pg.PlotItem(title=title)
+        plot_widget = pg.PlotWidget(title=title)
         # Оптимизация отображения графиков
-        plot_item.setDownsampling(auto=True, mode='peak')
+        plot_widget.setDownsampling(auto=True, mode='peak')
-        plot_item.showGrid(x=True, y=True)
+        plot_widget.showGrid(x=True, y=True)
-        plot_item.setClipToView(True)
+        plot_widget.setClipToView(True)
-        legend = plot_item.addLegend(offset=(70, 20))
+        legend = pg.LegendItem((80, 60), offset=(70, 20))
-        return plot_item, legend
+        legend.setParentItem(plot_widget.graphicsItem())
+        return plot_widget, legend
 
     def _add_stage_regions(self,
-                           plot_item: pg.PlotItem,
+                           plot_widget: pg.PlotWidget,
                            point_events: dict[str, list[float]],
                            dataframe_headers: list[str],
-                           reg_items: dict,
                            transparency: int = 75) -> None:
         """
         Добавляет регионы для реальных этапов, если все стадии есть в заголовках датафрейма.
@@ -70,15 +122,12 @@ class PlotWidget(BasePlotWidget):
                 region = self._create_stage_region(stage, start_t, end_t, transparency)
                 if region is not None:
                     region.setZValue(-20)
-                    plot_item.addItem(region)
+                    plot_widget.addItem(region)
-                    reg_items["real"].setdefault(stage, [])
-                    reg_items["real"][stage].append(region)
 
     def _add_ideal_stage_regions(self,
-                                 plot_item: pg.PlotItem,
+                                 plot_widget: pg.PlotWidget,
                                  ideal_data: dict[str, Any],
                                  point_events: dict[str, list[float]],
-                                 reg_items: dict,
                                  transparency: int = 125) -> None:
         """
         Добавляет регионы для идеальных этапов.
@@ -91,16 +140,13 @@ class PlotWidget(BasePlotWidget):
             region = self._create_stage_region(stage, start_t, end_t, transparency)
             if region:
                 region.setZValue(-10)
-                plot_item.addItem(region)
+                plot_widget.addItem(region)
-                reg_items["ideal"].setdefault(stage, [])
-                reg_items["ideal"][stage].append(region) 
 
     def _add_ideal_signals(self,
-                           plot_item: pg.PlotItem,
+                           plot_widget: pg.PlotWidget,
                            ideal_data: dict[str, Any],
                            point_events: dict[str, list[float]],
-                           ideal_signals: list[dict[str, Any]], 
+                           ideal_signals: list[dict[str, Any]]) -> None:
-                           curve_items: dict) -> None:
         """
         Добавляет идеальные сигналы для каждого этапа.
         """
@@ -113,29 +159,23 @@ class PlotWidget(BasePlotWidget):
                     point_events[stage][1]
                 )
                 if curve:
-                    curve.setZValue(50)
+                    curve.setZValue(10)
-                    plot_item.addItem(curve)
+                    plot_widget.addItem(curve)
-                    curve_items["ideal"].setdefault(signal["name"], {})
+
-                    curve_items["ideal"][signal["name"]].setdefault(stage, [])
-                    curve_items["ideal"][signal["name"]][stage].append(curve)
-     
     def _add_real_signals(self,
-                          plot_item: pg.PlotItem,
+                          plot_widget: pg.PlotWidget,
                           dataframe: pd.DataFrame,
                           real_signals: list[dict[str, Any]],
-                          legend: pg.LegendItem, 
+                          legend: pg.LegendItem) -> None:
-                          curve_items: dict) -> None:
         """
         Добавляет реальные сигналы из dataframe на виджет.
         """
         dataframe_headers = dataframe.columns.tolist()
         for signal in real_signals:
             if signal["name"] in dataframe_headers:
-                plot = plot_item.plot(dataframe["time"], dataframe[signal["name"]], pen=signal["pen"], fast=True)
+                plot = plot_widget.plot(dataframe["time"], dataframe[signal["name"]], pen=signal["pen"], fast=True)
                 plot.setZValue(0)
                 legend.addItem(plot, signal["name"])
-                curve_items["real"].setdefault(signal["name"], {})
-                curve_items["real"][signal["name"]] = plot
 
