Модуль обратной связи для анализа последовательностей

freecad_workbench/freecad/robossembler/Frames.py

@@ -8,7 +8,11 @@ from .export_entities import export_coordinate_systems
 from .utils.freecad_processor import process_file
 from .project_validator import validate_project
 from .usecases.asm4parser_usecase import Asm4StructureParseUseCase
-
+from .constraints_operator import  create_assembly_parameters, create_fastener_set, create_assembly_sequence, create_clearance_constraint, export_assembly_settings
+from .geometric_feasibility_predicate.main import main as structure_analysis
+from .asm_graph import main as asm_graph
+from .autodock_generator import main as asm_layers
+from .assembly_graph_generation import main as structure_graph
 
 if FreeCAD.GuiUp:
     import FreeCADGui
@@ -331,6 +335,46 @@ spawnClassCommand("Publish_Project",
                           {"Pixmap": str(os.path.join(ICONPATH, "publish.svg")),
                            "MenuText": "Publish Project",
                            "ToolTip": "Save and export project files"})
+spawnClassCommand("Create Assembly Parameters",
+                          create_assembly_parameters,
+                          {"Pixmap": str(os.path.join(ICONPATH, ".svg")),
+                           "MenuText": "Create Assembly Parameters",
+                           "ToolTip": "Create Assembly Parameters"})
+spawnClassCommand("Create Fastener Set",
+                          create_fastener_set,
+                          {"Pixmap": str(os.path.join(ICONPATH, ".svg")),
+                           "MenuText": "Create Fastener Set",
+                           "ToolTip": "Create Fastener Set"})
+spawnClassCommand("Compute Assembly Sequence",
+                          structure_analysis,
+                          {"Pixmap": str(os.path.join(ICONPATH, ".svg")),
+                           "MenuText": "Create Fastener Set",
+                           "ToolTip": "Create Fastener Set"})
+spawnClassCommand("Create Assembly Sequence",
+                          create_assembly_sequence,
+                          {"Pixmap": str(os.path.join(ICONPATH, ".svg")),
+                           "MenuText": "Create Assembly Sequence",
+                           "ToolTip": "Create Assembly Sequence"})
+spawnClassCommand("Export Assembly Settings",
+                          export_assembly_settings,
+                          {"Pixmap": str(os.path.join(ICONPATH, ".svg")),
+                           "MenuText": "Export Assembly Settings",
+                           "ToolTip": "Export Assembly Settings"})
+spawnClassCommand("Create Assembly Layers",
+                          asm_layers,
+                          {"Pixmap": str(os.path.join(ICONPATH, ".svg")),
+                           "MenuText": "Create Assembly Layers",
+                           "ToolTip": "Create Assembly Layers"})
+spawnClassCommand("Create Structure Graph",
+                          structure_graph,
+                          {"Pixmap": str(os.path.join(ICONPATH, ".svg")),
+                           "MenuText": "Create Structure Graph",
+                           "ToolTip": "Create Structure Graph"})
+spawnClassCommand("Create Assembly Graph",
+                          asm_graph,
+                          {"Pixmap": str(os.path.join(ICONPATH, ".svg")),
+                           "MenuText": "Create Assembly Graph",
+                           "ToolTip": "Create Assembly Graph"})
 
 
 