     def _add_performance_label(self,
                                layout: QVBoxLayout,
@@ -150,35 +190,52 @@ class PlotWidget(BasePlotWidget):
         TWC_ideal = round((ideal_time/TWC_time)*100, 2) if TWC_time else 0.0
 
         performance_label = QLabel(
-            f"Сокращение длительности: фактическое = {tesla_TWC} %"
+            f"Сокращение длительности: фактическое = {tesla_TWC} %, "
+            f"идеальное = {tesla_ideal} %; КДИП = {TWC_ideal}%"
         )
-        #f"идеальное = {tesla_ideal} %; КДИП = {TWC_ideal}%"
         self.set_style(performance_label)
         layout.addWidget(performance_label)
         performance_label.update()
 
+    def _mirror_shift_data(self,
+                           valid_str: str,
+                           signals: list[dict],
+                           dataframe: pd.DataFrame, 
+                           shift: float) -> pd.DataFrame:
+        keys = dataframe.keys()
+        for signal in signals:
+            if valid_str in signal["name"] and signal["name"] in keys:
+                dataframe[signal["name"]] = dataframe[signal["name"]].apply(lambda x: shift-x)
+        return dataframe
+    
+    def _shift_data(self,
+                    valid_str: str,
+                    signals: list[dict],
+                    dataframe: pd.DataFrame, 
+                    shift: float) -> pd.DataFrame:
+        keys = dataframe.keys()
+        for signal in signals:
+            if valid_str in signal["name"] and signal["name"] in keys:
+                dataframe[signal["name"]] = dataframe[signal["name"]].apply(lambda x: x + shift)
+        return dataframe
+    
+
     def _build_widget(self, data: list[Any]) -> QWidget:
         """
         Собирает графический виджет для одного набора данных.
         Параметр `data` предполагается списком: [dataframe, points_pocket, useful_data].
         """
-        result_widget = QWidget()
+        widget = QWidget()
-        result_layout = QVBoxLayout(result_widget)
+        layout = QVBoxLayout(widget)
-        plot_layout = pg.GraphicsLayoutWidget()
-        reg_items = {"real":{}, "ideal":{}}
-        curve_items = {"real":{}, "ideal":{}}
 
         dataframe, points_pocket, useful_data = data
         tesla_time = useful_data["tesla_time"]
         range_ME = useful_data["range_ME"]
         k_hardness = useful_data["k_hardness"]
-        
+        dataframe_headers = dataframe.columns.tolist()
-        dat_is_none = dataframe is None
-
-        if not dat_is_none: dataframe_headers = dataframe.columns.tolist()
 
         for widget_num, (channel, description) in enumerate(self._plt_channels.items()):
-            plot_item, legend = self._init_plot_item(title=channel)
+            plot_widget, legend = self._init_plot_widget(title=channel)
             settings = description["Settings"]
 
             TWC_time = 0.0
@@ -186,31 +243,17 @@ class PlotWidget(BasePlotWidget):
             worst_perf = 2
             
             # TODO: рассчитать корректный параметр range 
-            if settings["mirror ME"] and not dat_is_none:
+            if settings["mirror ME"]:
-                dataframe = self._mirror_shift_data(
+                dataframe = self._mirror_shift_data("ME", description["Real_signals"], dataframe, range_ME)
-                    "ME", 
-                    description["Real_signals"], 
-                    dataframe, 
-                    range_ME
-                )
 