freecad_workbench/freecad/robossembler/adjacency_matrix.json

@@ -0,0 +1,101 @@
+{
+    "allParts": [
+        "body_down",
+        "sol_gear",
+        "output_shaft",
+        "planet_gear",
+        "planet_gear003",
+        "planet_gear004",
+        "planet_gear005",
+        "planet_gear002",
+        "body_up",
+        "bolt",
+        "bolt2",
+        "bolt3",
+        "bolt4"
+    ],
+    "firstDetail": "body_down",
+    "matrix": {
+        "body_down": [
+            "sol_gear",
+            "planet_gear",
+            "planet_gear003",
+            "planet_gear004",
+            "planet_gear005",
+            "planet_gear002",
+            "body_up",
+            "bolt",
+            "bolt2",
+            "bolt3",
+            "bolt4"
+        ],
+        "sol_gear": [
+            "body_down",
+            "output_shaft",
+            "planet_gear",
+            "planet_gear003",
+            "planet_gear004",
+            "planet_gear005",
+            "planet_gear002"
+        ],
+        "output_shaft": [
+            "sol_gear",
+            "planet_gear",
+            "planet_gear003",
+            "planet_gear004",
+            "planet_gear005",
+            "planet_gear002",
+            "body_up"
+        ],
+        "planet_gear": [
+            "body_down",
+            "sol_gear",
+            "output_shaft"
+        ],
+        "planet_gear003": [
+            "body_down",
+            "sol_gear",
+            "output_shaft"
+        ],
+        "planet_gear004": [
+            "body_down",
+            "sol_gear",
+            "output_shaft"
+        ],
+        "planet_gear005": [
+            "body_down",
+            "sol_gear",
+            "output_shaft"
+        ],
+        "planet_gear002": [
+            "body_down",
+            "sol_gear",
+            "output_shaft"
+        ],
+        "body_up": [
+            "body_down",
+            "output_shaft",
+            "bolt",
+            "bolt2",
+            "bolt3",
+            "bolt4"
+        ],
+        "bolt": [
+            "body_down",
+            "body_up"
+        ],
+        "bolt2": [
+            "body_down",
+            "body_up"
+        ],
+        "bolt3": [
+            "body_down",
+            "body_up"
+        ],
+        "bolt4": [
+            "body_down",
+            "body_up"
+        ]
+    },
+    "matrixError": null
+}

freecad_workbench/freecad/robossembler/asm_graph.py

@@ -0,0 +1,40 @@
+import json
+import networkx as nx
+import matplotlib.pyplot as plt
+import os
+
+def load_sequences(filename):
+    with open(filename, 'r') as f:
+        data = json.load(f)
+    return data['sequences']
+
+def create_graph(sequences):
+    G = nx.DiGraph()
+    #for seq in sequences:
+    for i in range(len(sequences) - 1):
+        G.add_edge(sequences[i], sequences[i + 1])
+    return G
+
+def draw_graph_with_thumbnails(G, image_folder):
+    pos = {}
+    x = 1
+    for node in G.nodes():
+        pos[node] = (1, -x)  # Устанавливаем позиции узлов по вертикали
+        x += 1
+
+    plt.figure(figsize=(8, 6))
+    nx.draw(G, pos, with_labels=True, node_size=100, node_color='skyblue', font_size=10, font_weight='bold')
+
+    # for node, (x, y) in pos.items():
+    #     image_path = f"{image_folder}/{node}.svg"
+    #     if os.path.exists(image_path):
+    #         img = plt.imread(image_path)
+    #         plt.imshow(img, aspect='auto', extent=(x - 0.5, x + 0.5, y - 0.5, y + 0.5), zorder=0)
+
+    plt.gca().invert_yaxis()  # Инвертируем ось y для вертикального отображения
+    plt.show()
+
+def main():
+    sequences = load_sequences('valid_sequences.json')
+    G = create_graph(sequences)
+    draw_graph_with_thumbnails(G, '/home/markvoltov/GitProjects/framework/test_models/img')

freecad_workbench/freecad/robossembler/assembly_graph_generation.py

@@ -40,5 +40,3 @@ def main():
     
     draw_graph(assembly_graph)
 
-if __name__ == '__main__':
-    main()

freecad_workbench/freecad/robossembler/cad_generation/env.json

@@ -1,4 +1,4 @@
 {
-  "cadFilePath": "/home/markvoltov/GitProjects/framework/test_models/cubes.FCStd",
-  "outPath": "/home/markvoltov/GitProjects/framework/test_models/"
+  "cadFilePath": "path/to/file",
+  "outPath": "out/path"
 }

freecad_workbench/freecad/robossembler/constraints.json

@@ -0,0 +1,6 @@
+[
+    [
+        "Extruder",
+        "Extruder001"
+    ]
+]

freecad_workbench/freecad/robossembler/constraints_operator.py

@@ -86,6 +86,8 @@ def create_assembly_parameters():
 
     assembly_settings_folder.addObject(assembly_parameters)
 