             # Итерация по точкам
             for cur_point, point_data in enumerate(points_pocket):
-                # point_data структура: [point_timeframe, ideal_data, point_events, useful_p_data]
+                # point_data структура: [point_timeframe, ideal_data, point_events]
                 point_timeframe, ideal_dat, point_events, useful_p_data = point_data
                 ideal_data = copy.deepcopy(ideal_dat)
-
+                
-                if dat_is_none:
-                    worst_timeframe = point_timeframe = [0, ideal_data["Ideal cycle"]]
-                    point_events = {}
-                    keys = list(ideal_data.keys())
-                    shift = 0
-                    for i, time in enumerate(ideal_data["Ideal timings"]):
-                        point_events[keys[i]] = [shift, time+shift]
-                        shift += time
-
                 # TODO: проверить корректность расчетов
-                if settings["force compensation FE"] and not dat_is_none:
+                if settings["force compensation FE"]:
                     force = useful_p_data["force"]
                     F_comp = - force/k_hardness
                     point_idxs = dataframe[(dataframe["time"] >= point_timeframe[0]) & (dataframe["time"] <= point_timeframe[1])].index
@@ -223,9 +266,10 @@ class PlotWidget(BasePlotWidget):
                         ideal_data[stage] = self._mirror_shift_data("ME", description["Ideal_signals"], ideal_data[stage], range_ME)
 
                 # Добавляем реальные стадии
-                if settings["stages"] and not dat_is_none:
+                if settings["stages"]:
-                    self._add_stage_regions(plot_item, point_events, dataframe_headers, reg_items, 75)
+                    self._add_stage_regions(plot_widget, point_events, dataframe_headers, 75)
 
+                # TODO: подобрать не вырвеглазные цвета, возможно ограничить зону
                 if settings["workpiece"]:
                     x1 = point_timeframe[0]
                     dx = point_timeframe[1] - x1
@@ -236,30 +280,15 @@ class PlotWidget(BasePlotWidget):
                     rect_item.setZValue(-5)
                     rect_item.setBrush(pg.mkBrush('grey'))
                     rect_item.setPen(pg.mkPen('black', width=3))
-                    plot_item.addItem(rect_item)
+                    plot_widget.addItem(rect_item)
-
-                if settings["force accuracy"]and not dat_is_none:
-                    modifier = 0.05
-
-                    x1 = point_events["Welding"][0]
-                    dx = point_events["Welding"][1] - x1
-                    force = useful_p_data["force"]
-                    y1 = force*(1-modifier)
-                    dy = force*(2*modifier)
-
-                    rect_item = QGraphicsRectItem(x1, y1, dx, dy)
-                    rect_item.setZValue(-5)
-                    rect_item.setBrush(pg.mkBrush((0,255,0, 50)))
-                    rect_item.setPen(pg.mkPen('black', width=0))
-                    plot_item.addItem(rect_item)
 
                 # Добавляем идеальные стадии и идеальные сигналы
                 if settings["ideals"]:
-                    self._add_ideal_stage_regions(plot_item, ideal_data, point_events, reg_items, 100)
+                    self._add_ideal_stage_regions(plot_widget, ideal_data, point_events, 100)
-                    self._add_ideal_signals(plot_item, ideal_data, point_events, description["Ideal_signals"], curve_items)
+                    self._add_ideal_signals(plot_widget, ideal_data, point_events, description["Ideal_signals"])
 
                 # Подсчёт производительности
-                if settings["performance"]and not dat_is_none:
+                if settings["performance"]:
                     is_last_point = (cur_point == len(points_pocket) - 1)
                     if is_last_point:
                         TWC_delta = sum([point_events[stage][1] - point_events[stage][0] for stage in ["Closing", "Squeeze", "Welding"]])
@@ -270,46 +299,53 @@ class PlotWidget(BasePlotWidget):
                     TWC_time += TWC_delta
                     ideal_time += ideal_delta
                     curr_perf = ideal_delta/TWC_delta if TWC_delta != 0 else 1
-
                     if curr_perf < worst_perf:
                         worst_perf = curr_perf
                         worst_timeframe = point_timeframe
 
             # Добавляем реальные сигналы
-            if not dat_is_none:
+            self._add_real_signals(plot_widget, dataframe, description["Real_signals"], legend)
-                self._add_real_signals(plot_item, dataframe, description["Real_signals"], legend, curve_items)
             if widget_num == 0:
-                main_plot = plot_item
+                main_plot = plot_widget
             else:
                 # Связываем остальные графики с основным графиком
-                plot_item.setXLink(main_plot)
+                plot_widget.setXLink(main_plot)
 
-            if settings["performance"] and not dat_is_none:
+            # Если есть настройка производительности, добавляем label
-                self._add_performance_label(result_layout, TWC_time, ideal_time, tesla_time)
+            if settings["performance"]:
+                self._add_performance_label(layout, TWC_time, ideal_time, tesla_time)
+                navigator, ROI_region = self._create_navigator(worst_timeframe, main_plot, dataframe, description["Real_signals"])
             
-            plot_layout.addItem(plot_item, widget_num, 0)
+            layout.addWidget(plot_widget)
-
+                
-        navigator, ROI_region = self._create_navigator(worst_timeframe, main_plot)
+        layout.addWidget(navigator)
-        if navigator is not None:
+        self._sync_main_plot_with_navigator(main_plot, ROI_region)
-            plot_layout.addItem(navigator, widget_num+1, 0)
+        main_plot.sigXRangeChanged.connect(lambda _, plot=main_plot, region=ROI_region: self._sync_navigator_with_main(main_plot=plot, region=region))
-            self._sync_main_plot_with_navigator(main_plot, ROI_region)
-            main_plot.sigXRangeChanged.connect(lambda _, plot=main_plot, region=ROI_region: self._sync_navigator_with_main(main_plot=plot, region=region))
             
-        result_layout.addWidget(plot_layout)
+        widget.setLayout(layout)
-        return result_widget, reg_items, curve_items
+        return widget
+    
+    def _sync_navigator_with_main(self, main_plot: pg.PlotWidget, region:pg.LinearRegionItem):
+        """
+        Синхронизирует регион навигатора с областью просмотра основного графика.
+        """
+        if region:
+            x_min, x_max = main_plot
+            region.blockSignals(True)  # Предотвращаем рекурсию
+            region.setRegion([x_min, x_max])
+            region.blockSignals(False)
 
     def build(self, data: list[list[Any]]) -> None:
         """
         Создает набор виджетов по предоставленному списку данных.
         Предполагается, что data — это список элементов вида:
         [
-            [dataframe, points_pocket, useful_data],
+            [dataframe, points_pocket, tesla_time],
-            [dataframe, points_pocket, useful_data],
+            [dataframe, points_pocket, tesla_time],
             ...
         ]
         """
-        widgets_datapack = [self._build_widget(data_sample) for data_sample in data]
+        widgets = [self._build_widget(data_sample) for data_sample in data]
-        self._mediator.notify(self, widgets_datapack)
+        self._mediator.notify(self, widgets)
 