+
+
 #экспорт всех заданных настроек в общий файл json
 def export_assembly_settings():
     doc = App.activeDocument()
@@ -133,7 +135,7 @@ def export_assembly_settings():
     with open(save_path, "w") as f:
         json.dump(data, f, indent=4)
 
-#create_fastener_set()
-#create_assembly_sequence()
-#create_clearance_constraint()
-export_assembly_settings()
+# create_fastener_set()
+# create_assembly_sequence()
+# create_clearance_constraint()
+# export_assembly_settings()

freecad_workbench/freecad/robossembler/geometric_feasibility_predicate/env.json

@@ -1,5 +1,5 @@
 {
-  "cadFilePath": "/home/markvoltov/GitProjects/framework/test_models/cubes.FCStd",
-  "outPath": "/home/markvoltov/GitProjects/framework/test_models/",
+  "cadFilePath": "path/to/file",
+  "outPath": "out/path",
   "objectIndentation": 0
 }

freecad_workbench/freecad/robossembler/geometric_feasibility_predicate/main.py

@@ -771,4 +771,4 @@ def main():
     ExitFreeCadUseCase.call()
 
 
-main()
+#main()

freecad_workbench/freecad/robossembler/get_sequences.py

@@ -0,0 +1,61 @@
+import json
+import networkx as nx
+
+def load_data(file_path):
+    with open(file_path, 'r') as file:
+        return json.load(file)
+
+def create_graph(data):
+    G = nx.Graph()
+    for part in data['allParts']:
+        G.add_node(part)
+    for part, connections in data['matrix'].items():
+        for connected_part in connections:
+            G.add_edge(part, connected_part)
+    return G
+
+def find_leaf_nodes(graph, central_node):
+    leaf_nodes = []
+    for node in graph.nodes:
+        if node != central_node and graph.degree(node) == 1:
+            leaf_nodes.append(node)
+    return leaf_nodes
+
+def find_all_paths(graph, start_node, end_node):
+    try:
+        return list(nx.all_simple_paths(graph, start_node, end_node))
+    except nx.NetworkXNoPath:
+        return []
+
+def load_constraints(file_path):
+    with open(file_path, 'r') as file:
+        return json.load(file)
+
+def is_valid_sequence(sequence, constraints):
+    for constraint in constraints:
+        if constraint[0] in sequence and constraint[1] in sequence:
+            if sequence.index(constraint[0]) > sequence.index(constraint[1]):
+                return False
+    return True
+
+def save_sequences(sequences, file_path):
+    with open(file_path, 'w') as file:
+        json.dump(sequences, file, indent=4)
+
+data = load_data('adjacency_matrix.json')
+constraints = load_constraints('constraints.json')
+all_parts = data['allParts']
+graph = create_graph(data)
+first_detail = data['firstDetail']
+leaf_nodes = find_leaf_nodes(graph, first_detail)
+
+all_sequences = []
+for leaf in leaf_nodes:
+    paths = find_all_paths(graph, leaf, first_detail)
+    for path in paths:
+        if set(path) == set(all_parts) and is_valid_sequence(path, constraints):
+            all_sequences.append(path)
+
+save_sequences(all_sequences, 'valid_sequences.json')
+
+print(f"Найдено {len(all_sequences)} допустимых последовательностей сборки.")

freecad_workbench/freecad/robossembler/graph_visualisation.py

@@ -0,0 +1,26 @@
+import json
+import networkx as nx
+import matplotlib.pyplot as plt
+
+# Загружаем данные из файла
+with open('adjacency_matrix.json', 'r') as file:
+    data = json.load(file)
+
+# Создаем пустой граф
+G = nx.Graph()
+
+# Добавляем узлы
+for part in data['allParts']:
+    G.add_node(part)
+
+# Добавляем ребра
+for part, connections in data['matrix'].items():
+    for connected_part in connections:
+        G.add_edge(part, connected_part)
+
+# Визуализируем граф
+plt.figure(figsize=(10, 8))
+pos = nx.spring_layout(G)
+nx.draw(G, pos, with_labels=True, node_size=100, node_color='lightblue', font_size=10, font_weight='bold', edge_color='gray')
+plt.title('Graph of Part Connections')
+plt.show()

freecad_workbench/freecad/robossembler/init_gui.py

@@ -38,8 +38,7 @@ class Robossembler(Gui.Workbench):
 