 
-    

src/gui/reportGui.py

@@ -1,169 +0,0 @@
-import pyqtgraph as pg
-from pyqtgraph.parametertree import Parameter, ParameterTree
-from typing import Union
-from PyQt5 import QtWidgets
-
-
-class ReportSettings(QtWidgets.QWidget):
-
-    def build(self, reg_items: dict, curve_items: dict) -> None:
-        """Создает ParameterTree для элементов всех графиков выбранной вкладки"""
-        self._clear()
-        param_tree = ParameterTree()
-        layout = self.layout()
-        layout.addWidget(param_tree)
-
-        body= [
-            self._generate_reg_params(reg_items),
-            self._generate_curve_params(curve_items)
-            ]
-        # Добавляем параметры в дерево
-        params = Parameter.create(name='params', type='group', children=body)
-        params.sigTreeStateChanged.connect(
-            lambda: self._update_settings(reg_items, curve_items, params)
-            )
-        param_tree.setParameters(params, showTop=False)
-        self.show()
-
-    def _clear(self) -> None:
-        """
-        Приводит виджет в готовое к работе состояние.
-        Удаляет все содержимое, если имеется
-        """
-        main = self.layout()
-        if self.layout() is not None:
-            while main.count():
-                child = main.takeAt(0)
-                if child.widget() is not None:
-                    child.widget().deleteLater()
-        else:
-            self.setLayout(QtWidgets.QVBoxLayout())
-
-    def _generate_reg_params(self, 
-                             reg_items: dict) -> dict:
-        
-        """Созадет реальные и идеальные секторы"""
-
-        res = {'name': 'Sectors', 'type': 'group', 'children': [
-                {'name': 'Real sectors', 'type': 'group', 'children': self._create_samples(reg_items["real"])},
-                {'name': 'Ideal sectors', 'type': 'group', 'children': self._create_samples(reg_items["ideal"])},
-            ]}
-        return res
-
-    def _generate_curve_params(self, 
-                               curve_items: dict) -> dict:
-        
-        """Создает реальные и идеальные линии графиков"""
-
-        res = {'name': 'Plots', 'type': 'group', 'children': [
-                {'name': 'Real plots', 'type': 'group', 'children': self._create_samples(curve_items["real"])},
-                {'name': 'Ideal plots', 'type': 'group', 'children': self._create_ideal_curves(curve_items["ideal"])},
-            ]}
-        return res
-
-    def _create_ideal_curves(self, 
-                             curve: dict) -> list[dict]:
-        
-        """Создает секторы с этапами циклограммы"""
-
-        res = []
-        for key, item in curve.items():
-            param = {'name': key, 'type': 'group', 'children': self._create_samples(item)}
-            res.append(param)
-        return res
-    
-    def _create_samples(self, 
-                        sector: dict) -> list[dict]:
-        
-        """Создает список представленных элементов с их параметрами"""
-
-        res = []
-        for key, item in sector.items():
-            sample = item[0] if type(item) == list else item
-            param = {'name': key, 'type': 'group', 'children': self._create_settings(sample)}
-            res.append(param)
-        return res
-
-    def _create_settings(self, 
-                         item: Union[pg.LinearRegionItem, pg.PlotDataItem]) -> list[dict]:
-        
-        """Получает настройки для элемента"""
-
-        if type(item) == pg.LinearRegionItem:
-            pen = item.lines[0].pen
-            brush = item.brush
-            fill_color = brush.color().getRgb()
-        else:
-            pen = pg.mkPen(item.opts.get("pen"))
-            fill_color = None
-        line_color = pen.color().getRgb()
-        line_thickness = pen.width()
-        visibility = item.isVisible()
-        
-        return [
-            {'name': 'Line color', 'type': 'color', 'value': line_color},
-            {'name': 'Line thickness', 'type': 'int', 'value': line_thickness, 'limits': (1, 10)},
-            {'name': 'Visibility', 'type': 'bool', 'value': visibility},
-            {'name': 'Fill color', 'type': 'color', 'value': fill_color},
-        ]
-
-    def _update_settings(self, 
-                         reg_items: dict, 
-                         curve_items: dict, 
-                         params: Parameter) -> None:
-        
-        """Задает параметры элементов в соответствии с paramTree"""
-
-        real_sectors = params.child("Sectors").child("Real sectors")
-        ideal_sectors = params.child("Sectors").child("Ideal sectors")
-
-        real_plots = params.child("Plots").child("Real plots")
-        ideal_plots = params.child("Plots").child("Ideal plots")
-
-        self._set_sector_settings(reg_items["real"], real_sectors)
-        self._set_sector_settings(reg_items["ideal"], ideal_sectors)
-
-        self._set_plot_settings(curve_items["real"], real_plots)
-        for key, item_dict in curve_items["ideal"].items():
-            self._set_plot_settings(item_dict, ideal_plots.child(key))
-
-    def _set_sector_settings(self, 
-                             sectors: dict, 
-                             settings: Parameter) -> None:
-        
-        """Задает параметры секторов в соответствии с настройками"""
-        
-        for key, item in sectors.items():
-            sample = settings.child(key)
-            line_color = sample.child("Line color").value()
-            line_width = sample.child("Line thickness").value()
-            visibility = sample.child("Visibility").value()
-            fill_color = sample.child("Fill color").value()
-
-            pen = pg.mkPen(color=line_color, width=line_width)
-            brush=pg.mkBrush(fill_color)
-            for reg in item:
-                reg.setVisible(visibility)
-                reg.lines[0].setPen(pen)
-                reg.lines[1].setPen(pen)
-                reg.setBrush(brush)
-
-    def _set_plot_settings(self, 
-                           curves:dict, 
-                           settings: Parameter) -> None:
-        
-        """Задает параметры кривых в соответствии с настройками"""
-
-        for key, item in curves.items():
-            sample = settings.child(key)
-            line_color = sample.child("Line color").value()
-            line_width = sample.child("Line thickness").value()
-            visibility = sample.child("Visibility").value()
-            pen = pg.mkPen(color=line_color, width=line_width)
-            if type(item) == list:
-                for curve in item:
-                    curve.setVisible(visibility)
-                    curve.setPen(pen)
-            else: 
-                item.setVisible(visibility)
-                item.setPen(pen)

src/gui/settings_window.py

@@ -1,8 +1,7 @@
 from typing import Callable, Optional, Any
-from PyQt5.QtWidgets import (QWidget, QPushButton, 
+from PyQt5.QtWidgets import (
-                             QLineEdit, QHBoxLayout, 
+    QWidget, QPushButton, QLineEdit, QHBoxLayout, QVBoxLayout, QLabel, QTableWidget, QTableWidgetItem
-                             QVBoxLayout, QLabel, 
+)
-                             QTableWidget, QTableWidgetItem)
 from PyQt5.QtGui import QIntValidator
 
 from utils.json_tools import read_json, write_json
@@ -12,6 +11,7 @@ class settingsWindow(QWidget):
     def __init__(self, path: str, name: str, upd_func: Callable[[], None]):
         """
         Окно настроек для редактирования параметров.
+        
         :param path: Путь к файлу настроек (JSON).
         :param name: Название набора настроек.
         :param upd_func: Функция обновления (коллбэк).
@@ -176,16 +176,7 @@ class settingsWindow(QWidget):
             self._data[key].extend([float(last_value) if key != "trace_storage_path" else last_value] * additional_count)
 
 
-class SystemSettings(settingsWindow):
+        
-    def __init__(self, path, name, upd_func):
-        super().__init__(path, name, upd_func)
-        self._num_points.setVisible(False)
-
-    def _expand(self):
-        pass     
-
-class OperatorSettings(settingsWindow):
-    pass 
 
 
 if __name__ == '__main__':

src/main.py

@@ -24,9 +24,10 @@ def main():
     window.show()
 
     controller.signal_widgets.connect(window.show_plot_tabs)
-    controller.signal_settings.connect(mediator.update_settings)
+    controller.signal_settings.connect(mediator.push_settings)
-    controller.signal_raport_mode.connect(monitor.custom_csv_extract_only)
+    controller.signal_monitor.connect(monitor.custom_dir_extract)
-    controller.signal_seeking_mode.connect(monitor.start_seeking)
+
+    window.push_settings()
 
     sys.exit(app.exec_())
 

src/testAlgo.py

@@ -1,43 +0,0 @@
-from src.OptAlgorithm.OptAlgorithm import OptAlgorithm
-from src.utils import read_json 
-
-from matplotlib import pyplot as plt, use
-
-from numpy import cos, sin, sqrt, cbrt, arcsin, linspace, array      
-        
-if __name__ == "__main__":
-    
-    tq = 1
-    ts = linspace(0, tq, 200000)
-    
-    operator_params = read_json("params/operator_params.json")
-    system_params = read_json("params/system_params.json")
-    
-    non_array_operator_params = {}
-    i = 1
-    for key, value in operator_params.items():
-        if hasattr(value, "__len__"):
-            if len(value) > i:
-                non_array_operator_params[key] = value[i]
-            else:
-                non_array_operator_params[key] = value[0]
-        else:
-            non_array_operator_params[key] = value
-            
-    non_array_system_params = {}
-    for key, value in system_params.items():
-        if hasattr(value, "__len__"):
-            if len(value) > i:
-                non_array_system_params[key] = value[i]
-            else:
-                non_array_system_params[key] = value[0]
-        else:
-            non_array_system_params[key] = value
-    
-    
-    opt = OptAlgorithm(non_array_operator_params, non_array_system_params)
-    Xs = array([opt.getVar("X1", t) for t in ts])
-
-    
-    plt.plot(ts, Xs)
-    plt.show()

src/utils/base/base.py

@@ -5,11 +5,14 @@ from typing import Optional, Union, Any
 from cachetools import LRUCache
 
 import pandas as pd
-from PyQt5.QtCore import QObject, QTimer
+from PyQt5.QtCore import QThread, QObject, QTimer
 from PyQt5.QtWidgets import QWidget, QTabWidget
+from PyQt5.QtOpenGL import QGLWidget
 from OptAlgorithm import OptAlgorithm
+import pandas as pd
+import pandas as pd
 import numpy as np
-import pyqtgraph as pg
+
 