         self.framecommands = [
             "BoMGeneration",
-            "FrameCommand",
-            
+            "FrameCommand",            
             "SelectedPartFrameCommand",
             "AllPartFramesCommand",
             "FeatureFrameCommand"
@@ -52,8 +51,21 @@ class Robossembler(Gui.Workbench):
             "Validate_Project",          
             "Publish_Project"
             ]
+        self.asmcommands = [
+            "Create Assembly Parameters",
+            "Create Fastener Set",
+            "Create Assembly Sequence",
+            "Export Assembly Settings",
+            "Compute Assembly Sequence",
+            "Create Assembly Layers",
+            "Create Structure Graph",
+            "Create Assembly Graph"            
+            
+        ]
+        
         self.appendToolbar(f"{__class__.__name__} Frames", self.framecommands)
         self.appendToolbar(f"{__class__.__name__} Tools", self.toolcommands)
+        self.appendToolbar(f"{__class__.__name__} Assembly Setup", self.asmcommands)
 
         App.Console.PrintMessage(translate("Console",
             "Switching to robossembler") + "\n")

freecad_workbench/freecad/robossembler/sequences.json

@@ -1,10 +0,0 @@
-{
-    "sequences": [
-        
-            "body_down",
-            "sol_gear",
-            "output_shaft",
-            "planet_gear",
-            "planet_gear002"
-    ]
-}

freecad_workbench/freecad/robossembler/valid_sequences.json

@@ -0,0 +1,14 @@
+{"sequences":[
+    "PTFE Tube Nut M6 v1",
+    "PTFE Tube Nut M6 v002",
+    "Extruder002",
+    "Extruder",
+    "Extruder001",
+    "91239A140_Button Head Hex Drive Screw",    
+    "Hotend002",
+    "Hotend001",
+    "Hotend003",    
+    "Extruder003",
+    "Extruder004",
+    "Hotend"
+]}

freecad_workbench/freecad/robossembler/valid_sequences.py

@@ -0,0 +1,36 @@
+import json
+
+def load_data(file_path):
+    with open(file_path, 'r') as file:
+        return json.load(file)
+
+def is_valid_sequence(sequence, constraints):
+    for constraint in constraints:
+        if constraint[0] in sequence and constraint[1] in sequence:
+            if sequence.index(constraint[0]) > sequence.index(constraint[1]):
+                return False
+    return True
+
+def save_sequences(sequences, file_path):
+    with open(file_path, 'w') as file:
+        json.dump(sequences, file, indent=4)
+
+# Load data from files
+adjacency_matrix = load_data('adjacency_matrix.json')
+constraints = load_data('constraints.json')
+sequences = load_data('sequences.json')
+
+# Get all parts and first detail
+all_parts = adjacency_matrix['allParts']
+first_detail = adjacency_matrix['firstDetail']
+
+# Filter valid sequences
+valid_sequences = []
+for sequence in sequences:
+    if len(set(sequence)) == len(set(all_parts)): #and is_valid_sequence(sequence, constraints):
+        valid_sequences.append(sequence)
+
+# Save valid sequences to file
+save_sequences(valid_sequences, 'valid_sequences.json')
+
+print(f"Найдено {len(valid_sequences)} допустимых последовательностей сборки.")

test_models/assembly_settings_test_reductor.json

@@ -0,0 +1,34 @@
+[
+    {
+        "Name": "Fastener_Set",
+        "Type": "fastener_set",
+        "Parent": "body_down",
+        "Child": "body_up",
+        "Fasteners": [
+            "bolt4",
+            "bolt",
+            "bolt2",
+            "bolt3"
+        ]
+    },
+    {
+        "Name": "Assembly_Sequence",
+        "Type": "asm_sequence",
+        "Parent": "body_down",
+        "Child": "sol_gear"
+    },
+    {
+        "Name": "Clearance_Constraint",
+        "Type": "clearance",
+        "PartName": [
+            "planet_gear002",
+            "planet_gear005",
+            "planet_gear004",
+            "planet_gear003",
+            "planet_gear",
+            "output_shaft",
+            "sol_gear"
+        ],
+        "MaxClearance": 1.0
+    }
+]