 
 
@@ -35,7 +38,7 @@ class BaseMediator:
                source: Union[BaseDirectoryMonitor, BaseDataConverter, BasePointPassportFormer, BasePlotWidget],
                data: Union[list[str], list[pd.DataFrame], list[list], list[QWidget]]):
         ...
-    def update_settings (self, data: list[dict]):
+    def push_settings (self, data: list[dict]):
         ...
 
 class BaseDirectoryMonitor:
@@ -47,8 +50,7 @@ class BaseDirectoryMonitor:
         super().__init__()
         self._directory_path = None
         self._update_time = None
-        self.isActive = False
+
-        self._files = []
         self._mediator = mediator
         
 
@@ -77,19 +79,14 @@ class BaseDirectoryMonitor:
         self._files = files
 
     def start(self):
-        self.isActive = True
         self.update_timer.start(int(self._update_time))
 
     def stop(self):
-        self.isActive = False
         self.update_timer.stop()
     
     def update_settings(self, data: list[dict]) -> None:
         ...
 
-    def update_plots(self) -> None:
-        ...
-
     def force_all_dir(self):
         ...
 
@@ -131,8 +128,7 @@ class BasePlotWidget:
                     "ideals": True,
                     "mirror ME": False,
                     "workpiece": False,
-                    "force compensation FE": False,
+                    "force compensation FE": False
-                    "force accuracy":True
                 },
                 "Real_signals": [
                     {
@@ -163,8 +159,7 @@ class BasePlotWidget:
                     "ideals": True, 
                     "mirror ME": True,
                     "workpiece": True, 
-                    "force compensation FE": True,
+                    "force compensation FE": True
-                    "force accuracy":False
                 },
                 "Real_signals": [
                     {
@@ -195,8 +190,7 @@ class BasePlotWidget:
                     "ideals": True, 
                     "mirror ME": False,
                     "workpiece": False, 
-                    "force compensation FE": False,
+                    "force compensation FE": False
-                    "force accuracy":False
                 },
                 "Real_signals": [
                     {
@@ -233,88 +227,6 @@ class BasePlotWidget:
                     font-family: "Segoe UI", sans-serif;
                 }""")
     
-    def _downsample_data(self, x, y, max_points=5000):
-        """
-        Понижает разрешение данных до заданного количества точек для улучшения производительности навигатора.
-        """
-        if len(x) > max_points:
-            factor = len(x) // max_points
-            x_downsampled = x[::factor]
-            y_downsampled = y[::factor]
-            return x_downsampled, y_downsampled
-        return x, y
-    
-    def _create_navigator(self, 
-                        time_region:tuple[float, float],
-                        main_plot: pg.PlotItem) -> list[pg.PlotWidget, pg.LinearRegionItem]:
-        """
-        Создаёт график-навигатор, отображающий все данные в уменьшенном масштабе.
-        """
-        navigator = pg.PlotItem(title="Navigator")
-        navigator.setFixedHeight(100) 
-        # Получение кривых из main_plot
-        for curve in main_plot.listDataItems():
-            # Извлекаем данные из кривой
-            x, y = curve.getData()
-            curve_name = curve.opts.get("name", None)
-            signal_pen = curve.opts.get("pen", None)
-            x_downsampled, y_downsampled = self._downsample_data(x, y, max_points=1000)
-            navigator.plot(x_downsampled, y_downsampled, pen=signal_pen, name=curve_name)
-
-        ROI_region = pg.LinearRegionItem(values=time_region, movable=True, brush=pg.mkBrush(0, 0, 255, 100), pen=pg.mkPen(width=4))
-        ROI_region.setBounds([0, x[-1]])
-        navigator.addItem(ROI_region)
-        navigator.getViewBox().setLimits(xMin=0, xMax=x[-1])
-
-        # Связываем изменение региона навигатора с обновлением области просмотра основного графика
-        ROI_region.sigRegionChanged.connect(lambda: self._sync_main_plot_with_navigator(main_plot, ROI_region))
-
-        return navigator, ROI_region
-
-    def _sync_main_plot_with_navigator(self, 
-                                    main_plot: pg.PlotItem,
-                                    region: pg.LinearRegionItem):
-        """
-        Синхронизирует область просмотра основного графика с регионом навигатора.
-        """
-        x_min, x_max = region.getRegion()
-        if main_plot:
-            main_plot.blockSignals(True)
-            main_plot.setXRange(x_min, x_max, padding=0)
-            main_plot.blockSignals(False)
-
-    def _mirror_shift_data(self,
-                           valid_str: str,
-                           signals: list[dict],
-                           dataframe: pd.DataFrame, 
-                           shift: float) -> pd.DataFrame:
-        keys = dataframe.keys()
-        for signal in signals:
-            if valid_str in signal["name"] and signal["name"] in keys:
-                dataframe[signal["name"]] = dataframe[signal["name"]].apply(lambda x: shift-x)
-        return dataframe
-    
-    def _shift_data(self,
-                    valid_str: str,
-                    signals: list[dict],
-                    dataframe: pd.DataFrame, 
-                    shift: float) -> pd.DataFrame:
-        keys = dataframe.keys()
-        for signal in signals:
-            if valid_str in signal["name"] and signal["name"] in keys:
-                dataframe[signal["name"]] = dataframe[signal["name"]].apply(lambda x: x + shift)
-        return dataframe
-    
-    def _sync_navigator_with_main(self, main_plot: pg.PlotItem, region:pg.LinearRegionItem):
-        """
-        Синхронизирует регион навигатора с областью просмотра основного графика.
-        """
-        if region:
-            x_min, x_max = main_plot
-            region.blockSignals(True)  # Предотвращаем рекурсию
-            region.setRegion([x_min, x_max])
-            region.blockSignals(False)
-    
     @property
     def mediator(self) -> BaseMediator:
         return self._mediator
@@ -340,14 +252,12 @@ class BaseController(QObject):
     def send_widgets(self, widgets: list[QWidget]) -> None:
         ...
 
-    def update_settings(self, settings: list[dict]) -> None:
+    def push_settings(self, settings: list[dict]) -> None:
         ...
     
-    def raport_mode (self, filepath: str) -> None:
+    def open_custom_file (self, filepath: str) -> None:
         ...
 
-    def  seeking_mode(self) -> None:
-        ...
 
 class BaseIdealDataBuilder(OptAlgorithm):
 
@@ -360,12 +270,10 @@ class BaseIdealDataBuilder(OptAlgorithm):
 
     def _get_data(self, end_timestamp:float, func:function) -> pd.DataFrame:
         data = []
-        for i in range (0, int(end_timestamp*self.mul)+1):
+        for i in range (0, int(end_timestamp*self.mul)):
             time = i/self.mul
             X1, X2, V1, V2, F = func(time)
             data.append({"time":time, "Position FE":X1*1000,"Position ME":X2*1000, "Rotor Speed FE":V1*1000, "Rotor Speed ME":V2*1000, "Force":F})
-        X1, X2, V1, V2, F = func(end_timestamp)
-        data.append({"time":end_timestamp, "Position FE":X1*1000,"Position ME":X2*1000, "Rotor Speed FE":V1*1000, "Rotor Speed ME":V2*1000, "Force":F})
         return pd.DataFrame(data)
 
     def get_closingDF(self) -> pd.DataFrame:
@@ -397,8 +305,6 @@ class BaseMainWindow(QWidget):
     def __init__(self, 
                  controller: Optional[BaseController] = None):
         super().__init__()
-        self.set_style(self)
-        self.resize(200,200)
         self._controller = controller
         ...